Iterative learning fault diagnosis method, system and medium for assembly robot arm

Abstract

The present application is applicable to the technical field of mechanical arm fault diagnosis, and provides an iterative learning fault diagnosis method, system and medium applied to an assembly mechanical arm, wherein the method comprises first responding to a mechanical arm startup instruction, obtaining first vibration amplitude information of a first rotating joint and second vibration amplitude information of a second rotating joint based on a preset vibration meter, and then generating first diagnostic result information according to the first vibration amplitude information and the preset first amplitude threshold information, and generating second diagnostic result information according to the second vibration amplitude information and the preset second amplitude threshold information, and finally generating fault diagnostic result information according to the first diagnostic result information and the second diagnostic result information. The present application can monitor and intelligently analyze the working status of an assembly mechanical arm in real time, quickly identify and diagnose potential faults, reduce equipment damage and assembly quality problems caused by vibration, and ensure the stability and efficiency of the production process.

Description

Technical Field

[0001] The present application relates to the technical field of robot arm fault diagnosis, and in particular, to an iterative learning fault diagnosis method, system and medium applied to an assembly robot arm. Background Art

[0002] In the assembly process, assembly robot arms have been more widely used because they can replace manual labor to perform processes that are not suitable for long-term human operation and can complete repetitive work at a faster speed than manual labor.

[0003] At present, as the use time of assembly robot arms increases, their local parts may wear out, resulting in an increase in the fitting clearance, which in turn causes abnormal vibration and reduces the assembly quality. However, maintenance personnel usually perform fault detection on the assembly robot arms at fixed time intervals, and it is difficult to detect abnormal vibration problems of the assembly robot arms in time. There is a problem of low reliability, which needs further improvement. Summary of the invention

[0004] Based on this, the embodiments of the present application provide an iterative learning fault diagnosis method, system and medium applied to an assembly robot arm to solve the problem of low reliability in the prior art.

[0005] In a first aspect, an embodiment of the present application provides an iterative learning fault diagnosis method applied to an assembly robot arm, the assembly robot arm comprising a fixed base, a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the fixed base, and one end of the first rotating arm away from the fixed base is connected to the second rotating arm, the method comprising:

[0006] In response to a robot arm start-up instruction, first vibration amplitude information of a first rotation joint and second vibration amplitude information of a second rotation joint are obtained based on a preset vibration meter, wherein the first rotation joint is used to describe a connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe a connection between the first rotation arm and the second rotation arm;

[0007] Generate first diagnostic result information according to the first vibration amplitude information and the preset first amplitude threshold information, and generate second diagnostic result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnostic result information is used to evaluate the abnormal vibration of the first rotational joint, and the second diagnostic result information is used to evaluate the abnormal vibration of the second rotational joint;

[0008] Fault diagnosis result information is generated according to the first diagnosis result information and the second diagnosis result information, wherein the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint.

[0009] Compared with the prior art, the beneficial effects are as follows: in the iterative learning fault diagnosis method for an assembly robot arm provided in the embodiment of the present application, the terminal device can first respond to the robot arm startup instruction, and use a vibrometer to obtain the first vibration amplitude information of the first rotating joint and the second vibration amplitude information of the second rotating joint, and then generate first diagnostic result information based on the first vibration amplitude information and the first amplitude threshold information, and at the same time generate second diagnostic result information based on the second vibration amplitude information and the preset second amplitude threshold information, and finally effectively generate fault diagnosis result information based on the first diagnostic result information and the second diagnostic result information, so as to monitor and diagnose the abnormal vibration of the assembly robot arm in real time, reduce assembly quality problems caused by vibration, effectively improve reliability, and solve the current low reliability problem to a certain extent.

[0010] In a second aspect, an embodiment of the present application provides an iterative learning fault diagnosis system applied to an assembly robot arm, which is applied to an assembly robot arm, wherein the assembly robot arm includes a fixed base, a first rotating arm and a second rotating arm, wherein one end of the first rotating arm is connected to the fixed base, and one end of the first rotating arm away from the fixed base is connected to the second rotating arm, and the system includes:

[0011] A vibration amplitude information acquisition module: used for responding to a robot arm start-up instruction, based on a preset vibration meter, acquiring first vibration amplitude information of a first rotation joint and second vibration amplitude information of a second rotation joint, wherein the first rotation joint is used to describe a connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe a connection between the first rotation arm and the second rotation arm;

[0012] A diagnosis result information generating module: used to generate first diagnosis result information according to the first vibration amplitude information and the preset first amplitude threshold information, and to generate second diagnosis result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnosis result information is used to evaluate the abnormal vibration of the first rotation joint, and the second diagnosis result information is used to evaluate the abnormal vibration of the second rotation joint;

[0013] Fault diagnosis result information generation module: used to generate fault diagnosis result information based on the first diagnosis result information and the second diagnosis result information, wherein the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint.

[0014] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0016] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0018] Figure 1 It is a flowchart of an iterative learning fault diagnosis method provided by an embodiment of the present application;

[0019] Figure 2 It is a flowchart of step S200 in the iterative learning fault diagnosis method provided in one embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of the process before step S300 in the iterative learning fault diagnosis method provided in one embodiment of the present application;

[0021] Figure 4 It is a flowchart of step S300 in the iterative learning fault diagnosis method provided in one embodiment of the present application;

[0022] Figure 5 It is a flowchart after step S300 in the iterative learning fault diagnosis method provided in one embodiment of the present application;

[0023] Figure 6 It is a module block diagram of an iterative learning fault diagnosis system provided by an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0029] See also Figure 1 , Figure 1 1 is a flow chart of an iterative learning fault diagnosis method for an assembly robot arm provided in an embodiment of the present application. In this embodiment, the execution subject of the iterative learning fault diagnosis method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0030] See also Figure 1 The iterative learning fault diagnosis method provided in the embodiment of the present application includes but is not limited to the following steps:

[0031] In S100 , in response to a robot arm start instruction, first vibration amplitude information of a first rotation joint and second vibration amplitude information of a second rotation joint are acquired based on a preset vibration meter.

[0032] Without loss of generality, the iterative learning fault diagnosis method can be applied to an assembly robot arm, which includes a fixed base, a first rotating arm and a second rotating arm, wherein one end of the first rotating arm is connected to the fixed base, and an end of the first rotating arm away from the fixed base is connected to one end of the second rotating arm, and an end of the second rotating arm away from the first rotating arm can be pre-installed with a gripper or a welding gun for hydrogen fuel cell assembly work. Exemplarily, the assembly robot arm can be a SCARA-type robot.

[0033] Specifically, the terminal device can first respond to the robot arm start-up instruction, and based on a preset vibrometer, obtain the first vibration amplitude information of the first rotation joint and the second vibration amplitude information of the second rotation joint, wherein the first rotation joint is used to describe the connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe the connection between the first rotation arm and the second rotation arm; the first vibration amplitude information is used to describe the vibration amplitude of the first rotation joint, and the second vibration amplitude information is used to describe the vibration amplitude of the second rotation joint; the number of vibrometers can be multiple, and the vibrometers can be pre-installed between the fixed base and the first rotation arm and between the first rotation arm and the second rotation arm to detect the vibration amplitude between the fixed base and the first rotation arm, and detect the vibration amplitude between the first rotation arm and the second rotation arm; the robot arm start-up instruction is used to instruct the assembly robot to start a single assembly work.

[0034] It should be noted that as the assembly robot arm is used for a longer period of time, the parts at its joints may become worn, loose, or insufficiently damped, causing abnormal vibrations when the joints rotate, reducing the quality of assembly.

[0035] In S200 , first diagnosis result information is generated according to the first vibration amplitude information and the preset first amplitude threshold information, and second diagnosis result information is generated according to the second vibration amplitude information and the preset second amplitude threshold information.

[0036] Specifically, after the terminal device obtains the first vibration amplitude information and the second vibration amplitude information, the terminal device can quickly generate the first diagnostic result information according to the first vibration amplitude information and the preset first amplitude threshold information, and quickly generate the second diagnostic result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnostic result information is used to evaluate the abnormal vibration of the first rotating joint, and the second diagnostic result information is used to evaluate the abnormal vibration of the second rotating joint; the specific value of the first amplitude threshold information can be the vibration amplitude collected by the assembly robot arm at the position between the fixed base and the first rotating arm when it is just shipped out of the factory, and the specific value of the second amplitude threshold information can be the vibration amplitude collected by the assembly robot arm at the position between the first rotating arm and the second rotating arm when it is just shipped out of the factory. In a possible implementation, the maintenance personnel can use the above-mentioned vibration meter to re-collect the vibration amplitude of the assembly robot arm at fixed time intervals to update the first amplitude threshold information and the second amplitude threshold information, so as to promote iterative learning to optimize the fault diagnosis process.

[0037] Without loss of generality, the first diagnostic result information is the first compliant vibration information or the first abnormal vibration information, and the second diagnostic result information is the second compliant vibration information or the second abnormal vibration information, wherein the first compliant vibration information is used to describe the vibration condition of the first rotating joint as normal vibration that complies with production specifications, and the first abnormal vibration information is used to describe the vibration condition of the first rotating joint as abnormal vibration that does not comply with production specifications; the second compliant vibration information is used to describe the vibration condition of the second rotating joint as normal vibration that complies with production specifications, and the second abnormal vibration information is used to describe the vibration condition of the second rotating joint as abnormal vibration that does not comply with production specifications.

[0038] In some possible implementations, in order to accurately generate the first diagnosis result information and the second diagnosis result information, please refer to Figure 2 Step S200 includes but is not limited to the following steps:

[0039] In S210 , the first vibration amplitude information is compared with the preset first amplitude threshold information.

[0040] Specifically, the terminal device may compare the first vibration amplitude information with the preset first amplitude threshold information.

[0041] In S220 , if the first vibration amplitude information is less than or equal to the first amplitude threshold information, first compliant vibration information is generated; otherwise, first abnormal vibration information is generated.

[0042] Specifically, if the first vibration amplitude information is less than or equal to the first amplitude threshold information, the terminal device can generate first compliant vibration information, otherwise the terminal device can generate first abnormal vibration information, thereby preliminarily determining whether there is abnormal vibration in the first rotation joint.

[0043] In S230 , the second vibration amplitude information is compared with the preset second amplitude threshold information.

[0044] Specifically, the terminal device may compare the second vibration amplitude information with the preset second amplitude threshold information.

[0045] In S240 , if the second vibration amplitude information is less than or equal to the second amplitude threshold information, second compliance vibration information is generated; otherwise, second abnormal vibration information is generated.

[0046] Specifically, if the second vibration amplitude information is less than or equal to the second amplitude threshold information, the terminal device can generate second compliant vibration information, otherwise the terminal device can generate second abnormal vibration information, thereby preliminarily determining whether there is abnormal vibration in the second rotation joint.

[0047] In S300 , fault diagnosis result information is generated according to the first diagnosis result information and the second diagnosis result information.

[0048] Specifically, the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotational joint and the abnormal vibration of the second rotational joint; after the terminal device generates the first diagnosis result information and the second diagnosis result information, the terminal device can accurately generate the fault diagnosis result information based on the first diagnosis result information and the second diagnosis result information, so as to further judge whether there is an abnormal vibration of the first rotational joint and whether there is abnormal vibration of the second rotational joint, thereby facilitating more accurate maintenance work on the first rotational joint and the second rotational joint.

[0049] Without loss of generality, the fault diagnosis result information is vibration coupling information or vibration decoupling information, wherein the vibration coupling information is used to describe the existence of a coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint, and the vibration decoupling information is used to describe the absence of a coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint.

[0050] In some possible implementations, in order to facilitate the subsequent generation of accurate fault diagnosis result information, please refer to Figure 3 Before step S300, the method further includes but is not limited to the following steps:

[0051] In S201 , in response to a robot arm end instruction, first vibration peak value information and second vibration peak value information are acquired.

[0052] Specifically, the terminal device can obtain the first vibration peak information and the second vibration peak information in response to the robot arm end instruction, wherein the first vibration peak information is used to describe the maximum vibration amplitude of the first rotation joint during this rotation process, and the second vibration peak information is used to describe the maximum vibration amplitude of the second rotation joint during this rotation process; the robot arm end instruction is used to instruct the assembly robot arm to end the assembly work this time, and the robot arm end instruction can be automatically generated after the assembly robot arm moves the assembly parts of the hydrogen fuel cell to the specified position.

[0053] In S202 , first peak time information is determined based on the first vibration peak information, and second peak time information is determined based on the second vibration peak information.

[0054] Specifically, after the terminal device obtains the first vibration peak information and the second vibration peak information, the terminal device can quickly determine the first peak moment information based on the first vibration peak information, and quickly determine the second peak moment information based on the second vibration peak information, wherein the first peak moment information is used to describe the moment corresponding to when the connection between the fixed base and the first rotating arm reaches the first vibration peak information, and the second peak moment information is used to describe the moment corresponding to when the connection between the first rotating arm and the second rotating arm reaches the second vibration peak information.

[0055] In S203, based on a preset local server, the first joint position information is determined according to the first peak moment information, and the second joint position information is determined according to the second peak moment information.

[0056] Specifically, after the terminal device determines the first peak moment information and the second peak moment information, the terminal device can quickly determine the first joint position information based on the preset local server according to the first peak moment information, and quickly determine the second joint position information based on the second peak moment information. Wherein, the local server stores the historical three-dimensional position of the first rotating arm during each rotation process and the historical three-dimensional position of the second rotating arm during each rotation process, the first joint position information is used to describe the three-dimensional position of the first rotating arm relative to the fixed base, and the collection time of the first joint position information is equal to the first peak moment information, the second joint position information is used to describe the three-dimensional position of the second rotating arm relative to the fixed base, and the collection time of the second joint position information is equal to the second peak moment information.

[0057] In S204, based on the local server, the historical target position information of the first joint and the historical target position information of the second joint are obtained.

[0058] Specifically, after the terminal device determines the first joint position information and the second joint position information, the terminal device can directly obtain the first joint historical target position information and the second joint historical target position information based on the local server, wherein the first joint historical target position information is used to describe the three-dimensional position of the first rotating joint relative to the fixed base when the last rotation process reaches the maximum vibration amplitude, and the second joint historical target position information is used to describe the three-dimensional position of the second rotating joint relative to the fixed base when the last rotation process reaches the maximum vibration amplitude.

[0059] In some possible implementations, in order to generate accurate and effective fault diagnosis result information, please refer to Figure 4 Step S300 includes but is not limited to the following steps:

[0060] In S310, first joint deviation information is generated according to the angle difference between the first joint historical target position information and the first joint position information, and second joint deviation information is generated according to the angle difference between the second joint historical target position information and the second joint position information.

[0061] Specifically, the terminal device can generate first joint deviation information according to the angle difference between the first joint historical target position information and the first joint position information, and generate second joint deviation information according to the angle difference between the second joint historical target position information and the second joint position information, wherein the first joint deviation information is used to describe the angle difference between the first joint historical target position information and the first joint position information, and the first joint deviation information can be used to judge the similarity between the abnormal vibration of the first rotating joint in this assembly work and the abnormal vibration of the first rotating joint in the previous assembly work, and the smaller the value of the first joint deviation information is, the more similar the abnormal vibration of the first rotating joint in this assembly work is to the abnormal vibration of the first rotating joint in the previous assembly work; the second joint deviation information is used to describe the angle difference between the second joint historical target position information and the second joint position information, and the second joint deviation information can be used to judge the similarity between the abnormal vibration of the second rotating joint in this assembly work and the abnormal vibration of the second rotating joint in the previous assembly work, and the smaller the value of the second joint deviation information is, the more similar the abnormal vibration of the second rotating joint in this assembly work is to the abnormal vibration of the second rotating joint in the previous assembly work.

[0062] In S320, first rotating arm deviation information is generated according to the angle difference between the first joint historical target position information and the second joint historical target position information, and second rotating arm deviation information is generated according to the angle difference between the first joint position information and the second joint position information.

[0063] Specifically, after the terminal device generates the first joint deviation information and the second joint deviation information, the terminal device can quickly generate the first rotating arm deviation information according to the angle difference between the first joint historical target position information and the second joint historical target position information, and at the same time quickly generate the second rotating arm deviation information according to the angle difference between the first joint position information and the second joint position information, wherein the first rotating arm deviation information is used to describe the angle difference between the first joint historical target position information and the second joint historical target position information, and the second rotating arm deviation information is used to describe the angle difference between the first joint position information and the second joint position information; the first rotating arm deviation information can be used to characterize the correlation between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint in the last assembly work, and the second rotating arm deviation information is used to characterize the correlation between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint in this assembly work.

[0064] In S330 , rotation deviation information is generated according to the angle difference between the first rotation arm deviation information and the second rotation arm deviation information.

[0065] Specifically, after the terminal device generates the first rotating arm deviation information and the second rotating arm deviation information, the terminal device can generate rotation deviation information based on the angle difference between the first rotating arm deviation information and the second rotating arm deviation information, wherein the rotation deviation information is used to describe the angle difference between the first rotating arm deviation information and the second rotating arm deviation information, and the rotation deviation information is used to characterize the correlation between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint in this assembly work, and the degree of correlation relative to the correlation between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint in the previous assembly work.

[0066] In S340, if the first joint deviation information is less than the preset deviation threshold information, the second joint deviation information is less than the deviation threshold information, the rotation deviation information is less than the deviation threshold information, the first diagnostic result information is the first abnormal vibration information, and the second diagnostic result information is the second abnormal vibration information, then vibration coupling information is generated, otherwise vibration decoupling information is generated.

[0067] Specifically, if the first joint deviation information is less than the preset deviation threshold information, the second joint deviation information is less than the deviation threshold information, the rotation deviation information is less than the deviation threshold information, the first diagnostic result information is the first abnormal vibration information, and the second diagnostic result information is the second abnormal vibration information, then the terminal device can accurately generate vibration coupling information; otherwise, the terminal device can accurately generate vibration decoupling information, thereby timely and accurately discovering the abnormal vibration problem of the assembly robot arm and further analyzing the abnormal vibration problem to improve reliability.

[0068] In some possible implementations, in order to facilitate maintenance personnel to promptly learn of abnormal vibration problems, please refer to Figure 5 After step S300, the method further includes but is not limited to the following steps:

[0069] In S400 , if the fault diagnosis result information is vibration coupling information, first alarm information is generated.

[0070] Specifically, if the fault diagnosis result information is vibration coupling information, the terminal device may generate first alarm information, wherein the first alarm information is used to alert maintenance personnel when vibration coupling information exists.

[0071] In S410, a first alarm message is sent to a target terminal.

[0072] Specifically, after the terminal device generates the first alarm information, the terminal device may send the first alarm information to the target terminal.

[0073] In S420, if the fault diagnosis result information is vibration decoupling information, it is determined whether the first abnormal vibration information and / or the second abnormal vibration information exists.

[0074] Specifically, if the fault diagnosis result information is vibration decoupling information, the terminal device can determine whether the first abnormal vibration information and / or the second abnormal vibration information exists.

[0075] In S430 , if the first abnormal vibration information and / or the second abnormal vibration information exists, the second alarm information is generated.

[0076] Specifically, if there is first abnormal vibration information and / or second abnormal vibration information, the terminal device can generate second alarm information, wherein the second alarm information is used to alert maintenance personnel when there is first abnormal vibration information and / or second abnormal vibration information.

[0077] In S440, a second alarm message is sent to the target terminal.

[0078] Specifically, after the terminal device generates the second alarm information, the terminal device may send the second alarm information to the target terminal.

[0079] The implementation principle of the iterative learning fault diagnosis method applied to the assembly robot arm in the embodiment of the present application is as follows: the terminal device can first respond to the robot arm startup instruction, and based on the vibration meter, obtain the first vibration amplitude information of the first rotating joint and the second vibration amplitude information of the second rotating joint, and then quickly generate the first diagnosis result information according to the first vibration amplitude information and the preset first amplitude threshold information, and at the same time, quickly generate the second diagnosis result information according to the second vibration amplitude information and the preset second amplitude threshold information, and finally accurately generate the fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, so as to monitor and diagnose the abnormal vibration of the assembly robot arm in real time, reduce the assembly quality problems caused by vibration, and effectively improve the reliability.

[0080] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0081] The embodiment of the present application also provides an iterative learning fault diagnosis system applied to an assembly robot arm, which is applied to an assembly robot arm. The assembly robot arm includes a fixed base, a first rotating arm and a second rotating arm. One end of the first rotating arm is connected to the fixed base, and one end of the first rotating arm away from the fixed base is connected to the second rotating arm. For ease of description, only the parts related to the present application are shown, such as Figure 6 As shown, the system 60 includes:

[0082] The vibration amplitude information acquisition module 61 is used to respond to the robot arm start instruction and acquire the first vibration amplitude information of the first rotation joint and the second vibration amplitude information of the second rotation joint based on the preset vibration meter, wherein the first rotation joint is used to describe the connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe the connection between the first rotation arm and the second rotation arm;

[0083] Diagnostic result information generating module 62: used to generate first diagnostic result information according to the first vibration amplitude information and the preset first amplitude threshold information, and to generate second diagnostic result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnostic result information is used to evaluate the abnormal vibration of the first rotation joint, and the second diagnostic result information is used to evaluate the abnormal vibration of the second rotation joint;

[0084] Fault diagnosis result information generating module 63: used to generate fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, wherein the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint.

[0085] Optionally, the first diagnostic result information is first compliant vibration information or first abnormal vibration information, and the second diagnostic result information is second compliant vibration information or second abnormal vibration information; the diagnostic result information generating module 62 includes:

[0086] The first vibration amplitude information comparison submodule is used to compare the first vibration amplitude information with the preset first amplitude threshold information;

[0087] A first compliance vibration information generating submodule: used for generating first compliance vibration information if the first vibration amplitude information is less than or equal to the first amplitude threshold information, and generating first abnormal vibration information otherwise;

[0088] The second vibration amplitude information comparison submodule is used to compare the second vibration amplitude information with the preset second amplitude threshold information;

[0089] The second compliance vibration information generating submodule is used to generate the second compliance vibration information if the second vibration amplitude information is less than or equal to the second amplitude threshold information, and to generate the second abnormal vibration information otherwise.

[0090] Optionally, the system 60 further includes:

[0091] A vibration peak value information acquisition module: used to obtain first vibration peak value information and second vibration peak value information in response to a robot arm end instruction, wherein the first vibration peak value information is used to describe the maximum vibration amplitude of the first rotation joint during this rotation process, and the second vibration peak value information is used to describe the maximum vibration amplitude of the second rotation joint during this rotation process;

[0092] A peak moment information determination module: used to determine first peak moment information according to the first vibration peak information, and to determine second peak moment information according to the second vibration peak information;

[0093] Joint position information determination module: used to determine the first joint position information according to the first peak moment information based on a preset local server, and to determine the second joint position information according to the second peak moment information, wherein the local server stores the historical three-dimensional position of the first rotating arm during each rotation process and the historical three-dimensional position of the second rotating arm during each rotation process, the first joint position information is used to describe the three-dimensional position of the first rotating arm relative to the fixed base, and the collection time of the first joint position information is equal to the first peak moment information, the second joint position information is used to describe the three-dimensional position of the second rotating arm relative to the fixed base, and the collection time of the second joint position information is equal to the second peak moment information;

[0094] Joint historical target position information acquisition module: used to acquire the first joint historical target position information and the second joint historical target position information based on the local server, wherein the first joint historical target position information is used to describe the three-dimensional position of the first rotating joint relative to the fixed base when the maximum vibration amplitude is reached in the last rotation process, and the second joint historical target position information is used to describe the three-dimensional position of the second rotating joint relative to the fixed base when the maximum vibration amplitude is reached in the last rotation process.

[0095] Optionally, the fault diagnosis result information is vibration coupling information or vibration decoupling information, wherein the vibration coupling information is used to describe the coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint, and the vibration decoupling information is used to describe the absence of a coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint; the above-mentioned fault diagnosis result information generating module 63 includes:

[0096] A joint deviation information generating submodule: used to generate first joint deviation information according to the angle difference between the first joint historical target position information and the first joint position information, and to generate second joint deviation information according to the angle difference between the second joint historical target position information and the second joint position information;

[0097] The rotating arm deviation information generating submodule is used to generate the first rotating arm deviation information according to the angle difference between the historical target position information of the first joint and the historical target position information of the second joint, and to generate the second rotating arm deviation information according to the angle difference between the first joint position information and the second joint position information;

[0098] A rotation deviation information generating submodule: used for generating rotation deviation information according to the angle difference between the first rotation arm deviation information and the second rotation arm deviation information;

[0099] Vibration coupling information generation submodule: used to generate vibration coupling information if the first joint deviation information is less than the preset deviation threshold information, the second joint deviation information is less than the deviation threshold information, the rotation deviation information is less than the deviation threshold information, the first diagnostic result information is the first abnormal vibration information, and the second diagnostic result information is the second abnormal vibration information; otherwise, vibration decoupling information is generated.

[0100] Optionally, the system 60 further includes:

[0101] A first alarm information generating module: used for generating first alarm information if the fault diagnosis result information is vibration coupling information;

[0102] A first alarm information sending module: used to send the first alarm information to the target terminal;

[0103] Abnormal vibration information judgment module: used for judging whether there is first abnormal vibration information and / or second abnormal vibration information if the fault diagnosis result information is vibration decoupling information;

[0104] A second alarm information generating module: used for generating second alarm information if the first abnormal vibration information and / or the second abnormal vibration information exists;

[0105] The second alarm information sending module is used to send the second alarm information to the target terminal.

[0106] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0107] The present application also provides a terminal device, such as Figure 7 As shown, the terminal device 70 of this embodiment includes: a processor 71, a memory 72, and a computer program 73 stored in the memory 72 and executable on the processor 71. When the processor 71 executes the computer program 73, the steps in the above-mentioned iterative learning fault diagnosis method embodiment are implemented, for example Figure 1 Steps S100 to S300 shown; or, when the processor 71 executes the computer program 73, the functions of each module in the above device are realized, for example Figure 6 The functions of modules 61 to 63 are shown.

[0108] The terminal device 70 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 70 includes but is not limited to a processor 71 and a memory 72. Those skilled in the art will appreciate that Figure 7 It is only an example of the terminal device 70 and does not constitute a limitation of the terminal device 70. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 70 may also include input and output devices, network access devices, buses, etc.

[0109] Among them, the processor 71 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0110] The memory 72 may be an internal storage unit of the terminal device 70, such as a hard disk or memory of the terminal device 70, or the memory 72 may be an external storage device of the terminal device 70, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 70; further, the memory 72 may include both an internal storage unit and an external storage device of the terminal device 70, and the memory 72 may also store a computer program 73 and other programs and data required by the terminal device 70, and the memory 72 may also be used to temporarily store data that has been output or is to be output.

[0111] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0112] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. An iterative learning fault diagnosis method applied to an assembly robot arm, the assembly robot arm comprising a fixed base, a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the fixed base, and one end of the first rotating arm away from the fixed base is connected to the second rotating arm, characterized in that: The method comprises: In response to a robot arm start-up instruction, first vibration amplitude information of a first rotation joint and second vibration amplitude information of a second rotation joint are obtained based on a preset vibration meter, wherein the first rotation joint is used to describe a connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe a connection between the first rotation arm and the second rotation arm; Generate first diagnostic result information according to the first vibration amplitude information and the preset first amplitude threshold information, and generate second diagnostic result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnostic result information is used to evaluate the abnormal vibration of the first rotational joint, and the second diagnostic result information is used to evaluate the abnormal vibration of the second rotational joint; Generate fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, wherein the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint; Wherein, before generating fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, the method further includes: In response to the robot arm end instruction, first vibration peak information and second vibration peak information are obtained, wherein the first vibration peak information is used to describe the maximum vibration amplitude of the first rotation joint during this rotation process, and the second vibration peak information is used to describe the maximum vibration amplitude of the second rotation joint during this rotation process; Determine first peak moment information according to the first vibration peak information, and determine second peak moment information according to the second vibration peak information; Based on a preset local server, first joint position information is determined according to the first peak moment information, and second joint position information is determined according to the second peak moment information, wherein the local server stores historical three-dimensional positions of the first rotating arm during each rotation process and historical three-dimensional positions of the second rotating arm during each rotation process, the first joint position information is used to describe the three-dimensional position of the first rotating arm relative to the fixed base, and the collection time of the first joint position information is equal to the first peak moment information, the second joint position information is used to describe the three-dimensional position of the second rotating arm relative to the fixed base, and the collection time of the second joint position information is equal to the second peak moment information; Based on the local server, the historical target position information of the first joint and the historical target position information of the second joint are obtained, wherein the historical target position information of the first joint is used to describe the three-dimensional position of the first rotating joint relative to the fixed base when the first rotating joint reaches the maximum vibration amplitude in the last rotation process, and the historical target position information of the second joint is used to describe the three-dimensional position of the second rotating joint relative to the fixed base when the second rotating joint reaches the maximum vibration amplitude in the last rotation process.

2. The method according to claim 1, characterized in that The first diagnostic result information is first compliant vibration information or first abnormal vibration information, and the second diagnostic result information is second compliant vibration information or second abnormal vibration information; the first diagnostic result information is generated according to the first vibration amplitude information and the preset first amplitude threshold information, and the second diagnostic result information is generated according to the second vibration amplitude information and the preset second amplitude threshold information, including: Comparing the first vibration amplitude information with preset first amplitude threshold information; If the first vibration amplitude information is less than or equal to the first amplitude threshold information, the first compliance vibration information is generated; otherwise, the first abnormal vibration information is generated; comparing the second vibration amplitude information with preset second amplitude threshold information; If the second vibration amplitude information is less than or equal to the second amplitude threshold information, the second compliant vibration information is generated; otherwise, the second abnormal vibration information is generated.

3. The method according to claim 2, characterized in that The fault diagnosis result information is vibration coupling information or vibration decoupling information, wherein the vibration coupling information is used to describe that there is a coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint, and the vibration decoupling information is used to describe that there is no coupling relationship between the abnormal vibration of the first rotation joint and the abnormal vibration of the second rotation joint; the fault diagnosis result information is generated according to the first diagnosis result information and the second diagnosis result information, including: Generate first joint deviation information according to the angle difference between the first joint historical target position information and the first joint position information, and generate second joint deviation information according to the angle difference between the second joint historical target position information and the second joint position information; Generate first rotation arm deviation information according to the angle difference between the first joint historical target position information and the second joint historical target position information, and generate second rotation arm deviation information according to the angle difference between the first joint position information and the second joint position information; generating rotation deviation information according to an angle difference between the first rotation arm deviation information and the second rotation arm deviation information; If the first joint deviation information is less than the preset deviation threshold information, the second joint deviation information is less than the deviation threshold information, the rotation deviation information is less than the deviation threshold information, the first diagnostic result information is the first abnormal vibration information, and the second diagnostic result information is the second abnormal vibration information, then vibration coupling information is generated, otherwise vibration decoupling information is generated.

4. The method according to claim 3, characterized in that After generating fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, the method further includes: If the fault diagnosis result information is the vibration coupling information, generating first alarm information; Sending the first alarm information to a target terminal; If the fault diagnosis result information is the vibration decoupling information, determining whether the first abnormal vibration information and / or the second abnormal vibration information exists; If the first abnormal vibration information and / or the second abnormal vibration information exists, generating second alarm information; The second alarm information is sent to the target terminal.

5. An iterative learning fault diagnosis system applied to an assembly robot arm, the assembly robot arm comprising a fixed base, a first rotating arm and a second rotating arm, one end of the first rotating arm is connected to the fixed base, and one end of the first rotating arm away from the fixed base is connected to the second rotating arm, characterized in that: The system comprises: A vibration amplitude information acquisition module: used for responding to a robot arm start-up instruction, based on a preset vibration meter, acquiring first vibration amplitude information of a first rotation joint and second vibration amplitude information of a second rotation joint, wherein the first rotation joint is used to describe a connection between the fixed base and the first rotation arm, and the second rotation joint is used to describe a connection between the first rotation arm and the second rotation arm; A diagnosis result information generating module: used to generate first diagnosis result information according to the first vibration amplitude information and the preset first amplitude threshold information, and to generate second diagnosis result information according to the second vibration amplitude information and the preset second amplitude threshold information, wherein the first diagnosis result information is used to evaluate the abnormal vibration of the first rotation joint, and the second diagnosis result information is used to evaluate the abnormal vibration of the second rotation joint; A fault diagnosis result information generating module: used to generate fault diagnosis result information according to the first diagnosis result information and the second diagnosis result information, wherein the fault diagnosis result information is used to evaluate the coupling relationship between the abnormal vibration of the first rotating joint and the abnormal vibration of the second rotating joint; Wherein, the system further comprises: A vibration peak information acquisition module: used to obtain first vibration peak information and second vibration peak information in response to a robot arm end instruction, wherein the first vibration peak information is used to describe the maximum vibration amplitude of the first rotation joint during this rotation process, and the second vibration peak information is used to describe the maximum vibration amplitude of the second rotation joint during this rotation process; A peak moment information determination module: used to determine first peak moment information according to the first vibration peak information, and to determine second peak moment information according to the second vibration peak information; A joint position information determination module: used to determine the first joint position information according to the first peak moment information based on a preset local server, and to determine the second joint position information according to the second peak moment information, wherein the local server stores the historical three-dimensional position of the first rotating arm during each rotation process and the historical three-dimensional position of the second rotating arm during each rotation process, the first joint position information is used to describe the three-dimensional position of the first rotating arm relative to the fixed base, and the collection time of the first joint position information is equal to the first peak moment information, the second joint position information is used to describe the three-dimensional position of the second rotating arm relative to the fixed base, and the collection time of the second joint position information is equal to the second peak moment information; Joint historical target position information acquisition module: used to acquire the first joint historical target position information and the second joint historical target position information based on the local server, wherein the first joint historical target position information is used to describe the three-dimensional position of the first rotating joint relative to the fixed base when the first rotating joint reaches the maximum vibration amplitude during the last rotation process, and the second joint historical target position information is used to describe the three-dimensional position of the second rotating joint relative to the fixed base when the second rotating joint reaches the maximum vibration amplitude during the last rotation process.

6. The system according to claim 5, characterized in that The first diagnosis result information is first compliance vibration information or first abnormal vibration information, and the second diagnosis result information is second compliance vibration information or second abnormal vibration information; The diagnosis result information generating module comprises: First vibration amplitude information comparison submodule: used to compare the first vibration amplitude information with the preset first amplitude threshold information; A first compliance vibration information generating submodule: used for generating the first compliance vibration information if the first vibration amplitude information is less than or equal to the first amplitude threshold information, and generating the first abnormal vibration information otherwise; Second vibration amplitude information comparison submodule: used to compare the second vibration amplitude information with preset second amplitude threshold information; The second compliance vibration information generating submodule is used to generate the second compliance vibration information if the second vibration amplitude information is less than or equal to the second amplitude threshold information, and otherwise generate the second abnormal vibration information.

7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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