Fault prediction and diagnosis methods and analysis procedures for automated analysis of high-level samples

Abstract

The present invention discloses a method for predicting and diagnosing a fault in an automatic analysis process of a high-level sample, and an analysis process, comprising the following steps: predicting and diagnosing a fault in an automatic analysis process of a high-level sample operated by a manipulator according to the end position of the manipulator, the position of the clamping jaws, and the clamping torque of the clamping jaws. The method for predicting and diagnosing a fault in an automatic analysis process of a high-level sample in the present invention can accurately determine the type, cause, and fault point of a process fault by predicting and evaluating the faults in multiple steps such as the transfer, sampling, sample separation, and cleaning of high-level samples, thereby improving the stability and reliability of the automatic analysis process; and notifying the staff of information related to abnormal working conditions in a timely manner, thereby improving the efficiency of manual fault judgment and troubleshooting, and reducing manual maintenance costs and labor intensity.

Description

Technical Field

[0001] The invention belongs to the technical field of automated analysis of nuclear fuel post-processing, and in particular relates to a method for predicting and diagnosing a fault in an automated analysis process of a high-level sample, and an analysis process. Background Art

[0002] Nuclear fuel reprocessing plants generally use the PUREX process, which uses the different distribution coefficients of uranium, plutonium and fission products in tributyl phosphate (TBP) to separate uranium, plutonium and fission products and purify and recover uranium and plutonium, and finally realize the reprocessing of nuclear fuel. Timely and accurate analysis of process samples in nuclear fuel reprocessing plants is one of the key links for the stable, safe and reliable operation of the entire plant.

[0003] Post-processed high-level radioactive samples are highly radioactive and toxic, and are usually analyzed manually outside the shielding box by operating the master-slave manipulator. Due to the long distance, unclear field of view and limited movement, the operation is very difficult. It is almost impossible to rely on the master-slave manipulator to perform complex operations such as flipping sample bottles, opening lids, and transferring between multiple stations. The development of laboratory automated analysis technology is of great significance for realizing complex analytical operations in extreme environments, liberating manpower, improving the accuracy of post-processing sample analysis, and reducing the risk of radiation exposure to operators.

[0004] At present, the solutions for realizing automated analysis at home and abroad mainly use ordinary six-axis or three-coordinate robots, combined with supporting sensors and analysis equipment, to realize integrated automatic analysis operations. The relevant invention scenarios are all concentrated on the automated operations for ordinary chemical or low-radioactive materials. There is no mature solution for automated integrated system fault prediction for highly radioactive objects and scenarios where electronic devices cannot be used. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method for predicting and diagnosing faults in the automatic analysis process of high-radiation samples and an analysis process in view of the above-mentioned deficiencies in the prior art, so as to perform process execution and predict fault conditions, improve the stability and reliability of the process, and enable the automatic analysis system of high-radiation samples to have the functions of automatic operation, fault prediction and fault diagnosis in a high-radiation environment.

[0006] The technical solution adopted to solve the technical problem of the present invention is to provide a method for predicting and diagnosing faults in the automatic analysis process of high-level samples, comprising the following steps:

[0007] According to the end position of the manipulator (referring to the absolute position parameters of the tool coordinate system of the manipulator end in space), the jaw position (the opening and closing position of the jaw), and the jaw clamping torque, fault prediction and diagnosis are performed on the automatic analysis process of high-powered samples operated by the manipulator.

[0008] The high-radiation sample in the present invention refers to a highly radioactive sample.

[0009] Preferably, if the end position of the manipulator is normal, the position of the clamping jaws is normal, and the clamping torque of the clamping jaws is abnormal, the high-amplitude sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

[0010] Preferably, if the end position of the manipulator is abnormal, the position of the clamping jaws is abnormal, and the clamping torque of the clamping jaws is normal, the high-power sample automatic analysis process operated by the manipulator is suspended to wait for fault processing.

[0011] Preferably, if the end position of the manipulator is normal, the position of the clamping jaws is normal, and the clamping torque of the clamping jaws is normal, the automatic analysis process of the high-amplitude sample operated by the manipulator continues and enters the next step of the automatic analysis process.

[0012] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0013] According to the joint torque deviation caused by the actual operating state of the manipulator, fault prediction and diagnosis are performed on the automatic analysis process of high-power samples operated by the manipulator.

[0014] Preferably, the steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically:

[0015] If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold, the high-amplitude sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

[0016] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0017] The fault prediction is the deviation of the gripping posture of the robot.

[0018] Preferably, the steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically:

[0019] If the end position of the manipulator is abnormal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator will stop and enter the shutdown state.

[0020] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0021] The fault prediction is that the robot is working abnormally, the robot is not in place and does not clamp the sample bottle of the high-level sample.

[0022] Preferably, the steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically:

[0023] If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is less than the preset joint torque deviation threshold, the high-amplitude sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

[0024] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0025] According to the end space torque deviation caused by the actual operating state of the manipulator, fault prediction and diagnosis are performed on the automatic analysis process of high-power samples operated by the manipulator.

[0026] Preferably, the step predicts and diagnoses the fault of the high-level sample automatic analysis process operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically:

[0027] If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

[0028] Preferably, the step predicts and diagnoses the fault of the high-level sample automatic analysis process operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically:

[0029] If the end position of the manipulator is abnormal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator will stop and enter the shutdown state.

[0030] Preferably, the step predicts and diagnoses the fault of the high-level sample automatic analysis process operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically:

[0031] If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is less than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

[0032] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0033] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0034] The automatic analysis process for high-level radioactive samples includes temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer.

[0035] The high-level sample automatic analysis process fault prediction and diagnosis method and analysis process in the present invention have the following effective effects:

[0036] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0037] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0038] This method performs logical judgment and establishes a fault library based on limited data feedback. The signal feedback of the overall analysis process, including sample reception, transfer, sampling, and analysis, is based on the end position of the manipulator, the position of the gripper, and the gripper torque to perform process execution and predict fault conditions. This method can accurately determine the type and cause of process failures, improve the stability and reliability of the process, and enable the high-radiation sample automatic analysis system to have the functions of automatic operation, fault prediction, and fault diagnosis in a high-radiation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The system used for automatic analysis of highly radioactive samples in Example 2 of the present invention is

[0040] Equipment composition diagram

[0041] Figure 2 This is a schematic diagram of the equipment layout of the automatic analysis integrated chamber used in Example 2 of the present invention;

[0042] Figure 3 This is a schematic diagram of the principle of an automatic manipulator used in Example 2 of the present invention;

[0043] Figure 4This is a fault diagnosis logic diagram of the automatic analysis process used in Example 2 of the present invention;

[0044] Figure 5 This is a flow chart of the automatic analysis process signal setting adopted in Example 2 of the present invention.

[0045] In the figure: 1-operating glove box, 2-main process manipulator, 3-automatic analysis integrated chamber, 4-analysis test bench, 5-analysis instrument, 6-central console, 7-main hand, 8-auxiliary tool, 9-shielding window, 10-shielding, 11-sample bottle sending and receiving device, 12-sample bottle temporary storage device, 13-sample operation device, 14-sample analysis device, 15-sample liquid preparation device, 16-mechanical contact sensor, 17-reduction gear set, 18-gripper, 19-first motor, 20-second motor, 21-third motor, 22-fourth motor, 23-fifth motor, 24-sixth motor, 25-seventh motor, 26-first joint, 27-second joint, 28-third joint, 29-fourth joint, 30-fifth joint, 31-sixth joint. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0048] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0049] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0050] Example 1

[0051] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, comprising the following steps:

[0052] According to the end position of the manipulator, the position of the gripper jaws, and the gripping torque of the gripper jaws, fault prediction and diagnosis are performed on the automatic analysis process of high-powered samples operated by the manipulator.

[0053] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0054] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0055] The automatic analysis process for high-level radioactive samples includes temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer.

[0056] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0057] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0058] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0059] Example 2

[0060] like Figure 1 As shown, the system used for automatic analysis of highly radioactive samples includes: an operating glove box 1, a main process manipulator 2, an automatic analysis integrated chamber 3, an analysis test bench 4, an analysis instrument 5, and a central control console 6. The operating glove box is connected to the automatic analysis integrated chamber, and the main process manipulator is connected to the automatic analysis integrated chamber. The automatic analysis integrated chamber is provided with a main hand 7, an auxiliary tool 8, and a shielding window 9. The automatic analysis integrated chamber is an operating room (shielded chamber) with a shield 10. There are no electronic devices in the shielded chamber. Compared with the traditional analysis integrated chamber, through special structural design and control development, an automated analysis operation process without electronic devices is realized. The analysis instrument on the analysis test bench is used to analyze liquid samples in the automatic analysis integrated chamber. Data transmission, optical signals, etc. are transmitted into the automatic analysis integrated chamber through optical fibers, cables, etc. through components. The central control console is used to realize the overall system equipment control and analysis data processing, and realize system fault prediction based on the process signals in the system.

[0061] like Figure 2As shown, the above-mentioned automatic analysis integrated room includes: a sample bottle sending and receiving device 11, a shielding channel sealing device, a sample bottle temporary storage device 12, a sample operation device 13, a sample analysis device 14, a sample liquid preparation device 15, an analysis and processing equipment, a rapid inspection and maintenance module, a mechanical contact sensor 16, etc., which are arranged in its operation room. Specifically, the sample analysis device is a liquid spectrometer. The manipulator runs through the operation room and operates the sample in the operation room. Liquid quantitative processing is performed by the sample liquid preparation device 15. With the radiation-resistant main process manipulator as the core and combined with a mechanical contact sensor, the various processes of high-radioactive liquid analysis are connected in series to realize the main process flows such as automatic entry and exit of samples, sample identification and selection of analysis methods, sample removal and dilution, sample analysis, and waste liquid treatment, while realizing process fault warning and detection.

[0062] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, comprising the following steps:

[0063] According to the end position of the manipulator (referring to the absolute position parameters of the tool coordinate system of the manipulator end in space), the jaw position (the opening and closing position of the jaw), and the jaw clamping torque, fault prediction and diagnosis are performed on the automatic analysis process of high-powered samples operated by the manipulator.

[0064] Specifically, the high-radiation sample in this embodiment refers to a highly radioactive sample.

[0065] Preferably, if the end position of the manipulator is normal (high weight, the angles of each joint of the manipulator are normal), the jaw position is normal (the jaw position feedback signal is a set value between 0 and Y infinite parameters), and the jaw clamping torque is abnormal (the jaw clamping torque is greater than the preset jaw clamping torque), the high weight criterion is normal (the end position of the manipulator reaches the preset position), the location and situation of the fault can be determined, and at the same time, it is determined that the fault does not affect the process, and the related factors are coupled and considered. At this time, there may be a deviation in the gripping posture of the manipulator (the gripping torque of the jaw may deviate under different gripping postures). The automatic solution library of the system used for automatic analysis of high-radioactive samples determines that the automatic analysis process of high-radioactive samples operated by the manipulator continues, and the next step of the automatic analysis process can be entered.

[0066] The end position of the manipulator is normal, which means that the angles of each joint of the manipulator are within the preset joint angle range; if the angles of each joint of the manipulator exceed the preset joint angle range, the end position of the manipulator is abnormal.

[0067] The normal gripper position of the robot means that the gripper position feedback signal is within the preset gripper position parameter range; if the gripper position feedback signal exceeds the preset gripper position parameter range, the gripper position of the robot is abnormal.

[0068] The normal gripping torque of the manipulator gripper means that the gripping torque feedback signal of the gripper gripper is within the preset gripping torque parameter range of the gripper gripper; if the gripping torque feedback signal of the gripper gripper exceeds the preset gripping torque parameter range of the gripper gripper, the gripping torque of the manipulator gripper is abnormal.

[0069] Specific example case description: Assuming that the next step is to open the sample bottle, the robot will clamp the sample bottle to the sample operation device station according to the preset instructions. In addition to judging the gripper position and gripper gripping torque information, this process also needs to judge the torque difference △T between the real-time torque T in the actual operation state of the robot and the benchmark theoretical torque T0 in the no-load state of the robot, and the comparison state with the preset joint torque deviation threshold △T0.

[0070] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0071] According to the joint torque deviation caused by the actual operating state of the manipulator, fault prediction and diagnosis are performed on the automatic analysis process of high-power samples operated by the manipulator.

[0072] Preferably, the steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically:

[0073] If the end position of the manipulator is normal (high weight, the angles of each joint of the manipulator are normal), the jaw position is normal (the jaw position feedback signal is the set value between 0 and Y infinite parameters), and the jaw clamping torque is normal (the jaw is closed normally, and the jaw clamping torque is within the preset jaw clamping torque range), the joint torque deviation △T caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold △T0, and the associated criterion coupling analysis is performed to determine that there is a cumulative error, and the problem is recorded. The automatic analysis process of the high-release sample operated by the manipulator continues, and enters the next step of the automatic analysis process.

[0074] The core judgment logic is to perform coupling analysis based on external information. The other operation processes adopt related judgment rules and adopt the method of simultaneous analysis of multiple judgment information feedback. At the same time, different weights and associated weights are set for different feedback information, which is used to more accurately adopt indirect judgment methods to judge problems in the operation process.

[0075] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0076] The fault prediction is the deviation of the gripping posture of the robot.

[0077] The fault prediction and diagnosis method for the high-level sample automatic analysis process in this embodiment is based on limited data feedback to perform logical judgment and establish a fault library. The signal feedback of the overall analysis process such as sample reception, transfer, sampling, and analysis is based on the position and torque signal processing of the manipulator. At the same time, it is combined with the mechanical contact sensor signal to perform process execution and fault condition prediction. It can accurately determine the type and cause of process failures and improve the stability and reliability of the process.

[0078] This embodiment discloses a method for predicting and diagnosing faults in the automatic analysis process of high-level samples. The automatic analysis system of high-level samples uses an automatic manipulator as the core of movement to achieve automated operation. According to the signal processing of the external power of the manipulator, the joint angle and the angle of the clamp are monitored, and the joint torque and the clamping torque of the clamp are monitored. Through the angle and torque data, the whole process monitoring of the manipulator participating in the process is realized. The signal feedback of the whole process is based on the position and torque signal processing of the manipulator, and the mechanical contact sensor signal is combined to perform process execution and fault diagnosis. Through customized automated process operation methods and fault prediction methods, the automatic analysis system of high-level samples has the functions of automatic operation, fault prediction and fault diagnosis in a high-level environment.

[0079] like Figure 3 As shown, the driving motor of the manipulator is integrated and placed outside the shielding body, and the internal structure of the operating room is a mechanical transmission structure. The relevant structural principles are shown in the figure below; specifically, the driving motor includes a first motor 19, a second motor 20, a third motor 21, a fourth motor 22, a fifth motor 23, a sixth motor 24, and a seventh motor 25. The driving motor is connected to the reduction gear set 17. The first motor 19 controls the first joint 26, the second motor 20 controls the second joint 27, the third motor 21 controls the third joint 28, the fourth motor 22 controls the fourth joint 29, the fifth motor 23 controls the fifth joint 30, and the sixth motor 24 controls the sixth joint 31.

[0080] The six axis motors corresponding to the six joints of the manipulator are coupled to control the six joint angles, and the seventh motor 25 independently controls the gripper 18. According to the signal processing of the manipulator's external power, the joint angle and gripper angle monitoring, the joint torque and gripper clamping torque monitoring are realized, and the whole process monitoring of the manipulator's participation process is realized through the angle and torque data.

[0081] Specifically, in this embodiment, when the sample bottle enters the sample transceiver (the mechanical contact sensor feedback is in place, the first judgment is assumed to be normal), the system used for automatic analysis of highly radioactive samples allocates a manipulator to clamp the sample bottle. The six degrees of freedom of the manipulator work together to drive the end to the specified position. After the end is in place, the seventh degree of freedom (gripper) is controlled to clamp the sample bottle; at this time, the gripper judges whether the gripper torque 0 to X infinite parameters and the gripper position 0 to Y infinite parameters meet the expected thresholds. At this time, the end position corresponding to the six degrees of freedom of the joints (the end position is normal or abnormal) is cross-judged with the gripper torque and gripper position criteria (gripper torque is normal or abnormal, gripper position is normal or abnormal).

[0082] like Figure 5 As shown, this embodiment provides a high-level sample automatic analysis process, including the following steps:

[0083] Automatic analysis of high-level samples begins;

[0084] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0085] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0086] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0087] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0088] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0089] The automatic analysis process ends.

[0090] In this embodiment, a method for predicting and diagnosing faults in a high-level sample automatic analysis process is provided. The signal feedback of the overall process is based on the position and torque signal processing of the manipulator, and the mechanical contact sensor signal is combined to perform process execution and fault analysis. The relevant signal process is as follows: Figure 5 shown.

[0091] Furthermore, the specific fault judgment and diagnosis method execution process is as follows:

[0092] 1. Mechanical sensor feedback signal: 0 (in place) 1 (not in place); specifically, the mechanical sensor in this embodiment is a mechanical contact sensor.

[0093] The manipulator gripper gripping torque feedback signal: a stepless parameter from 0 to X, where 0 means that the manipulator gripper does not apply gripping force, and X is the maximum set torque of the manipulator gripper. Different gripper gripping torque thresholds correspond to whether the operating torque of different targets is in place, where X is a positive number. For specific operating targets, a specific torque is used for gripping. Specifically, the manipulator gripper gripping torque is detected by the first sensor.

[0094] 2. Gripper position feedback signal: 0 to Y infinite parameters, where 0 means the jaws are completely closed, Y means the jaws are at their maximum opening, and Y is a positive number. Different jaw position parameter thresholds correspond to whether the clamping operation for different targets is in place; for specific operation targets, the jaw position stroke threshold corresponds to the size of the jaw opening, and a specific jaw position stroke threshold is used for judgment, combined with the jaw clamping torque feedback torque to determine whether the clamping operation is completed. The jaw position is represented by the jaw clamping stroke. For example, if a sample bottle is clamped with a fixed jaw clamping torque, the corresponding clamping stroke (jaw position feedback signal) is a threshold. If the jaw clamping torque feedback signal is abnormal or the jaw position feedback signal is abnormal, it can be determined that the jaw clamping is abnormal. The abnormal state of the gripper includes: 1) the gripper torque feedback signal is normal, but the gripper position feedback signal is abnormal. The possible abnormal working conditions for fault prediction and diagnosis include: the manipulator structure is stuck, the manipulator grasps the object misplaced, etc.; 2) the gripper torque feedback signal is abnormal, but the gripper position feedback signal is normal. The possible abnormal working conditions for fault prediction and diagnosis include: the manipulator grasps the object and the manipulator grasps the object. The object does not exist, etc. That is, whether the manipulator grasps the operation is in place is related to the gripper torque and the gripper position feedback signal. Combined with the mechanical sensor feedback signal, if there is no mechanical sensor signal feedback and the gripper is abnormal, it is determined that no sample bottle has arrived at the station. At this time, the system used for automatic analysis of highly radioactive samples queries the sample bottle status and pushes abnormal information. If the query of the system used for automatic analysis of highly radioactive samples can determine the fault point, the automatic operation can continue; if there is a mechanical sensor feedback signal and the gripper is abnormal, it is determined that the sample bottle status is abnormal or the manipulator status is abnormal, and it is determined to be an abnormality that requires manual intervention. Specifically, the gripper position is detected by the second sensor.

[0095] 3. Based on the manipulator joint torque T = (T1, T2, T3, T4, T5, T6), wherein the first joint torque is T1, the second joint torque is T2, the third joint torque is T3, the fourth joint torque is T4, the fifth joint torque is T5, and the sixth joint torque is T6, the conversion is performed through the transpose JT of the Jacobian matrix, and the manipulator terminal space torque solved based on the formula T = JT*F is: F = (FX, FY, FZ, FRX, FRY, FRZ), wherein the first joint torque is T1 corresponding to the first terminal space torque FX of the manipulator, the second joint torque is T2 corresponding to the second terminal space torque FY of the manipulator, the third joint torque is T3 corresponding to the third terminal space torque FZ of the manipulator, the fourth joint torque is T4 corresponding to the fourth terminal space torque FRX of the manipulator, the fifth joint torque is T5 corresponding to the fifth terminal space torque FRY of the manipulator, and the sixth joint torque is T6 corresponding to the sixth terminal space torque FRZ of the manipulator. Different terminal torque parameter thresholds (corresponding to different interaction environments) are used to determine whether the interaction between the manipulator and the operating environment is in place. For workstations where mechanical sensors cannot be arranged, the state analysis of the operation target can be performed by combining the feedback torque and end position information of the robot. Different operation states correspond to different position and torque thresholds. Based on the benchmark theoretical torque T0=(T01, T02, T03, T04, T05, T06) of the manipulator in the no-load state, where the no-load first joint torque is T01, the no-load first joint torque is T02, the no-load first joint torque is T03, the no-load first joint torque is T04, the no-load first joint torque is T05, and the no-load first joint torque is T06, combined with the real-time torque T=(T1, T2, T3, T4, T5, T6) during the operation of the manipulator, the difference can be solved to obtain the joint torque deviation △T=(△T1, △T2, △T3, △T4, △T5, △T6) caused by the actual operation state of the manipulator, which is used to compare with the preset joint torque deviation threshold △T0=(△T01, △T02, △T03, △T04, △T05, △T06) of the preset program. Real-time judgment, where △T1 is the first joint torque deviation caused by the actual operation state of the manipulator, △T2 is the second joint torque deviation caused by the actual operation state of the manipulator, △T3 is the third joint torque deviation caused by the actual operation state of the manipulator, △T4 is the fourth joint torque deviation caused by the actual operation state of the manipulator, △T5 is the fifth joint torque deviation caused by the actual operation state of the manipulator, and △T6 is the sixth joint torque deviation caused by the actual operation state of the manipulator; where △T01 is the preset first joint torque deviation threshold, △T02 is the preset second joint torque deviation threshold, △T03 is the preset third joint torque deviation threshold, △T04 is the preset fourth joint torque deviation threshold, △T05 is the preset fifth joint torque deviation threshold, and △T06 is the preset sixth joint torque deviation threshold.Since the operation process is a preset program, the joint torque deviation △T caused by the actual operation state of the manipulator during operation should be less than the preset joint torque deviation threshold △T0 in real time. When △T>△T0, an alarm can be issued to monitor the actual operation and operation state. The joint torque deviation △T caused by the actual operation state of the manipulator is data directly related to the joint torque and is basic judgment data.

[0096] The calculated spatial torque F = (FX, FY, FZ, FRX, FRY, FRZ) at the end of the robot can be used to monitor whether the robot's operating target is in place in a certain direction. The relevant judgment principle is consistent with △T. The threshold and actual value of the parameter are judged after the data is solved. This judgment is relative to the simple joint torque judgment.

[0097] Based on the reference theoretical torque F0=(F0X, F0Y, F0Z, F0RX, F0RY, F0RZ) of the manipulator in the no-load state, where the no-load first terminal space torque is F0X, the no-load first terminal space torque is F0Y, the no-load first terminal space torque is F0Z, the no-load first terminal space torque is F0RX, the no-load first terminal space torque is F0RY, and the no-load first terminal space torque is F0RZ, combined with the real-time torque F=(FX, FY, FZ, FRX, FRY, FRZ) during the operation of the manipulator, the difference can be solved to obtain the terminal space torque deviation △F=(△FX, △FY, △FZ, △FRX, △FRY, △FRZ) caused by the actual operation state of the manipulator, which is used to compare with the preset terminal space torque deviation threshold △F0=(△F0X, △F0Y, △F0Z, △F0RX, △F0RY, △F0RZ) of the preset program. Real-time judgment, where △FX is the first terminal space torque deviation caused by the actual operation state of the manipulator, △FY is the second terminal space torque deviation caused by the actual operation state of the manipulator, △FZ is the third terminal space torque deviation caused by the actual operation state of the manipulator, △FRX is the fourth terminal space torque deviation caused by the actual operation state of the manipulator, △FRY is the fifth terminal space torque deviation caused by the actual operation state of the manipulator, and △FRZ is the sixth terminal space torque deviation caused by the actual operation state of the manipulator; where △F0X is the preset first terminal space torque deviation threshold, △F0Y is the preset second terminal space torque deviation threshold, △F0Z is the preset third terminal space torque deviation threshold, △F0RX is the preset fourth terminal space torque deviation threshold, △F0RY is the preset fifth terminal space torque deviation threshold, and △F0RZ is the preset sixth terminal space torque deviation threshold. Since the operation process is a preset program, the terminal space torque deviation △F caused by the actual operation state of the manipulator during the operation should be less than the preset terminal space torque deviation threshold △F0 in real time. When △F>△F0, an alarm can be issued to monitor the actual operation and operation status.

[0098] The specific significance of the increase is that if there is movement in the Z direction, the actual calculated feedback value FZ and the theoretical value F0Z can also be analyzed and compared in real time. By calculating the real-time difference △FZ between FZ and F0Z and comparing it with the deviation threshold △F0Z, the difference between the actual interaction force and the expected interaction force of the manipulator in the Z-axis motion direction of the space can be obtained. Based on the difference, the current operation state and the expected change are obtained, which is used to analyze the operation process of the manipulator placing objects in the Z direction. This data is used to judge the health of the current operation in a specific application scenario. The health level is to judge how far away from the error is through the gradual variable. Specifically, the manipulator joint torque is detected by the third sensor.

[0099] The system used for automatic analysis of high-radioactive samples includes: a mechanical contact sensor, a first sensor, a second sensor, a third sensor, and a control unit. The signals of the mechanical contact sensor, the first sensor, the second sensor, and the third sensor are all sent to the control unit. The control unit predicts and diagnoses faults in the automatic analysis process of high-radioactive samples according to the fault prediction and diagnosis method of the automatic analysis process of high-radioactive samples.

[0100] In the fault prediction and diagnosis method of the high-level sample automatic analysis process in this embodiment, the relevant fault diagnosis process performs logical judgment and establishes a fault library based on limited data feedback, such as Figure 4 As shown, the overall logic is as follows:

[0101] S201 Automatic analysis of high-level samples begins;

[0102] S202 determines whether a fault occurs. If a fault occurs, execute step S203; otherwise, execute step S201;

[0103] S203: Whether the fault location can be determined. If the fault location can be determined, then execute step S205; otherwise, execute step S204;

[0104] S204 pushes a fault alarm and pauses to wait for processing;

[0105] S205 determines whether the specific situation of the fault is known. If it can be determined that the specific situation of the fault is known, step S206 is executed; otherwise, step S204 is executed;

[0106] S206 determines whether the fault situation affects the process. If it is determined that the fault situation affects the process, step S204 is executed; otherwise, step S207 is executed;

[0107] S207 records and pushes fault alarms;

[0108] S208 determines whether the fault is located in the automatic solution library; if the fault is located in the automatic solution library, execute step S209; otherwise, execute step S204;

[0109] The process S209 ends.

[0110] The high-radiation sample automatic analysis process fault prediction and diagnosis method in this embodiment performs logical judgment and establishes a fault library based on limited data feedback. The signal feedback of the overall analysis process such as sample reception, transfer, sampling, and analysis is based on the end position, jaw position, and jaw clamping torque of the manipulator to perform process execution and fault condition prediction. The type and cause of process faults can be accurately determined, the stability and reliability of the process can be improved, and the high-radiation sample automatic analysis system has the functions of automatic operation, fault prediction, and fault diagnosis in a high-radiation environment.

[0111] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0112] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0113] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0114] Example 3

[0115] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 2 in that:

[0116] If the end position of the manipulator is abnormal (the end position of the manipulator has not reached the preset position), the clamping position is abnormal (the clamping jaws of the manipulator have not clamped the sample bottle), the clamping torque of the clamping jaws is normal (the clamping jaws are closed normally, and the clamping torque of the clamping jaws is within the preset clamping torque range), and the high-weight criterion is abnormal (the end position of the manipulator has not reached the preset position), determine whether a fault has occurred based on the feedback information. If yes, the judgment result is that the manipulator has a fault; determine the workstation where the fault occurred based on the end position of the manipulator. If yes, the judgment result is that the workstation where the fault occurred was determined based on the end position of the manipulator; consider the coupling of related factors to determine whether the specific situation of the fault is known. If yes, the judgment result is that the specific situation of the fault is known; at this time, there may be an abnormal operation of the manipulator (the manipulator is not in place and has not clamped the sample bottle), determine whether the fault affects the process, if yes, the judgment result is that the fault affects the process; whether it is in the automatic solution, if no, the judgment result is that it is not in the automatic solution library and there is no automatic solution; push the fault alarm and suspend the high-level sample automatic analysis process operated by the manipulator, waiting for the fault to be handled.

[0117] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0118] Automatic analysis of high-level samples begins;

[0119] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0120] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0121] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0122] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0123] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0124] The automatic analysis process ends.

[0125] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0126] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0127] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0128] Example 4

[0129] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 2 in that:

[0130] If the end position of the manipulator is normal (high weight, the angles of each joint of the manipulator are normal), the jaw position is normal (the jaw position feedback signal is the set value between 0 and Y infinite parameters), the jaw clamping torque is normal (the jaw is closed normally, and the jaw clamping torque is within the preset jaw clamping torque range), and the judgment criteria are normal, then the judgment process is normal, the judgment logic returns to the start, and the high-release sample automatic analysis process operated by the manipulator continues, entering the next step of the automatic analysis process.

[0131] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0132] Automatic analysis of high-level samples begins;

[0133] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0134] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0135] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0136] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0137] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0138] The automatic analysis process ends.

[0139] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0140] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0141] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0142] Example 5

[0143] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 2 in that:

[0144] According to the joint torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-power samples operated by the manipulator are carried out, specifically:

[0145] If the end position of the manipulator is abnormal (the end position of the manipulator has not reached the preset position, high weight), the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation △T caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold △T0, based on the high weight criterion, it is judged that there is an operational obstacle factor, and the high-pressure sample automatic analysis process operated by the manipulator stops, and enters an alarm and shutdown state.

[0146] Preferably, the method for predicting and diagnosing faults in the automatic analysis process of high-level samples further comprises the following steps:

[0147] The fault prediction is that the robot is working abnormally, the robot is not in place and does not clamp the sample bottle of the high-level sample.

[0148] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0149] Automatic analysis of high-level samples begins;

[0150] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0151] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0152] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0153] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0154] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0155] The automatic analysis process ends.

[0156] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0157] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0158] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0159] Example 6

[0160] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 2 in that:

[0161] According to the joint torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-power samples operated by the manipulator are carried out, specifically:

[0162] If the end position of the manipulator is normal (high weight), the gripper position is normal, the gripper clamping torque is normal, the joint torque deviation △T caused by the actual operation state of the manipulator is less than the preset joint torque deviation threshold △T0, and each judgment criterion is normal, the automatic analysis process of the high-release sample operated by the manipulator continues and enters the next step of the automatic analysis process.

[0163] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0164] Automatic analysis of high-level samples begins;

[0165] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0166] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0167] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0168] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0169] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0170] The automatic analysis process ends.

[0171] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0172] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0173] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0174] Example 7

[0175] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 2 in that it further includes the following steps:

[0176] According to the end space torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-power samples operated by the manipulator are carried out, specifically:

[0177] If the end position of the manipulator is normal (high weight, the angles of each joint of the manipulator are normal), the jaw position is normal (the jaw position feedback signal is the set value between 0 and Y infinite parameters), and the jaw clamping torque is normal (the jaw is closed normally, and the jaw clamping torque is within the preset jaw clamping torque range), the end space torque deviation △F caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold △F0, the associated criterion coupling analysis is performed to determine that there is a cumulative error, and the problem is recorded. The automatic analysis process of the high-release sample operated by the manipulator continues, and enters the next step of the automatic analysis process.

[0178] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0179] Automatic analysis of high-level samples begins;

[0180] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0181] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0182] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0183] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0184] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0185] The automatic analysis process ends.

[0186] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0187] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0188] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0189] Example 8

[0190] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 7 in that:

[0191] According to the end space torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-power samples operated by the manipulator are carried out, specifically:

[0192] If the end position of the manipulator is abnormal (the end position of the manipulator has not reached the preset position, high weight), the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation △F caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold △F0, based on the high weight criterion, it is judged that there is an operational obstacle factor, and the high-level sample automatic analysis process operated by the manipulator stops, and enters an alarm and shutdown state.

[0193] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0194] Automatic analysis of high-level samples begins;

[0195] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0196] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0197] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0198] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0199] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0200] The automatic analysis process ends.

[0201] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0202] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0203] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0204] Example 9

[0205] This embodiment provides a method for predicting and diagnosing faults in a high-level sample automatic analysis process, which differs from the method in Embodiment 7 in that:

[0206] According to the end space torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-power samples operated by the manipulator are carried out, specifically:

[0207] If the end position of the manipulator is normal (high weight), the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation △F caused by the actual operation state of the manipulator is less than the preset end space torque deviation threshold △F0, each criterion is normal, and the automatic analysis process of the high-level sample operated by the manipulator continues, entering the next step of the automatic analysis process.

[0208] This embodiment provides a high-level sample automatic analysis process, including the following steps:

[0209] Automatic analysis of high-level samples begins;

[0210] The high-level sample enters and the signal is detected by a mechanical contact sensor;

[0211] The robot grips the high-placed sample bottle, with independent 7th axis position and gripper gripping torque signal;

[0212] The above method is used to predict and diagnose the faults in the automatic analysis process of high-level samples;

[0213] Automatic analysis process for high-level radioactive samples including temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer;

[0214] Target operation completion feedback, based on a manipulator or mechanical contact sensor;

[0215] The automatic analysis process ends.

[0216] The method for predicting and diagnosing faults in the automatic analysis process of high-level samples in this embodiment has the following effective effects:

[0217] 1. Through the fault prediction and cause evaluation of multiple steps such as high-level sample transfer, sampling, sample separation, cleaning, etc., the type, cause and fault point of process faults can be accurately determined, and the stability and reliability of the automatic analysis process can be improved.

[0218] 2. Timely inform staff of relevant information of abnormal working conditions, which improves the efficiency of manual fault diagnosis and troubleshooting, and reduces manual maintenance costs and labor intensity.

[0219] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for predicting and diagnosing faults in an automatic analysis process of high-level samples, characterized in that: The following steps are involved: According to the end position of the manipulator, the position of the gripper, and the gripper torque, the fault prediction and diagnosis of the automatic analysis process of the high-level samples operated by the manipulator are carried out; According to the joint torque deviation caused by the actual operation state of the manipulator, the fault prediction and diagnosis of the automatic analysis process of high-level samples operated by the manipulator are carried out; specifically: If the end position of the manipulator is abnormal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator will stop and enter the shutdown state.

2. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: If the end position of the manipulator is normal, the position of the gripper is normal, and the gripper's gripping torque is abnormal, the automatic analysis process of the high-level sample operated by the manipulator continues and enters the next step of the automatic analysis process.

3. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: If the end position of the manipulator is abnormal, the position of the gripper is abnormal, and the gripper's clamping torque is normal, the automatic analysis process of the high-powered sample operated by the manipulator will be suspended, waiting for the fault to be resolved.

4. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: If the end position of the manipulator is normal, the position of the gripper is normal, and the gripper's clamping torque is normal, the automatic analysis process of the high-level sample operated by the manipulator continues and enters the next step of the automatic analysis process.

5. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: The steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically: If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is greater than the preset joint torque deviation threshold, the high-amplitude sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

6. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 5, characterized in that: The following steps are also included: The fault prediction is the deviation of the gripping posture of the robot.

7. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: The following steps are also included: The fault prediction is that the robot is working abnormally, the robot is not in place and does not clamp the sample bottle of the high-level sample.

8. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: The steps predict and diagnose faults in the automatic analysis process of high-amplitude samples operated by the manipulator according to the joint torque deviation caused by the actual operation state of the manipulator, specifically: If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the joint torque deviation caused by the actual operation state of the manipulator is less than the preset joint torque deviation threshold, the high-amplitude sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

9. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 1, characterized in that: The following steps are also included: According to the end space torque deviation caused by the actual operating state of the manipulator, fault prediction and diagnosis are performed on the automatic analysis process of high-power samples operated by the manipulator.

10. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 9, characterized in that: The steps predict and diagnose faults in the automatic analysis process of high-power samples operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically: If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

11. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 9, characterized in that: The steps predict and diagnose faults in the automatic analysis process of high-power samples operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically: If the end position of the manipulator is abnormal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is greater than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator will stop and enter the shutdown state.

12. The method for predicting and diagnosing faults in the automatic analysis process of high-level samples according to claim 9, characterized in that: The steps predict and diagnose faults in the automatic analysis process of high-power samples operated by the manipulator according to the end space torque deviation caused by the actual operation state of the manipulator, specifically: If the end position of the manipulator is normal, the gripper position is normal, the gripper clamping torque is normal, and the end space torque deviation caused by the actual operation state of the manipulator is less than the preset end space torque deviation threshold, the high-power sample automatic analysis process operated by the manipulator continues and enters the next step of the automatic analysis process.

13. A high-level sample automatic analysis process, characterized in that: The following steps are involved: Fault prediction and diagnosis of high-level sample automatic analysis process by the method described in any one of claims 1 to 12; The automatic analysis process for high-level radioactive samples includes temporary storage of samples, opening of sample bottles, sampling of sample bottles, sample analysis, sample cleaning, sample disposal, and sample transfer.

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