Fault diagnosis method of speed reducer and electronic equipment

Abstract

The invention discloses a speed reducer fault diagnosis method and electronic equipment, a speed reducer is located on a target joint shaft of a robot, the target joint shaft is further provided with a motor connected with the speed reducer, and the diagnosis method comprises the steps that in the rotating process of the speed reducer, for each sampling moment, the output end angle of the speed reducer at the sampling moment is obtained, and the output end angle is calculated; acquiring operation parameters of the motor at the sampling moment; and determining the fault of the speed reducer according to the output end angle and the operation parameters obtained at each sampling moment. According to the method, the fault occurrence position and the specific reason of the speed reducer can be determined.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a fault diagnosis method for a reducer and an electronic device. Background Art

[0002] Vibration is one of the common problems in industrial robot failures, which directly affects the robot's operating accuracy and positioning accuracy. Vibration can cause parts to deform, accelerate the wear of parts, and reduce the service life of the robot; vibration can cause screws to loosen, resulting in connection failure, causing robot failures and even unexpected downtime accidents; the noise generated by vibration also affects the physical and mental health of operators. Most of the vibration of industrial robots is caused by reducers (including commonly used cycloid reducers, harmonic reducers, planetary reducers, etc.).

[0003] At present, the commonly used methods for vibration analysis of industrial robots are: time domain and frequency domain analysis of sensor signals. On the one hand, the vibration of the robot can be directly judged based on the amplitude, peak value, mean value, etc. through the feedback data of the motor encoder inside the robot or the time domain signal obtained by the external sensor; on the other hand, the obtained time domain signal can be Fourier transformed to obtain frequency domain information. According to the obtained frequency characteristics, the components corresponding to this vibration frequency can be found, but the cause of the vibration cannot be explained, and it is impossible to determine what kind of fault causes the reducer to vibrate. In order to further confirm the root cause, it takes a lot of time to disassemble the machine for inspection, which is time-consuming and laborious. Summary of the invention

[0004] The present application provides a reducer fault diagnosis method and electronic device, which can be used to diagnose the location and specific cause of the reducer fault.

[0005] A first aspect of the present application provides a fault diagnosis method for a reducer, wherein the reducer is located on a target joint axis of a robot, and the target joint axis is further provided with a motor connected to the reducer. The diagnosis method comprises: during the rotation of the reducer, for each sampling moment, obtaining the output end angle of the reducer at the sampling moment, and obtaining the operating parameters of the motor at the sampling moment; determining the fault of the reducer based on the output end angle and the operating parameters obtained at each sampling moment.

[0006] In one embodiment, the step of obtaining the output end angle of the reducer at the sampling moment includes: determining the output end angle of the reducer at the sampling moment according to the initial angle of the reducer at the sampling moment, the rotation speed of the motor at the sampling moment, the reduction ratio of the reducer and the sampling period; wherein the initial angle of the reducer at the sampling moment is equal to the output end angle of the reducer at the previous sampling moment, and the sampling period is equal to the time interval between two adjacent sampling moments.

[0007] In one embodiment, the step of obtaining the output angle of the reducer at the sampling time includes: determining the output angle of the reducer at the sampling time according to the following formula: Among them, is the initial angle of the reducer at the sampling time, is the reduction ratio of the reducer, is the sampling period of the reducer, and is the speed of the motor.

[0008] In one embodiment, the operating parameters of the motor include at least one of current, torque, rotation speed, and acceleration.

[0009] In one embodiment, the step of determining the fault of the reducer based on the output end angle and the operating parameters obtained at each sampling moment includes: for each sampling moment, calculating the cosine value of the output end angle and the sine value of the output end angle, and calculating the first product of the sine value and the operating parameter; drawing a first operating diagram of the reducer in a first rectangular coordinate system with the cosine value corresponding to the sampling moment as the horizontal coordinate and the first product corresponding to the sampling moment as the vertical coordinate; determining the fault of the reducer based on the first operating diagram.

[0010] In one embodiment, the step of determining the fault of the reducer according to the first operating diagram includes: for each sampling moment, calculating the cosine value and the sine value of the target angle, and calculating the second product of the sine value of the target angle and the operating parameter, wherein the target angle is equal to the sum of the output end angle and the compensation angle; drawing the second operating diagram of the reducer in a second rectangular coordinate system with the cosine value corresponding to the sampling moment as the horizontal coordinate and the second product corresponding to the sampling moment as the vertical coordinate; determining the fault of the reducer according to the first operating diagram and the second operating diagram.

[0011] In one embodiment, the operating parameter of the motor is current, and the step of determining the fault of the reducer according to the first operating diagram includes: obtaining the number of clusters exceeding the standard in the first operating diagram to obtain a first number; in response to the first number being equal to the number of reducer mounting screws, determining that the reducer is subjected to abnormal axial stretching; in response to the first number being less than the number of reducer mounting screws, determining that the tightening torque of the mounting screws is uneven or broken.

[0012] In one embodiment, the operating parameter of the motor is current, and the step of determining the fault of the reducer according to the first operating diagram includes: in response to the absolute value of the difference between the first products of any two adjacent sampling moments in the first operating diagram exceeding the standard, and the frequency of the first operating diagram is twice the rotation frequency of the motor, determining that the reducer has a flexible wheel fracture, wherein the frequency of the first operating diagram is obtained by performing Fourier transform on the first operating diagram.

[0013] In one embodiment, the operating parameter of the motor is current, and the step of determining the fault of the reducer according to the first operating diagram includes: in response to the deviation of the first operating diagram, determining that the installation concentricity of the reducer is abnormal or eccentricity occurs during the operation of the reducer.

[0014] A second aspect of the present application provides an electronic device, comprising a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement a fault diagnosis method as described in any one of the above embodiments.

[0015] The beneficial effect is: the present application obtains the output angle of the reducer and the operating parameters of the motor at each sampling moment during the rotation of the reducer, and determines the fault of the reducer by combining the output angle and the operating parameters, and can not only determine the specific location of the reducer where the fault occurs, but also determine the deep cause of the reducer fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the robot of the present application;

[0018] Figure 2 It is a flowchart of an implementation method of the fault diagnosis method of the present application;

[0019] Figure 3 yes Figure 2 A schematic flow chart of an implementation method of step S200;

[0020] Figure 4 yes Figure 3 The first operation diagram corresponding to step S220;

[0021] Figure 5 yes Figure 3 A schematic flow chart of an implementation method of step S230;

[0022] Figure 6 yes Figure 3 A schematic diagram of another implementation of step S230;

[0023] Figure 7 yes Figure 3 The first operation diagram of the first implementation mode of the fault diagnosis in step S230;

[0024] Figure 8 yes Figure 3 The first operation diagram of the second implementation mode of the fault diagnosis in step S230;

[0025] Fig. 9 yes Figure 3 The first operation diagram of the third implementation mode of the fault diagnosis in step S230;

[0026] Fig.10 This is a schematic diagram of the structure of an embodiment of an electronic device of the present application;

[0027] Fig.11 This is a schematic diagram of the structure of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be noted that the terms "first" and "second" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0030] See also Figure 1 The diagnostic method of the present application is used to diagnose a reducer, where the reducer (not shown) is located on a target joint shaft 200 of the robot 100, and the target joint shaft 200 is further provided with a motor (not shown) connected to the reducer.

[0031] See also Figure 2 , the diagnostic method of the present application comprises:

[0032] S100: During the rotation of the reducer, for each sampling moment, the output angle of the reducer at the sampling moment is obtained, and the operating parameters of the motor at the sampling moment are obtained.

[0033] Specifically, the motor rotates and drives the reducer to rotate, so that the reducer can at least rotate a complete circle. Of course, the motor can drive the reducer to rotate multiple circles. As long as at least one circle of data is intercepted for analysis when the final analysis is performed, the spatial information of the reducer can be reflected as long as there is one circle of data, which is conducive to analyzing the location and cause of the specific vibration. The specific analysis can be found below. The sampling time can be set according to the actual situation. The smaller the time interval between two adjacent sampling times, the higher the accuracy of the collection and the more refined the output result. At each sampling time, the output angle of the reducer at the sampling time and the operating parameters of the motor at the sampling time are obtained. For example, the sampling time includes the first sampling time, the second sampling time, the third sampling time, etc. in sequence according to the time sequence. The first output angle of the reducer and the first operating parameter of the motor are obtained at the first sampling time, the second output angle of the reducer and the second operating parameter of the motor are obtained at the second sampling time, and the third output angle of the reducer and the third operating parameter of the motor are obtained at the third sampling time.

[0034] In one embodiment, the operating parameters of the motor include at least one of current, torque, rotation speed, and acceleration.

[0035] Specifically, in the process of the motor driving the reducer to rotate, when the reducer fails and vibrates, the abnormality of the reducer will inevitably affect the normal operation of the motor, causing the changes in the motor's operating parameters to be consistent with the trend of the reducer's vibration changes. For example, when the reducer vibrates greatly, the motor will be affected by the vibration of the reducer, and the fluctuations in the operating parameters will also be large. When the reducer runs smoothly, the motor will run smoothly and the operating parameters will be more stable.

[0036] Of course, in some other implementations, the operating parameters of the motor may also be the load of the motor, the voltage of the motor, etc.

[0037] In one embodiment, the step of obtaining the output angle of the reducer at the sampling time in the above step S100 includes:

[0038] The output angle of the reducer at the sampling moment is determined according to the initial angle of the reducer at the sampling moment, the rotation speed of the motor at the sampling moment, the reduction ratio of the reducer and the sampling period; wherein the initial angle of the reducer at the sampling moment is equal to the output angle of the reducer at the previous sampling moment, and the sampling period is equal to the time interval between two adjacent sampling moments.

[0039] Specifically, the reduction ratio is a fixed parameter, and the rotation speed of the motor can be obtained through an encoder.

[0040] Determine the output angle θ of the reducer at the sampling time according to the following formula:

[0041]

[0042] Among them, Φ is the initial angle of the reducer at the sampling time, i is the reduction ratio of the reducer, T is the sampling period of the reducer, and n is the speed of the motor.

[0043] Specifically, the unit of the motor speed n can be minutes per revolution, which can be converted into seconds per revolution by dividing by 60 in the formula, and then converted into an angle by multiplying by 2π. The output angle of the reducer at the sampling moment is obtained by adding the initial angle of the reducer at the sampling moment and the angle rotated during the sampling period. Therefore, it is not difficult to see from the formula that the output angle at the next sampling moment is obtained based on the output angle at the previous moment. As long as the initial angle of the reducer at the beginning is determined, the output angle of the reducer at each subsequent sampling moment can be obtained based on this. The initial angle of the reducer can be obtained by manual measurement or resetting.

[0044] Please continue reading Figure 2 , after step S100, further comprising:

[0045] S200: Determine the fault of the reducer according to the output angle and operating parameters obtained at each sampling moment.

[0046] Specifically, the operating parameters of the motor at the sampling time can reflect the vibration of the reducer at the corresponding sampling time. Combined with the corresponding output angle of the reducer, the reducer fault can be determined, and not only the specific location of the fault but also the cause of the fault can be determined. The specific determination process can be referred to the implementation method below.

[0047] In one embodiment, see Figure 3 , the above step S200 includes:

[0048] S210: For each sampling moment, calculate the cosine value of the output end angle and the sine value of the output end angle, and calculate the first product of the sine value and the operating parameter.

[0049] Specifically, during one rotation of the reducer, the corresponding cosine value and sine value are calculated for the output angle obtained at each sampling moment, and then the sine value is multiplied by the operating parameters of the motor to obtain the first product. The specific process can be a method of sampling and calculating at the same time, or a method of sampling first and then calculating.

[0050] S220: Draw a first operation diagram of the reducer in a first rectangular coordinate system with the cosine value corresponding to the sampling moment as the horizontal coordinate and the first product corresponding to the sampling moment as the vertical coordinate.

[0051] Specifically, see Figure 4 The horizontal axis is the cosine value of the output angle θ. The corresponding cosine value of the output angle θ is calculated and placed in the first rectangular coordinate system; the vertical axis is the first product. The first product includes the sine value of the output angle θ and the motor's operating parameter current I. The first rectangular coordinate system is established through the above horizontal and vertical coordinates, and the first operation diagram of the reducer is drawn. The first operation diagram can characterize the operation of the reducer in space. Among them, the motor's operating parameters can also be torque, speed, acceleration, etc.

[0052] S230: Determine the fault of the reducer according to the first operation diagram.

[0053] Specifically, the first operation diagram can characterize the spatial operation of the reducer. When the reducer has abnormal vibration, the first product will also change accordingly, and various characteristics of the abnormal vibration will be presented in the first operation diagram. Different vibration abnormalities have different vibration characteristics, and the first operation diagram can reflect the spatial characteristics well, so that the specific location and cause of the fault can be found.

[0054] See also Figure 5 , the above step S230 includes:

[0055] S231: For each sampling moment, the cosine value and the sine value of the target angle are calculated, and the second product of the sine value of the target angle and the operating parameter is calculated, wherein the target angle is equal to the sum of the output angle and the compensation angle.

[0056] Specifically, this step is different from the above step S210 in that the cosine and sine values ​​of the target angle are calculated, wherein there is an angle difference of a compensation angle between the target angle and the output angle, and the compensation angle is used to compensate for the distortion in the above first operation diagram. Specifically, when the output angle θ is close to 0 or π (the area close to the horizontal axis), the sine value of the output angle is close to 0, and the first product is also close to 0, and there will be distortion of the information related to the vibration of the reducer. The purpose of this step is to compensate the output angle (for example, shift the output angle) so that the vibration characteristics of the output angle originally near 0 or π are no longer distorted. The compensation angle is not specifically limited and can be π / 4, π / 3 or π / 2, etc.

[0057] S232: Draw a second operation diagram of the reducer in a second rectangular coordinate system with the cosine value corresponding to the sampling time as the horizontal coordinate and the second product corresponding to the sampling time as the vertical coordinate.

[0058] Specifically, according to step S231, the second operation diagram of the reducer is drawn in the second rectangular coordinate system with the corresponding cosine value as the horizontal coordinate and the corresponding second product as the vertical coordinate, so that the distorted part of the vibration characteristics of the area where the output end angle is close to 0 or π in the first operation diagram can be obtained from the second operation diagram without being distorted. Among them, the second operation diagram is similar to the first operation diagram, and the difference is only compensated in the output end angle.

[0059] S233: Determine the fault of the reducer according to the first operation diagram and the second operation diagram.

[0060] Specifically, since the first operation diagram is distorted when the output angle θ is close to 0 or π, the second operation diagram can restore the distorted part by compensating for the shift of the angle, so that the vibration characteristics of the entire circumference can be obtained by combining the first operation diagram and the second operation diagram. It can be understood that the principle of the second operation diagram reflecting the reducer fault is similar to that of the first operation diagram, except that the difference in the output angle is only used to compensate for the distorted part. The fault analysis based on the second operation diagram is similar to that based on the first operation diagram. After analysis, the final fault diagnosis result is obtained by combining the analysis results based on the first operation diagram and the second operation diagram. From the above content, it can be seen that through the combination of the first operation diagram and the second operation diagram, not only the spatial operation of the reducer can be more accurately characterized, but also the complete vibration characteristics of the entire circumference of the reducer can be guaranteed, making the fault diagnosis more accurate.

[0061] In one embodiment, see Figure 6 and Figure 7 , the operating parameter of the motor is the current, and the above step S230 includes:

[0062] S311: Obtain the number of clusters C that exceed the standard in the first operation graph to obtain a first number.

[0063] Specifically, the process of determining all clusters in the first operation diagram is first introduced: all sampling moments in the first operation diagram are traversed, and during the traversal process, the absolute value of the difference between the first product corresponding to the current sampling moment and the first product corresponding to the adjacent previous sampling moment is calculated. If the absolute value of the difference is less than the first preset value α, the current sampling moment is determined to be the P moment. According to this method, after traversing all sampling moments in the first operation diagram, all P moments in the first operation diagram can be found; the absolute value of the difference between the first product corresponding to the current sampling moment and the first product corresponding to the adjacent previous sampling moment is calculated. If the absolute value of the difference is greater than the first preset value α, the current sampling moment is determined to be the Q moment; for any two adjacent P moments in the first operation diagram, if there are Q moments exceeding the quantity threshold between the two P moments, then there is a cluster C between the two adjacent P moments.

[0064] Among them, the process of judging whether any cluster C exceeds the standard includes: judging whether there is at least one group of adjacent Q moments in cluster C whose absolute value of the difference of the first product is greater than the second preset value δ; when the absolute value of the difference is greater than the second preset value δ, the cluster C exceeds the standard; when the absolute value of the difference is less than or equal to the second preset value δ, the cluster C does not exceed the standard; and then calculating the number of all clusters C that exceed the standard, which is recorded as the first number.

[0065] S312: In response to the first number being equal to the number of reducer mounting screws, determining that the reducer is subjected to abnormal axial stretching.

[0066] Specifically, when the first number is equal to the number of screws installed on the reducer, it means that all the screws on the reducer have a problem of too large force variation. Therefore, it can be directly determined that the reducer has abnormal axial stretching.

[0067] S313: In response to the first number being less than the number of the speed reducer mounting screws, determining that the mounting screws have uneven tightening torque or are broken.

[0068] Specifically, when the first number is less than the number of screws installed on the reducer, it means that the force variation of the screws on the upper part of the reducer is too large. Therefore, it can be determined that the screws have uneven tightening torque or are broken. The specific position of the abnormal screw can be directly determined based on the specific exceeding position in the first operation diagram.

[0069] In one embodiment, see Figure 8 , the operating parameter of the motor is the current, and the above step S230 includes:

[0070] In response to the absolute value of the difference between the first products at any two adjacent sampling moments in the first operating diagram exceeding the standard, and the frequency of the first operating diagram is twice the motor rotation frequency, it is determined that the reducer has a flexible wheel fracture, wherein the frequency of the first operating diagram is obtained by performing Fourier transform on the first product in the first operating diagram.

[0071] Specifically, when the absolute value of the difference between the first products of any two adjacent sampling moments in the first operation diagram exceeds the standard, that is, the standard is exceeded everywhere in the first operation diagram, the frequency of the first operation diagram is obtained by performing Fourier transform on the first operation diagram, and the calculated frequency is twice the motor rotation frequency, it can be determined that the flexible wheel in the reducer is broken.

[0072] In one embodiment, see Fig. 9 , the operating parameter of the motor is the current, and the above step S230 includes:

[0073] In response to the deviation of the first operation diagram, it is determined that the concentricity of the reducer installation is abnormal or eccentricity occurs during the operation of the reducer.

[0074] Specifically, the bias means that at least one dividing line can be found in the first operation diagram to divide the first operation diagram, so that the changes of the first product on both sides of the dividing line are very different. For example, the dividing line in the figure is the horizontal axis, the first side of the dividing line is toward the positive direction of the vertical axis, and the second side of the dividing line is toward the negative direction of the vertical axis. The fluctuation of the first product in the first operation diagram on the first side of the dividing line can reach 3 second preset values ​​δ, wherein the fluctuation refers to the absolute value of the difference between the first product at any two adjacent sampling moments. Specifically, the maximum value of the fluctuation of the first product in the first operation diagram on the first side of the dividing line reaches 3 second preset values ​​δ, while the fluctuation of the first product in the first operation diagram on the second side of the dividing line is only 1 second preset value δ. Specifically, the maximum value of the fluctuation of the first product in the first operation diagram on the second side of the dividing line reaches 1 second preset value. For another example, the fluctuation of the first product on the first side is greater than a second preset value δ, specifically, the minimum value of the fluctuation of the first product in the first operation diagram on the first side of the dividing line is greater than a second preset value δ, while the fluctuation of the first product on the second side is less than the second preset value δ, specifically, the maximum value of the fluctuation of the first product in the first operation diagram on the second side of the dividing line is less than a second preset value δ. The above situation is a deviation. As long as a deviation occurs, it can be determined that the reducer installation concentricity is abnormal or eccentricity occurs during the operation of the reducer.

[0075] It should be noted that the present application is not limited to the above-mentioned use of current as an operating parameter to determine the cause of the vibration of the reducer. In other embodiments, operating parameters such as torque, speed and acceleration can also be used to determine the cause of the vibration of the reducer. It can be understood that different operating parameters will differ in the specific analysis of the cause of vibration, but the final effect is the same, and they can all be used to determine the cause of the vibration of the reducer.

[0076] From the above content, it can be concluded that during the rotation of the reducer, the present application obtains the output angle of the reducer and the operating parameters of the motor for each sampling moment. The output angle can characterize the spatial characteristics of the reducer, and the motor operating parameters can characterize the operating conditions of the reducer. The specific location and specific cause of the reducer failure can be determined by combining the output angle and the operating parameters.

[0077] According to an embodiment of the present application, please refer to Fig.10 , Fig.10 Schematic diagram of the structure of an embodiment of an electronic device of the present application. The present application provides an electronic device 50 including a memory 502 and a processor 500, and the processor 500 is used to execute a computer program stored in the memory 502 to implement any of the above-mentioned fault diagnosis methods. Specifically, the electronic device 50 includes but is not limited to: a robot control cabinet, a desktop computer, a laptop computer, a tablet computer, a server, etc., which are not limited here. In addition, the processor 500 can also be called a CPU (Center Processing Unit). The processor 500 may be an integrated circuit chip with signal processing capabilities. The processor 500 can also be a general processor 500, a digital signal processor 500 (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general processor 500 can be a microprocessor 500 or the processor 500 can also be any conventional processor 500, etc. In addition, the processor 500 can be implemented by an integrated circuit chip.

[0078] According to an embodiment of the present application, please refer to Fig.11 , Fig.11 This is a schematic diagram of a computer-readable storage medium of an embodiment of the present application. The present application provides a computer-readable storage medium 60 on which program data 600 is stored. When the program data 600 is executed by a processor, the steps in any of the methods in the above embodiments are implemented.

[0079] It can be understood that the program data 600 stored in the computer-readable storage medium 60 in this embodiment is used to execute a method similar to the fault diagnosis method provided in the above embodiment, and the principles and steps are the same, which will not be repeated here.

[0080] The computer-readable storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0081] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for diagnosing a reducer fault, characterized in that: The reducer is located on the target joint axis of the robot, and the target joint axis is further provided with a motor connected to the reducer. The diagnostic method comprises: During the rotation of the reducer, for each sampling moment, the output angle of the reducer at the sampling moment is obtained, and the operating parameters of the motor at the sampling moment are obtained; The fault of the reducer is determined according to the output end angle and the operating parameters acquired at each sampling moment.

2. The fault diagnosis method according to claim 1, characterized in that: The step of obtaining the output angle of the reducer at the sampling time comprises: Determine the output angle of the reducer at the sampling time according to the initial angle of the reducer at the sampling time, the rotation speed of the motor at the sampling time, the reduction ratio of the reducer and the sampling period; The initial angle of the reducer at the sampling moment is equal to the output angle of the reducer at the previous sampling moment, and the sampling period is equal to the time interval between two adjacent sampling moments.

3. The fault diagnosis method according to claim 2, characterized in that: The step of obtaining the output angle of the reducer at the sampling time comprises: The output angle θ of the reducer at the sampling time is determined according to the following formula: Wherein, Φ is the initial angle of the reducer at the sampling time, i is the reduction ratio of the reducer, T is the sampling period of the reducer, and n is the rotation speed of the motor.

4. The fault diagnosis method according to claim 1, characterized in that: The operating parameters of the motor include at least one of current, torque, rotation speed, and acceleration.

5. The fault diagnosis method according to claim 1, characterized in that: The step of determining the fault of the reducer according to the output end angle and the operating parameters acquired at each sampling moment comprises: For each sampling moment, calculating the cosine value of the output end angle and the sine value of the output end angle, and calculating a first product of the sine value and the operating parameter; Draw a first operation diagram of the reducer in a first rectangular coordinate system with the cosine value corresponding to the sampling moment as the abscissa and the first product corresponding to the sampling moment as the ordinate; According to the first operation diagram, a fault of the reducer is determined.

6. The fault diagnosis method according to claim 5, characterized in that: The step of determining the fault of the reducer according to the first operation diagram comprises: For each sampling moment, calculating the cosine value and the sine value of the target angle, and calculating the second product of the sine value of the target angle and the operating parameter, wherein the target angle is equal to the sum of the output end angle and the compensation angle; Draw a second operation diagram of the reducer in a second rectangular coordinate system with the cosine value corresponding to the sampling moment as the abscissa and the second product corresponding to the sampling moment as the ordinate; A fault of the reducer is determined according to the first operation diagram and the second operation diagram.

7. The fault diagnosis method according to claim 5, characterized in that: The operating parameter of the motor is the current, The step of determining the fault of the reducer according to the first operation diagram comprises: Obtaining the number of clusters exceeding the standard in the first operation graph to obtain a first number; In response to the first number being equal to the number of the reducer mounting screws, determining that the reducer is subjected to abnormal axial stretching; In response to the first number being less than the number of the speed reducer mounting screws, it is determined that the mounting screws have uneven tightening torque or are broken.

8. The fault diagnosis method according to claim 5, characterized in that: The operating parameter of the motor is the current, The step of determining the fault of the reducer according to the first operation diagram comprises: In response to the absolute values ​​of the differences between the first products of any two adjacent sampling moments in the first operating diagram exceeding the standard, and the frequency of the first operating diagram is twice the rotation frequency of the motor, it is determined that the reducer has a flexible wheel fracture, wherein the frequency of the first operating diagram is obtained by performing Fourier transform on the first operating diagram.

9. The fault diagnosis method according to claim 5, characterized in that: The operating parameter of the motor is the current, The step of determining the fault of the reducer according to the first operation diagram comprises: In response to the deviation of the first operation diagram, it is determined that the installation concentricity of the reducer is abnormal or eccentricity occurs during the operation of the reducer.

10. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the fault diagnosis method according to any one of claims 1 to 9.

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