A fault detection system and method for servo motor

Abstract

The invention discloses a fault detection system and method applied to a servo motor, belonging to the technical field of motor speed control, and specifically comprising: storing environmental data of various pre-selected areas statistically collected from a meteorological information database, wherein the environmental data include the environmental temperature of each season; measuring the motor speed of an industrial robot in real time in a test environment; controlling the industrial robot to adjust the working gear and record the speed at a specific temperature in each pre-selected area and season; establishing a fitting function of the gear speed and the environmental temperature; locating the working area according to GPS or user settings; obtaining the speed of each gear of the industrial robot, comparing it with the standard processing speed, and marking the recommended gear; if all gears do not exceed the standard processing speed, the highest gear is the recommended gear, and the moving speed of the industrial robot is adjusted; the invention can adjust the speed of the servo motor according to changes in the environment.

Description

Technical Field

[0001] The present invention relates to the technical field of motor speed control, and in particular to a fault detection system and method applied to a servo motor. Background Art

[0002] A servo motor is an electric motor used to precisely control the operation of mechanical components in an automatic control system. It can convert voltage signals into torque and speed to drive the controlled object, and has the characteristics of small electromechanical time constant and high linearity. Servo motors are divided into two types: DC and AC. They achieve high-precision positioning and speed control through closed-loop control systems and are widely used in industrial automation, medical equipment, new energy and other fields.

[0003] During the operation of the servo motor, its internal components such as windings and permanent magnets will generate heat, causing the motor temperature to rise. When the temperature exceeds a certain range, it will affect the performance and speed stability of the motor. High temperature will increase the friction and magnetic conductivity loss inside the motor, increase the heating of the motor, and thus affect the speed stability. At the same time, high temperature will also weaken the magnetic properties of the permanent magnets and reduce the torque output capacity of the motor, thus affecting the speed.

[0004] However, in the actual application of servo motors, due to environmental changes, the operating temperatures in different environments are different. Temperature changes will affect the magnetic properties of the internal materials of the motor, which may cause a decrease in magnetic flux, thereby affecting the rotational speed. The processing mechanism and moving mechanism of conventional industrial robots are usually adjusted independently. When the servo motor in the processing mechanism is affected by temperature changes and the rotational speed is affected, the moving mechanism of the industrial robot still moves at the original speed, resulting in changes in the processing accuracy of the industrial robot for the product. Summary of the invention

[0005] The purpose of the present invention is to provide a fault detection system and method for a servo motor to solve the following technical problems:

[0006] The settings of the processing mechanism and moving mechanism of a conventional industrial robot are usually adjusted independently. When the rotation speed of the servo motor in the processing mechanism is affected by temperature changes, the moving mechanism of the industrial robot still moves at the original speed, resulting in changes in the processing accuracy of the industrial robot for the product.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] A fault detection system for a servo motor, comprising:

[0009] A database, used to collect environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season;

[0010] A data acquisition module is used to measure the servo motor speed of the industrial robot processing mechanism in real time in a test environment;

[0011] The test adjustment module is used to control the mobile mechanism of the industrial robot to maintain the set moving speed V0 at the ambient temperature of any season corresponding to any pre-selected area, adjust the working gear of the industrial robot from low to high, and record the speed corresponding to any gear;

[0012] A data processing module is used to collect the gear speed corresponding to different ambient temperatures in any region and establish a fitting function of the relationship between the speed of any gear and the ambient temperature change;

[0013] Positioning module, used to locate the current working area according to GPS or user settings;

[0014] The data optimization module is used to obtain the rotational speeds corresponding to all gears of the industrial robot according to the ambient temperature of the current working area, and compare the rotational speeds corresponding to all gears with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

[0015] As a further solution of the present invention: the gear positions include low gear, middle gear, high gear and super high gear, and the rotation speed of the low gear at the standard working temperature is the standard processing rotation speed.

[0016] As a further solution of the present invention: in the data processing module, the fitting function formula is:

[0017] n i =expbT a , T≥T0;

[0018] Where T represents the ambient temperature, T0 is the lower limit of the preset temperature, and n i Represents the speed of any gear, a and b are preset coefficients, a is greater than 0, b is less than 0, i∈1, 2, 3, 4.

[0019] As a further solution of the present invention: in the data optimization module, the working area collected by the positioning module is obtained, and the real-time temperature of the current working environment is detected:

[0020] If the difference between the real-time temperature and the temperature in the current working area database is lower than a preset threshold, the gear speed corresponding to the temperature in the current working area database is directly obtained;

[0021] If the difference is greater than a preset threshold, the real-time temperature is substituted into the fitting function to obtain the rotation speed of all gears.

[0022] As a further solution of the present invention: in the data optimization module, non-recommended gears are disabled in any working area and temperature.

[0023] As a further solution of the present invention: in the database, the time period includes but is not limited to season, month, week and date.

[0024] As a further solution of the present invention: in the database, the environmental data includes but is not limited to temperature, humidity and air quality index, and is simulated in a test environment.

[0025] As a further solution of the present invention: in the positioning module, the position of the current area is obtained, and the distance between the current area and each pre-selected area is calculated, and the pre-selected area closest to the current area is marked as the current working area and updated.

[0026] A fault detection method for a servo motor comprises the following steps:

[0027] Collecting environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season;

[0028] In a test environment, real-time measurement of the servo motor speed of an industrial robot processing mechanism;

[0029] Under the ambient temperature of any season corresponding to any pre-selected area, the mobile mechanism of the industrial robot is controlled to maintain the set moving speed V0, the working gear of the industrial robot is adjusted from low to high, and the speed corresponding to any gear is recorded;

[0030] Collect the gear speed corresponding to different ambient temperatures in any area, and establish a fitting function for the relationship between the speed of any gear and the ambient temperature change;

[0031] The current working area is located according to GPS or user settings; the rotation speeds corresponding to all gears of the industrial robot are obtained according to the ambient temperature of the current working area, and the rotation speeds corresponding to all gears are compared with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

[0032] Beneficial effects of the present invention:

[0033] The present invention obtains meteorological conditions in different regions and establishes a test environment based on them, thereby measuring the rotation speed of the servo motor of the industrial robot in different environments, thereby automatically matching the recommended rotation speed of the current working temperature. When the working environment has a significant impact on the rotation speed of the industrial robot, the movement speed of the industrial robot is adjusted to maintain the processing accuracy of the product, so that the industrial robot can adjust the working mode of the motor according to changes in the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1 As shown, the present invention is a fault detection system applied to a servo motor, comprising:

[0038] A database, used to collect environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season;

[0039] A data acquisition module is used to measure the servo motor speed of the industrial robot processing mechanism in real time in a test environment;

[0040] The test adjustment module is used to control the mobile mechanism of the industrial robot to maintain the set moving speed V0 at the ambient temperature of any season corresponding to any pre-selected area, adjust the working gear of the industrial robot from low to high, and record the speed corresponding to any gear;

[0041] A data processing module is used to collect the gear speed corresponding to different ambient temperatures in any region and establish a fitting function of the relationship between the speed of any gear and the ambient temperature change;

[0042] Positioning module, used to locate the current working area according to GPS or user settings;

[0043] The data optimization module is used to obtain the rotational speeds corresponding to all gears of the industrial robot according to the ambient temperature of the current working area, and compare the rotational speeds corresponding to all gears with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

[0044] In the actual application of servo motors, due to environmental changes, the operating temperatures in different environments are different. Temperature changes will affect the magnetic properties of the internal materials of the motor, which may cause a decrease in magnetic flux, thereby affecting the rotational speed. The processing mechanism and moving mechanism of conventional industrial robots are usually adjusted independently. When the servo motor in the processing mechanism is affected by temperature changes and the rotational speed is affected, the moving mechanism of the industrial robot still moves at the original speed, resulting in changes in the processing accuracy of the industrial robot for the product.

[0045] The main purpose of the present invention is to enable the industrial robot to automatically adjust its working mode under the meteorological conditions of different regions to achieve the best processing effect. To this end, we first need to obtain meteorological data of various regions, which include various meteorological factors such as temperature, humidity, and air pressure.

[0046] Next, we set up the corresponding test environment based on the acquired meteorological data. This is because meteorological conditions will affect the rotation speed of industrial robots. For example, high temperature and high humidity may cause the rotation speed of industrial robots to decrease. By setting up test environments with different meteorological conditions, we can simulate the working conditions of industrial robots in various actual environments.

[0047] In the test environment, we measure the speed of industrial robots under different weather conditions. Based on this data, we can automatically match the recommended speed for the current working area. In this way, no matter what weather conditions the industrial robot is in, it can maintain good working efficiency.

[0048] When the working environment has a significant impact on the rotation speed of the industrial robot, such as in a high temperature and high humidity environment, the rotation speed of the industrial robot may decrease, resulting in poor processing results. To solve this problem, we adjust the moving speed of the industrial robot's moving mechanism so that it can still maintain efficient processing results in harsh environments.

[0049] In addition, the present invention also enables the industrial robot to have the ability to self-adjust. When the environment changes, for example, from a high temperature and high humidity environment to a low temperature and low humidity environment, the industrial robot can automatically adjust its working mode according to the change in the environment to achieve the best processing effect.

[0050] In summary, the present invention enables the industrial robot to maintain good processing effects in various environments by obtaining meteorological conditions in different regions, establishing a test environment, measuring the rotation speed of the industrial robot in different environments, automatically matching the recommended rotation speed, and adjusting the moving speed. This not only improves the working efficiency of the industrial robot, but also enables it to better adapt to different working environments and meet the needs of users.

[0051] In a preferred embodiment of the present invention, the gears include low gear, middle gear, high gear and super high gear, and the rotation speed of the low gear at the standard working temperature is the standard processing rotation speed.

[0052] In another preferred embodiment of the present invention, in the data processing module, the fitting function formula is:

[0053] n i =expbT a , T≥T0;

[0054] Where T represents the ambient temperature, T0 is the lower limit of the preset temperature, and n i Represents the speed of any gear, a and b are preset coefficients, a is greater than 0, b is less than 0, i∈1, 2, 3, 4.

[0055] In another preferred embodiment of the present invention, the data optimization module obtains the working area collected by the positioning module and detects the real-time temperature of the current working environment:

[0056] If the difference between the real-time temperature and the temperature in the current working area database is lower than a preset threshold, the gear speed corresponding to the temperature in the current working area database is directly obtained;

[0057] If the difference is greater than a preset threshold, the real-time temperature is substituted into the fitting function to obtain the rotation speed of all gears.

[0058] In another preferred embodiment of the present invention, in the data optimization module, non-recommended gears are disabled in any working area and temperature.

[0059] In another preferred embodiment of the present invention, in the database, the time period includes but is not limited to season, month, week and date.

[0060] In another preferred embodiment of the present invention, the environmental data in the database includes but is not limited to temperature, humidity and air quality index, and is simulated in a test environment.

[0061] In another preferred embodiment of the present invention, in the positioning module, the positioning of the current area is obtained, and the distance between the current area and each pre-selected area is calculated, and the pre-selected area closest to the current area is marked as the current working area and updated.

[0062] A fault detection method for a servo motor comprises the following steps:

[0063] Collecting environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season;

[0064] In a test environment, real-time measurement of the servo motor speed of an industrial robot processing mechanism;

[0065] Under the ambient temperature of any season corresponding to any pre-selected area, the mobile mechanism of the industrial robot is controlled to maintain the set moving speed V0, the working gear of the industrial robot is adjusted from low to high, and the speed corresponding to any gear is recorded;

[0066] Collect the gear speed corresponding to different ambient temperatures in any area, and establish a fitting function for the relationship between the speed of any gear and the ambient temperature change;

[0067] The current working area is located according to GPS or user settings; the rotation speeds corresponding to all gears of the industrial robot are obtained according to the ambient temperature of the current working area, and the rotation speeds corresponding to all gears are compared with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

[0068] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A fault detection system for a servo motor, characterized in that: include: A database, used to collect environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season; A data acquisition module is used to measure the servo motor speed of the industrial robot processing mechanism in real time in a test environment; The test adjustment module is used to control the mobile mechanism of the industrial robot to maintain the set moving speed V0 at the ambient temperature of any season corresponding to any pre-selected area, adjust the working gear of the industrial robot from low to high, and record the speed corresponding to any gear; A data processing module is used to collect the gear speed corresponding to different ambient temperatures in any region and establish a fitting function of the relationship between the speed of any gear and the ambient temperature change; Positioning module, used to locate the current working area according to GPS or user settings; The data optimization module is used to obtain the rotational speeds corresponding to all gears of the industrial robot according to the ambient temperature of the current working area, and compare the rotational speeds corresponding to all gears with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

2. A fault detection system for a servo motor according to claim 1, characterized in that: The gears include low gear, middle gear, high gear and super high gear, and the rotation speed of the low gear at the standard working temperature is the standard processing rotation speed.

3. A fault detection system for a servo motor according to claim 2, characterized in that: In the data processing module, the fitting function formula is: n i =expbT a ,T≥T0; Where T represents the ambient temperature, T0 is the lower limit of the preset temperature, and n i Represents the speed of any gear, a and b are preset coefficients, a is greater than 0, b is less than 0, i∈1, 2, 3, 4.

4. A fault detection system for a servo motor according to claim 1, characterized in that: In the data optimization module, the working area collected by the positioning module is obtained, and the real-time temperature of the current working environment is detected: If the difference between the real-time temperature and the temperature in the current working area database is lower than a preset threshold, the gear speed corresponding to the temperature in the current working area database is directly obtained; If the difference is greater than a preset threshold, the real-time temperature is substituted into the fitting function to obtain the rotation speed of all gears.

5. A fault detection system for a servo motor according to claim 1, characterized in that: In the data optimization module, non-recommended gears are disabled in any working area and temperature.

6. A fault detection system for a servo motor according to claim 1, characterized in that: In the database, the time period includes but is not limited to season, month, week and date.

7. A fault detection system for a servo motor according to claim 1, characterized in that: In the database, the environmental data includes but is not limited to temperature, humidity and air quality index, and is simulated in a test environment.

8. A fault detection system for a servo motor according to claim 1, characterized in that: In the positioning module, the positioning of the current area is obtained, and the distance between the current area and each pre-selected area is calculated, and the pre-selected area closest to the current area is marked as the current working area and updated.

9. A fault detection method for a servo motor, characterized in that: The following steps are involved: Collecting environmental data of each pre-selected area from a meteorological information database, wherein the environmental data includes the ambient temperature of each season; In a test environment, real-time measurement of the servo motor speed of an industrial robot processing mechanism; Under the ambient temperature of any season corresponding to any pre-selected area, the mobile mechanism of the industrial robot is controlled to maintain the set moving speed V0, the working gear of the industrial robot is adjusted from low to high, and the speed corresponding to any gear is recorded; Collect the gear speed corresponding to different ambient temperatures in any area, and establish a fitting function for the relationship between the speed of any gear and the ambient temperature change; The current working area is located according to GPS or user settings; the rotation speeds corresponding to all gears of the industrial robot are obtained according to the ambient temperature of the current working area, and the rotation speeds corresponding to all gears are compared with the standard processing speed n0. If there is a gear speed greater than the standard processing speed, it is marked as the recommended gear in the current environment; if there is no gear speed greater than the standard processing speed, the gear speed n1 corresponding to the highest gear is marked as the recommended gear in the current environment, and the moving speed of the industrial robot in the current environment is adjusted to V0n1 / n0.

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