A fault monitoring system for mining hydraulic pipeline auxiliary installation robots

Abstract

The present invention relates to the technical field of mining hydraulic pipeline installation robots, and specifically discloses a mining hydraulic pipeline auxiliary installation robot fault monitoring system, including a monitoring parameter acquisition module, a hydraulic system state evaluation module, a robot joint performance evaluation module, a robot energy consumption change analysis module, a fault warning terminal, and a cloud database. By evaluating the hydraulic system efficiency of the robot during operation, and combining the joint torque, joint displacement, and joint acceleration in the robot joint parameters for comprehensive analysis and calculation, the robot's faults during operation are further monitored and analyzed. By monitoring and analyzing the fault points of the robot during operation from different directions, combined with the energy consumption parameters of the robot corresponding to each monitoring period during operation, the accuracy and reliability of the fault monitoring and evaluation results of the robot corresponding to each monitoring period during operation can be greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of mining hydraulic pipeline installation robots, and in particular to a mining hydraulic pipeline auxiliary installation robot fault monitoring system. Background Art

[0002] The fault monitoring system of the mining hydraulic pipeline auxiliary installation robot realizes real-time monitoring, data analysis and fault diagnosis of the robot's operating status by integrating sensors, data acquisition devices, signal processing algorithms and professional software. The system can collect various working parameters of the robot, such as vibration, temperature, pressure, hydraulic flow, etc., and process and analyze these data through intelligent algorithms to identify potential fault risks.

[0003] The auxiliary installation robots used in the installation of mining hydraulic pipelines are prone to failure during operation, and the current fault monitoring systems usually use a single data analysis to determine whether the robot has an operational failure, which leads to a decrease in the accuracy of the robot's fault judgment results, and there is no analysis and evaluation function for the robot's fault type, resulting in poor use of the existing fault monitoring system. For this reason, we propose a fault monitoring system for auxiliary installation robots for mining hydraulic pipelines. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a mining hydraulic pipeline auxiliary installation robot fault monitoring system to solve the above-mentioned technical defects.

[0005] To achieve the above purpose, the present invention is implemented through the following technical solutions: a fault monitoring system for a mining hydraulic pipeline auxiliary installation robot, including a monitoring parameter acquisition module, a hydraulic system state evaluation module, a robot joint performance evaluation module, a robot energy consumption change analysis module, a fault warning terminal, and a cloud database. The monitoring parameter acquisition module is used to monitor and acquire the operating parameters of the mining hydraulic pipeline auxiliary installation robot in each monitoring period during the corresponding operation process in real time, and obtain the operating parameters of the robot in each monitoring period during the corresponding operation process, wherein the operating parameters include hydraulic parameters, joint parameters and energy consumption parameters;

[0006] The hydraulic system status evaluation module is used to analyze and calculate the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the hydraulic status coefficient of each monitoring period during the corresponding operation of the robot;

[0007] The robot joint performance evaluation module is used to analyze and calculate the joint parameters of each monitoring period during the corresponding operation of the robot, and obtain the joint state coefficient of each monitoring period during the corresponding operation of the robot;

[0008] The robot energy consumption change analysis module is used to analyze the robot's fault type based on the energy consumption parameters of each monitoring period during the robot's corresponding operation process combined with the joint state coefficient and hydraulic state coefficient of each monitoring period during the robot's corresponding operation process;

[0009] The fault warning terminal issues a warning prompt based on the generated fault signal and performs corresponding fault troubleshooting based on the type of the warning signal;

[0010] The cloud database is used to store the hydraulic parameters, joint parameters, energy consumption parameters and the threshold values ​​set for each parameter at each monitoring period during the operation of the robot.

[0011] Furthermore, the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity of each monitoring period during the corresponding operation of the robot together constitute the hydraulic parameters of each monitoring period during the corresponding operation of the robot; the joint torque, joint displacement and joint acceleration of each monitoring period during the corresponding operation of the robot together constitute the joint parameters of each monitoring period during the corresponding operation of the robot; the instantaneous power of each monitoring period during the corresponding operation of the robot constitutes the energy consumption parameters of each monitoring period during the corresponding operation of the robot.

[0012] Furthermore, the hydraulic parameters of each monitoring period during the corresponding operation of the robot are analyzed and calculated. The specific analysis process is as follows:

[0013] Extract the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity from the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity of each monitoring period during the corresponding operation of the robot;

[0014] At the same time, the instantaneous energy consumption is extracted from the energy consumption parameters of each monitoring period during the corresponding operation of the robot;

[0015] The oil viscosity value of the initial period is extracted from the oil viscosity of each monitoring period during the corresponding operation of the robot. The oil viscosity of each monitoring period in the subsequent operation of the robot is subtracted from the oil viscosity value of the initial period and divided by the oil viscosity of the initial period to obtain the oil viscosity change rate of each monitoring period in the corresponding operation of the robot.

[0016] The maximum and minimum standard values ​​of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are obtained from the cloud database. The oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are subtracted from the corresponding minimum standard value, and then divided by the difference between the corresponding maximum standard value and the minimum standard value to obtain the standard value of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot, which are recorded as YP i , YT i , YQ i and NW i , i represents the number of each monitoring period, i=1,2,…,n, n represents the total number of monitoring period numbers.

[0017] Furthermore, the maximum threshold of the metal particle content in the oil during each monitoring period during the corresponding operation of the robot, the standard value of the oil viscosity and the maximum threshold of the oil viscosity are obtained from the cloud database. The metal particle content in the oil during each monitoring period during the corresponding operation of the robot and the maximum threshold of the metal particle content in the oil are compared and calculated, and then the calculation result is subtracted from 1 and the absolute value is taken to obtain the standard value of the metal particle content in each monitoring period during the corresponding operation of the robot, which is recorded as MK i ;

[0018] The oil viscosity at each monitoring period during the operation of the robot is subtracted from the standard value of the oil viscosity, and the absolute value is taken to compare with the maximum threshold of the oil viscosity. The calculated result is then subtracted from 1 and the absolute value is taken to obtain the standard value of the oil viscosity change rate at each monitoring period during the operation of the robot, which is recorded as NB. i ;

[0019] According to the formula:

[0020]

[0021] Calculate the oil pressure deviation index and oil temperature deviation index of each monitoring period during the corresponding operation of the robot, where a1, a2, a3, a4 and b1, b2, b3, b4 are all set positive integer exponential factors, and a1, a2, a3, a4 are all greater than 1, YP max Indicates the maximum standard value of the oil pressure at each monitoring period during the robot's operation. min Indicates the minimum standard value of the oil pressure at each monitoring period during the robot's operation, YT max Indicates the maximum standard value of the oil temperature at each monitoring period during the robot's operation, YT min Indicates the minimum standard value of the oil temperature at each monitoring period during the robot's operation, FPi1 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil pressure, FP i2 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil pressure, FT i1 It indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil temperature, FT i2 It indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil temperature.

[0022] According to the formula:

[0023]

[0024] Calculate the hydraulic state coefficient P of the robot during each monitoring period during operation i , w1, w2, w3, w4, w5, and w6 are the corresponding set weight factors, and w1+w2+w3+w4+w5+w6=1.

[0025] Furthermore, the joint parameters of the robot at each monitoring period during the corresponding operation process are analyzed and calculated. The specific analysis process is as follows:

[0026] The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are extracted from the joint parameters of each monitoring period in the corresponding operation process of the robot, and the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as GN i GW i and GS i ;

[0027] The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are calculated respectively, and the average value of the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as , and .

[0028] According to the formula:

[0029]

[0030] Calculate the joint state coefficient F of the robot during each monitoring period during operation i , k1, k2 and k3 represent the corresponding weight factors respectively, and k1+k2+k3=1.

[0031] Furthermore, the energy consumption parameters of each monitoring period during the corresponding operation of the robot are combined with the joint state coefficient and hydraulic state coefficient of each monitoring period during the corresponding operation of the robot to analyze the fault type of the robot. The specific analysis method is as follows:

[0032] Obtaining the preset joint state coefficient threshold and hydraulic state coefficient threshold of each monitoring period during the corresponding operation of the robot from the cloud database, and comparing the joint state coefficient and hydraulic state coefficient of each monitoring period during the corresponding operation of the robot with the joint state coefficient threshold and hydraulic state coefficient threshold respectively;

[0033] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, obtain the instantaneous power change trend of each monitoring period during the corresponding operation of the robot at this time. If the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal is generated. If the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal is generated.

[0034] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the hydraulic system of each monitoring period during the corresponding operation of the robot is faulty, and a hydraulic system fault signal is generated;

[0035] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, at this time, if the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal and a hydraulic system fault signal are generated; if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal and a hydraulic system fault signal are generated;

[0036] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, but the joint state coefficient and the hydraulic state coefficient continue to increase in continuous monitoring periods, then it means that the joint state and the hydraulic state of each monitoring period during the corresponding operation of the robot are abnormal, and a joint state abnormal signal and a hydraulic state abnormal signal are generated.

[0037] Furthermore, an early warning is given according to the generated fault signal, and corresponding fault troubleshooting is performed according to the type of the early warning signal. The specific early warning methods are as follows:

[0038] When a joint jam signal is received, the robot is controlled to stop running, and a "joint jam fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint jam of the robot that sent the fault signal;

[0039] When a joint fracture signal is received, the robot is controlled to stop running, and a "joint fracture fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint fracture of the robot that sent the fault signal;

[0040] When a hydraulic system fault signal is received, the robot is controlled to stop running, and a "hydraulic system fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the hydraulic system of the robot that sent the fault signal;

[0041] When abnormal hydraulic status signals and abnormal joint status signals are received, the system terminal display screen will pop up "abnormal hydraulic status signal" and "abnormal joint status signal" prompts, and maintenance personnel will be arranged to immediately conduct abnormal inspections and maintenance on the hydraulic system and joint status of the robot that sends the abnormal signal.

[0042] Beneficial effects of the present invention:

[0043] 1. In the present invention, data of hydraulic parameters, joint parameters and energy consumption parameters in each monitoring period during the corresponding operation process of the robot are monitored and acquired in real time. By comprehensively analyzing and calculating the oil temperature, oil pressure, oil flow rate, metal particle content and oil viscosity in the hydraulic parameters, the efficiency of the hydraulic system of the robot during operation is evaluated for faults. At the same time, the joint torque, joint displacement and joint acceleration in the joint parameters of the robot are comprehensively analyzed and calculated to further monitor and analyze the faults of the robot during operation. By monitoring and analyzing the fault points of the robot during operation from different directions and combining the energy consumption parameters of the robot during each monitoring period during operation, the accuracy and reliability of the fault monitoring and evaluation results of each monitoring period during the corresponding operation process of the robot can be improved to a great extent.

[0044] 2. In the present invention, the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is obtained by comprehensively calculating and analyzing the oil pressure, oil temperature, oil flow, oil metal particle content, oil viscosity and instantaneous power during each monitoring period during the corresponding operation of the robot. In addition, according to the deviation state of the oil pressure and oil temperature, the prominent impact on the efficiency of the hydraulic system when the oil pressure and oil temperature deviate greatly from the normal range can be more accurately captured, thereby greatly improving the accuracy of the fault assessment results of the hydraulic system efficiency.

[0045] 3. In the present invention, the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are comprehensively calculated to obtain the joint state coefficient of each monitoring period in the corresponding operation process of the robot. The joint state of each monitoring period in the corresponding operation process of the robot can be monitored for faults, and the joint failure of the robot can be predicted in advance according to the change trend of the joint state coefficient of each monitoring period in the corresponding operation process of the robot, and the joint state of the robot can be maintained in advance to ensure the safety of the robot during operation, reduce the failure rate of the robot during operation, and respond to the operation failure of the robot in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below in conjunction with the accompanying drawings.

[0047] Figure 1 The present invention is a block diagram of a fault monitoring system for a mining hydraulic pipeline auxiliary installation robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0049] As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0050] Although the present invention has made various references to certain modules in the system according to an embodiment of the present invention, any number of different modules can be used and run on a user terminal and / or server. The modules are only illustrative, and different aspects of the system and method can use different modules.

[0051] The present invention uses a flow chart to illustrate the operations performed by the system according to an embodiment of the present invention. It should be understood that the preceding or following operations are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously as required. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0052] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0053] Embodiment 1:

[0054] See also Figure 1 As shown, a mining hydraulic pipeline assisted installation robot fault monitoring system includes: a monitoring parameter acquisition module, a hydraulic system status evaluation module, a robot joint performance evaluation module, a robot energy consumption change analysis module, a fault warning terminal, and a cloud database.

[0055] The monitoring parameter acquisition module is used to monitor and acquire the operating parameters of the mining hydraulic pipeline auxiliary installation robot in each monitoring period during the corresponding operation process in real time, and obtain the operating parameters of the robot in each monitoring period during the corresponding operation process, wherein the operating parameters include hydraulic parameters, joint parameters and energy consumption parameters.

[0056] Specifically, the real-time monitoring and acquisition method of the hydraulic parameters at each monitoring period during the operation of the robot is as follows:

[0057] The hydraulic oil pressure of each monitoring period during the corresponding operation of the robot is monitored and acquired in real time by an oil pressure sensor arranged inside the hydraulic system, so as to obtain the oil pressure of each monitoring period during the corresponding operation of the robot;

[0058] The temperature of the hydraulic oil in each monitoring period during the corresponding operation of the robot is monitored in real time by a temperature sensor arranged inside the hydraulic system, so as to obtain the oil temperature in each monitoring period during the corresponding operation of the robot;

[0059] The flow sensor installed inside the hydraulic system monitors the hydraulic oil flow rate in each monitoring period during the corresponding operation of the robot in real time to obtain the oil flow rate in each monitoring period during the corresponding operation of the robot;

[0060] The metal particle content of the hydraulic oil in each monitoring period during the corresponding operation of the robot is monitored in real time by an inductive sensor arranged inside the hydraulic system, so as to obtain the metal particle content of the oil in each monitoring period during the corresponding operation of the robot;

[0061] The viscosity of the hydraulic oil in each monitoring period during the corresponding operation of the robot is monitored in real time by a viscosity sensor arranged inside the hydraulic system, so as to obtain the viscosity of the oil in each monitoring period during the corresponding operation of the robot;

[0062] The hydraulic parameters of each monitoring period during the corresponding operation of the robot are composed of the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity during each monitoring period during the corresponding operation of the robot.

[0063] The real-time monitoring and acquisition method of the joint parameters of each monitoring period during the robot's operation is as follows:

[0064] The joint torque of the robot in each monitoring period during the corresponding operation process is monitored in real time by installing torque sensors at each joint of the robot, thereby obtaining the joint torque of the robot in each monitoring period during the corresponding operation process;

[0065] The joint displacement of the robot in each monitoring period during the corresponding operation process is monitored in real time by installing a laser rangefinder at each joint of the robot to obtain the joint displacement of the robot in each monitoring period during the corresponding operation process;

[0066] The accelerometers installed at the joints of the robot monitor the joint accelerations of the robot in each monitoring period during the corresponding operation process in real time, thereby obtaining the joint accelerations of the robot in each monitoring period during the corresponding operation process;

[0067] The joint parameters of each monitoring period during the corresponding operation of the robot are composed of the joint torque, joint displacement and joint acceleration of each monitoring period during the corresponding operation of the robot.

[0068] The real-time monitoring and acquisition method of the energy consumption parameters of each monitoring period during the operation of the robot is as follows:

[0069] The current and voltage of each monitoring period during the corresponding operation of the robot are monitored in real time through the built-in power sensor of the robot, and the product of the monitored current and voltage is calculated to obtain the instantaneous power of each monitoring period during the corresponding operation of the robot;

[0070] The energy consumption parameters of each monitoring period during the operation of the robot are composed of the instantaneous power of each monitoring period during the operation of the robot.

[0071] In a specific embodiment, the present invention obtains data by real-time monitoring of hydraulic parameters, joint parameters and energy consumption parameters in each monitoring period during the operation of the robot, and conducts a comprehensive analysis and calculation of the oil temperature, oil pressure, oil flow rate, oil metal particle content and oil viscosity in the hydraulic parameters to evaluate the hydraulic system efficiency of the robot during operation. At the same time, a comprehensive analysis and calculation is performed on the joint torque, joint displacement and joint acceleration in the joint parameters of the robot to further monitor and analyze the faults in the operation of the robot. By monitoring and analyzing the fault points of the robot in the operation process from different directions and combining the energy consumption parameters of the robot in each monitoring period during the operation process, the accuracy and reliability of the fault monitoring and evaluation results of the robot in each monitoring period during the operation process can be greatly improved.

[0072] The hydraulic system status evaluation module is used to analyze and calculate the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the hydraulic status coefficient of each monitoring period during the corresponding operation of the robot. The specific analysis process is as follows:

[0073] Extract the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity from the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity of each monitoring period during the corresponding operation of the robot;

[0074] At the same time, the instantaneous energy consumption is extracted from the energy consumption parameters of each monitoring period during the corresponding operation of the robot;

[0075] The oil viscosity value of the initial period is extracted from the oil viscosity of each monitoring period during the corresponding operation of the robot. The oil viscosity of each monitoring period in the subsequent operation of the robot is subtracted from the oil viscosity value of the initial period and divided by the oil viscosity of the initial period to obtain the oil viscosity change rate of each monitoring period in the corresponding operation of the robot.

[0076] The maximum and minimum standard values ​​of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are obtained from the cloud database. The oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are subtracted from the corresponding minimum standard value, and then divided by the difference between the corresponding maximum standard value and the minimum standard value to obtain the standard value of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot, which are recorded as YP i , YT i , YQ i and NW i , i represents the number of each monitoring period, i=1,2,…,n, n represents the total number of monitoring period numbers.

[0077] The maximum threshold of metal particle content in the oil during each monitoring period during the corresponding operation of the robot, the standard value of oil viscosity and the maximum threshold of oil viscosity are obtained from the cloud database. The metal particle content in the oil during each monitoring period during the corresponding operation of the robot and the maximum threshold of metal particle content in the oil are compared and calculated. Then, the calculated result is subtracted from 1 and its absolute value is taken to obtain the standard value of metal particle content in each monitoring period during the corresponding operation of the robot, which is recorded as MK i ;

[0078] The oil viscosity at each monitoring period during the operation of the robot is subtracted from the standard value of the oil viscosity, and the absolute value is taken to compare with the maximum threshold of the oil viscosity. The calculated result is then subtracted from 1 and the absolute value is taken to obtain the standard value of the oil viscosity change rate at each monitoring period during the operation of the robot, which is recorded as NB. i ;

[0079] According to the formula:

[0080]

[0081] Calculate the oil pressure deviation index and oil temperature deviation index of each monitoring period during the corresponding operation of the robot, where a1, a2, a3, a4 and b1, b2, b3, b4 are all set positive integer exponential factors, and a1, a2, a3, a4 are all greater than 1, YP max Indicates the maximum standard value of the oil pressure at each monitoring period during the robot's operation.min Indicates the minimum standard value of the oil pressure at each monitoring period during the robot's operation, YT max Indicates the maximum standard value of the oil temperature at each monitoring period during the robot's operation, YT min Indicates the minimum standard value of the oil temperature at each monitoring period during the robot's operation, FP i1 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil pressure, FP i2 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil pressure, FT i1 It indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil temperature, FT i2 It indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil temperature.

[0082] According to the formula:

[0083]

[0084] Calculate the hydraulic state coefficient P of the robot during each monitoring period during operation i , w1, w2, w3, w4, w5, and w6 are the corresponding set weight factors, and w1+w2+w3+w4+w5+w6=1.

[0085] In a specific embodiment, the present invention obtains the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot by comprehensively calculating and analyzing the oil pressure, oil temperature, oil flow, oil metal particle content, oil viscosity and instantaneous power of each monitoring period during the corresponding operation of the robot, and according to the deviation state of the oil pressure and oil temperature, it is possible to more accurately capture the prominent impact of the oil pressure and oil temperature deviating greatly from the normal range on the efficiency of the hydraulic system, thereby greatly improving the accuracy of the fault assessment results of the hydraulic system efficiency.

[0086] The robot joint performance evaluation module is used to analyze and calculate the joint parameters of each monitoring period during the corresponding operation of the robot, and obtain the joint state coefficient of each monitoring period during the corresponding operation of the robot. The specific analysis process is as follows:

[0087] The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are extracted from the joint parameters of each monitoring period in the corresponding operation process of the robot, and the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as GNi GW i and GS i ;

[0088] The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are calculated respectively, and the average value of the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as , and .

[0089] According to the formula:

[0090]

[0091] Calculate the joint state coefficient F of the robot during each monitoring period during operation i , k1, k2 and k3 represent the corresponding weight factors respectively, and k1+k2+k3=1.

[0092] In a specific embodiment, the present invention obtains the joint state coefficient of each monitoring period in the corresponding operation process of the robot by comprehensively calculating the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot. The joint state of each monitoring period in the corresponding operation process of the robot can be monitored for faults, and the joint failure of the robot can be predicted in advance according to the change trend of the joint state coefficient of each monitoring period in the corresponding operation process of the robot, and the joint state of the robot can be maintained in advance to ensure the safety of the robot during operation and reduce the failure rate of the robot during operation, and respond to the operation failure of the robot in time.

[0093] The robot energy consumption change analysis module is used to analyze the robot's fault type based on the energy consumption parameters of each monitoring period during the robot's corresponding operation process combined with the joint state coefficient and hydraulic state coefficient of each monitoring period during the robot's corresponding operation process. The specific analysis method is as follows:

[0094] Obtaining the preset joint state coefficient threshold and hydraulic state coefficient threshold of each monitoring period during the corresponding operation of the robot from the cloud database, and comparing the joint state coefficient and hydraulic state coefficient of each monitoring period during the corresponding operation of the robot with the joint state coefficient threshold and hydraulic state coefficient threshold respectively;

[0095] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, obtain the instantaneous power change trend of each monitoring period during the corresponding operation of the robot at this time. If the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal is generated. If the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal is generated.

[0096] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the hydraulic system of each monitoring period during the corresponding operation of the robot is faulty, and a hydraulic system fault signal is generated;

[0097] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, at this time, if the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal and a hydraulic system fault signal are generated; if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal and a hydraulic system fault signal are generated;

[0098] If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, but the joint state coefficient and the hydraulic state coefficient continue to increase in continuous monitoring periods, then it means that the joint state and the hydraulic state of each monitoring period during the corresponding operation of the robot are abnormal, and a joint state abnormal signal and a hydraulic state abnormal signal are generated.

[0099] The fault warning terminal issues a warning prompt based on the generated fault signal and performs corresponding fault troubleshooting based on the type of the warning signal. The specific warning methods are as follows:

[0100] When a joint jam signal is received, the robot is controlled to stop running, and a "joint jam fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint jam of the robot that sent the fault signal;

[0101] When a joint fracture signal is received, the robot is controlled to stop running, and a "joint fracture fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint fracture of the robot that sent the fault signal;

[0102] When a hydraulic system fault signal is received, the robot is controlled to stop running, and a "hydraulic system fault" prompt is popped up on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the hydraulic system of the robot that sent the fault signal;

[0103] When abnormal hydraulic status signals and abnormal joint status signals are received, the system terminal display screen will pop up "abnormal hydraulic status signal" and "abnormal joint status signal" prompts, and maintenance personnel will be arranged to immediately conduct abnormal inspections and maintenance on the hydraulic system and joint status of the robot that sends the abnormal signal.

[0104] The cloud database is used to store the hydraulic parameters, joint parameters, energy consumption parameters and the threshold values ​​set for each parameter at each monitoring period during the operation of the robot.

[0105] It should be noted that the threshold values ​​corresponding to various parameters are manually set by experts in related fields based on theoretical data and a large amount of historical production data.

[0106] The above formulas are all dimensionless and numerical calculations. The formula is a formula that is obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The size of the coefficient is to quantify each parameter to obtain a specific value. Regarding the size of the coefficient, it is acceptable as long as it does not affect the proportional relationship between the parameter and the quantified value.

[0107] In addition, it will be understood by those skilled in the art that various aspects of the present invention may be illustrated and described by a number of patentable categories or situations, including any new and useful process, machine, product or combination of substances, or any new and useful improvements thereto. Accordingly, various aspects of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, various aspects of the present invention may be represented as a computer product located in one or more computer-readable media, which includes computer-readable program code.

[0108] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0109] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. A fault monitoring system for a mining hydraulic pipeline auxiliary installation robot, comprising a monitoring parameter acquisition module, a hydraulic system state evaluation module, a robot joint performance evaluation module, a robot energy consumption change analysis module and a fault warning terminal, characterized in that: The monitoring parameter acquisition module is used to monitor and acquire the operating parameters of the mining hydraulic pipeline auxiliary installation robot in each monitoring period during the corresponding operation process in real time, and obtain the operating parameters of the robot in each monitoring period during the corresponding operation process, wherein the operating parameters include hydraulic parameters, joint parameters and energy consumption parameters; The hydraulic system status evaluation module is used to analyze and calculate the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the hydraulic status coefficient of each monitoring period during the corresponding operation of the robot; the robot joint performance evaluation module is used to analyze and calculate the joint parameters of each monitoring period during the corresponding operation of the robot, and obtain the joint status coefficient of each monitoring period during the corresponding operation of the robot; the robot energy consumption change analysis module is used to analyze the fault type of the robot based on the energy consumption parameters of each monitoring period during the corresponding operation of the robot, combined with the joint status coefficient and the hydraulic status coefficient of each monitoring period during the corresponding operation of the robot; The fault warning terminal issues a warning prompt based on the generated fault signal, and performs corresponding fault troubleshooting based on the type of the warning signal; The hydraulic parameters of each monitoring period during the corresponding operation of the robot are analyzed and calculated. The specific analysis process is as follows: Extract the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity from the hydraulic parameters of each monitoring period during the corresponding operation of the robot, and obtain the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity of each monitoring period during the corresponding operation of the robot; At the same time, the instantaneous energy consumption is extracted from the energy consumption parameters of each monitoring period during the corresponding operation of the robot; The oil viscosity value of the initial period is extracted from the oil viscosity of each monitoring period during the corresponding operation of the robot, and the oil viscosity value of each monitoring period during the subsequent operation of the robot is divided by the oil viscosity of the initial period after the difference is made, so as to obtain the oil viscosity change rate of each monitoring period during the corresponding operation of the robot; The maximum and minimum standard values ​​of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are obtained from the cloud database. The oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot are subtracted from the corresponding minimum standard value, and then divided by the difference between the corresponding maximum standard value and the minimum standard value to obtain the standard value of the oil pressure, oil temperature, oil flow rate and instantaneous energy consumption of each monitoring period in the corresponding operation process of the robot, which are recorded as YP i , YT i , YQ i and NW i , i represents the number of each monitoring period, i=1,2,…,n, n represents the total number of numbers of each monitoring period; The maximum threshold of metal particle content in the oil during each monitoring period during the corresponding operation of the robot, the standard value of oil viscosity and the maximum threshold of oil viscosity are obtained from the cloud database. The metal particle content in the oil during each monitoring period during the corresponding operation of the robot and the maximum threshold of metal particle content in the oil are compared and calculated. Then, the calculated result is subtracted from 1 and its absolute value is taken to obtain the standard value of metal particle content in each monitoring period during the corresponding operation of the robot, which is recorded as MK i ; The oil viscosity at each monitoring period during the operation of the robot is subtracted from the standard value of the oil viscosity, and the absolute value is taken to compare with the maximum threshold of the oil viscosity. The calculated result is then subtracted from 1 and the absolute value is taken to obtain the standard value of the oil viscosity change rate at each monitoring period during the operation of the robot, which is recorded as NB. i ; According to the formula: ； Calculate the oil pressure deviation index and oil temperature deviation index of each monitoring period during the corresponding operation of the robot, where a1, a2, a3, a4 and b1, b2, b3 and b4 are all set positive integer exponential factors, and a1, a2, a3, a4 are all greater than 1, YP max Indicates the maximum standard value of the oil pressure at each monitoring period during the robot's operation. min Indicates the minimum standard value of the oil pressure at each monitoring period during the robot's operation, YT max Indicates the maximum standard value of the oil temperature at each monitoring period during the robot's operation, YT min Indicates the minimum standard value of the oil temperature at each monitoring period during the robot's operation, FP i1 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil pressure, FP i2 Indicates the oil pressure deviation index when the oil pressure in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil pressure, FT i1 It indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is less than the minimum standard value of the oil temperature, FT i2 Indicates the oil temperature deviation index when the oil temperature in each monitoring period during the corresponding operation of the robot is greater than the maximum standard value of the oil temperature; According to the formula: ； Calculate the hydraulic state coefficient P of the robot during each monitoring period during operation i , w1, w2, w3, w4, w5, and w6 are the corresponding set weight factors respectively.

2. A mining hydraulic pipeline auxiliary installation robot fault monitoring system according to claim 1, characterized in that: The hydraulic parameters of each monitoring period during the corresponding operation of the robot are composed of the oil pressure, oil temperature, oil flow, oil metal particle content and oil viscosity during each monitoring period during the corresponding operation of the robot; The joint torque, joint displacement and joint acceleration of each monitoring period during the corresponding operation of the robot together constitute the joint parameters of each monitoring period during the corresponding operation of the robot; the energy consumption parameters of each monitoring period during the corresponding operation of the robot are constituted by the instantaneous power of each monitoring period during the corresponding operation of the robot.

3. A mining hydraulic pipeline auxiliary installation robot fault monitoring system according to claim 1, characterized in that: The joint parameters of the robot in each monitoring period during the corresponding operation process are analyzed and calculated. The specific analysis process is as follows: The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are extracted from the joint parameters of each monitoring period in the corresponding operation process of the robot, and the joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as GN i GW i and GS i ; The joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are averaged, and the average joint torque, joint displacement and joint acceleration of each monitoring period in the corresponding operation process of the robot are obtained, which are recorded as , and ; According to the formula: ； Calculate the joint state coefficient F of the robot during each monitoring period during operation i , k1, k2 and k3 represent the corresponding weight factors respectively, and k1+k2+k3=1.

4. A mining hydraulic pipeline auxiliary installation robot fault monitoring system according to claim 1, characterized in that: The energy consumption parameters of each monitoring period during the operation of the robot are combined with the joint state coefficient and hydraulic state coefficient of each monitoring period during the operation of the robot to analyze the fault type of the robot. The specific analysis method is as follows: Obtaining the preset joint state coefficient threshold and hydraulic state coefficient threshold of each monitoring period during the corresponding operation of the robot from the cloud database, and comparing the joint state coefficient and hydraulic state coefficient of each monitoring period during the corresponding operation of the robot with the joint state coefficient threshold and hydraulic state coefficient threshold respectively; If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, obtain the instantaneous power change trend of each monitoring period during the corresponding operation of the robot at this time. If the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal is generated. If the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal is generated. If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the hydraulic system of each monitoring period during the corresponding operation of the robot is faulty, and a hydraulic system fault signal is generated; If the joint state coefficient of each monitoring period during the corresponding operation of the robot is greater than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is greater than the hydraulic state coefficient threshold, at this time, if the instantaneous power of each monitoring period during the corresponding operation of the robot first decreases and then increases, it means that the joints of each monitoring period during the corresponding operation of the robot are broken, and a joint breakage signal and a hydraulic system fault signal are generated; if the instantaneous power of each monitoring period during the corresponding operation of the robot continues to increase, it means that the joints of each monitoring period during the corresponding operation of the robot are stuck, and a joint stuck signal and a hydraulic system fault signal are generated; If the joint state coefficient of each monitoring period during the corresponding operation of the robot is less than the joint state coefficient threshold, and the hydraulic state coefficient of each monitoring period during the corresponding operation of the robot is less than the hydraulic state coefficient threshold, but the joint state coefficient and the hydraulic state coefficient continue to increase in continuous monitoring periods, then it means that the joint state and the hydraulic state of each monitoring period during the corresponding operation of the robot are abnormal, and a joint state abnormal signal and a hydraulic state abnormal signal are generated.

5. A mining hydraulic pipeline auxiliary installation robot fault monitoring system according to claim 4, characterized in that: Provide early warning prompts based on the generated fault signal. The specific early warning methods are as follows: When a joint jam signal is received, the robot is controlled to stop running, and a joint jam fault prompt is displayed on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint jam of the robot that sent the fault signal; When a joint fracture signal is received, the robot is controlled to stop running, and a joint fracture fault prompt is displayed on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the joint fracture of the robot that sent the fault signal; When a hydraulic system fault signal is received, the robot is controlled to stop running, and a hydraulic system fault prompt is displayed on the system terminal display screen, and maintenance personnel are arranged to immediately troubleshoot and repair the hydraulic system of the robot that sent the fault signal; When abnormal hydraulic status signals and abnormal joint status signals are received, the system terminal display screen will pop up abnormal hydraulic status signals and abnormal joint status signal prompts, and maintenance personnel will be arranged to immediately conduct abnormal inspections and maintenance on the hydraulic system and joint status of the robot that sends the abnormal signal.

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