Intelligent monitoring method, device, equipment, system and storage medium of robot

Abstract

The application discloses a kind of intelligent monitoring method, device, equipment, system and storage medium of robot, comprising receiving the several operating parameters of robot;According to the information of the structure module of robot and the information of operating parameter, the several operating parameters of robot are classified into corresponding structure module respectively;Corresponding monitoring is carried out using the monitoring algorithm that each operating parameter is associated in advance, when the monitoring result of a certain operating parameter appears early warning, output early warning information about the operating parameter to display device and display;According to the several associated element information that each operating parameter is associated in advance, the difference between the actual working time of each associated element of operating parameter that appears early warning and preset working time threshold value is calculated, and the associated element information with minimum difference is selected as spare parts replacement prompt information and output to display device for display. Realize the high utilization of spare parts life, solve the waste problem of excessive replacement and excessive detection of spare parts.

Description

Technical Field

[0001] This invention relates to the technical field of robots, and more specifically, to an intelligent monitoring method, apparatus, device, system, and storage medium for robots. Background Technology

[0002] In traditional manufacturing industries, especially automobile manufacturing, equipment maintenance typically relies on conventional methods, such as periodically inspecting equipment parts, replacing spare parts, and adjusting equipment parameters. While these traditional methods are relatively mature, they still present several problems: First, some equipment requires maintenance on thousands or even tens of thousands of parts and parameters, resulting in significant time commitments, low efficiency, and the risk of missed inspections. Second, the condition of spare parts is unpredictable; premature replacement leads to waste, while replacing parts only when warning thresholds are reached causes downtime and production losses. Third, equipment parameter monitoring is limited to a single warning and operating range. Therefore, a more efficient and intelligent approach to equipment maintenance is needed. Summary of the Invention

[0003] To address at least one aspect of the above problems, the present invention provides an intelligent monitoring method, apparatus, device, system, and storage medium for robots.

[0004] In a first aspect, this application provides an intelligent monitoring method for a robot, comprising the following steps: receiving several operating parameters of the robot; classifying the several operating parameters of the robot into corresponding structural modules according to the robot's structural module information and the information to which the operating parameters belong, wherein the robot's structural module information includes several structural modules of the robot, and each robot structural module includes several operating parameters; performing corresponding monitoring using a monitoring algorithm pre-associated to each operating parameter and storing the monitoring results; when receiving a viewing instruction for a certain operating parameter from a display device, sending the monitoring result of the operating parameter to the display device for display; when a warning occurs in the monitoring result of a certain operating parameter, outputting warning information about the operating parameter to the display device for display; and, based on several associated component information pre-associated to each operating parameter, calculating the difference between the actual working time and a preset working time threshold of each associated component of the operating parameter that has issued a warning, selecting the associated component information with the smallest difference as a spare parts replacement prompt and outputting it to the display device for display.

[0005] Preferably, the monitoring algorithm includes a first type of monitoring algorithm, which is applicable to the monitoring of operating parameters with set values. The first type of monitoring algorithm includes the following steps: each time the robot runs, a curve about a certain operating parameter is plotted and saved; the difference between the curves about the operating parameter in two adjacent robot runs is calculated; and an early warning is issued when the number of differences greater than a first preset difference threshold is greater than a first preset number, or the number of differences less than a second preset difference threshold is greater than a second preset number.

[0006] Preferably, the monitoring algorithm further includes a second type of monitoring algorithm, which is applicable to the monitoring of operating parameters with at least two set values. The second type of monitoring algorithm includes the following steps: plotting and saving a curve for a certain operating parameter; issuing an early warning when the set value of the operating parameter is at a first set value and the value of the operating parameter exceeds the allowable fluctuation range above and below the first set value; issuing an early warning when the set value of the operating parameter is at a second set value and the value of the operating parameter exceeds the allowable fluctuation range above and below the second set value; and issuing an early warning when the set value of the operating parameter changes from the first set value to the second set value and the fluctuation duration of the operating parameter exceeds a preset fluctuation duration threshold.

[0007] Preferably, the monitoring algorithm further includes a third type of monitoring algorithm, which is applicable to the monitoring of operating parameters that do not have a set value. The third type of monitoring algorithm includes the following steps: drawing and saving a curve about a certain operating parameter; calculating the conformity rate between the curve of the operating parameter and the preset standard curve corresponding to the operating parameter; and issuing an early warning when the conformity rate is lower than a preset conformity rate threshold.

[0008] Preferably, the operating parameters monitored by the first type of monitoring algorithm include the inlet pressure value of the first gear pump and the inlet pressure value of the second gear pump; the operating parameters monitored by the second type of monitoring algorithm include the speed feedback value, the speed set value, the first shaping air set value, the actual value of the first shaping air, the second shaping air set value, the actual value of the second shaping air, the high pressure set value, the actual high pressure value, the high pressure current value, the actual value of the gear pump flow rate, and the gear pump flow rate set value; the operating parameters monitored by the third type of monitoring algorithm include the outlet pressure value of the first gear pump, the outlet pressure value of the second gear pump, the torque of the robot's one-axis motor, the torque of the robot's two-axis motor, the torque of the robot's three-axis motor, the torque of the robot's four-axis motor, the torque of the robot's five-axis motor, and the torque of the robot's six-axis motor.

[0009] Preferably, the robot's structural module information includes a robot front-end atomizer module, a robot process module, and a robot body module; the operating parameters within the robot front-end atomizer module include rotation speed feedback value, rotation speed set value, first shaping air set value, first shaping air actual value, second shaping air set value, second shaping air actual value, main needle valve, paint return valve, rotary cup cleaning valve, high pressure set value, high pressure actual value, and high pressure current value; the operating parameters within the robot process module include first gear pump inlet pressure value, second gear pump inlet pressure value, first gear pump outlet pressure value, second gear pump outlet pressure value, gear pump bypass valve, air cleaning valve, solvent cleaning valve, paint valve, gear pump flow rate actual value, and gear pump flow rate set value; the operating parameters within the robot body module include robot one-axis motor torque, robot two-axis motor torque, robot three-axis motor torque, robot four-axis motor torque, robot five-axis motor torque, and robot six-axis motor torque.

[0010] Secondly, this application provides an intelligent monitoring device for a robot, the device comprising: a data receiving module configured to receive several operating parameters of the robot; a data classification module configured to classify the several operating parameters of the robot into corresponding structural modules according to the robot's structural module information and the belonging information of the operating parameters, wherein the robot's structural module information includes several structural modules of the robot, and each robot structural module includes several operating parameters; a parameter monitoring module configured to perform corresponding monitoring using a monitoring algorithm pre-associated to each operating parameter and store the monitoring results; when a viewing instruction for a certain operating parameter is received from a display device, the monitoring result of the operating parameter is sent to the display device for display; when a warning is issued for the monitoring result of a certain operating parameter, a warning message for the operating parameter is output to the display device for display; and a warning parameter analysis module configured to calculate the difference between the actual working time and a preset working time threshold of each associated element of the operating parameter that has issued a warning, based on several associated element information pre-associated to each operating parameter, and select the associated element information with the smallest difference as a spare parts replacement prompt information and output it to the display device for display.

[0011] Thirdly, this application provides an intelligent monitoring device for a robot, the device including a memory and a processor, the memory storing a computer program, which, when executed by the processor, implements the intelligent monitoring method for a robot as described above.

[0012] Fourthly, this application provides an intelligent monitoring system for robots, including the aforementioned intelligent monitoring device and display device for robots; the intelligent monitoring device is used to communicate with a server that collects the operating parameters of each robot; the display device is used to receive and display the early warning information and spare parts replacement prompts from the intelligent monitoring device, and to input and send viewing instructions for a certain operating parameter to the intelligent monitoring device.

[0013] Fifthly, this application provides a storage medium storing computer-readable instructions that, when executed by a processor, perform the method according to any one of the preceding descriptions.

[0014] The intelligent monitoring method, apparatus, device, system, and storage medium for robots of the present invention have the following beneficial effects:

[0015] This application improves maintenance efficiency and reduces the risk of missed detections by using a pre-associated monitoring algorithm to monitor various operating parameters of the robot in real time. Classifying the robot's operating parameters according to the robot's structural module information and the parameters' respective information facilitates easy retrieval by staff. Pre-associating the corresponding monitoring algorithm based on the nature of the operating parameters helps in accurate monitoring and early warning, solving the problem of limited adjustment range for equipment parameters. Based on the robot's structure and technological principles, the application pre-associates operating parameters with several related components that influence the trend of those parameters. When an operating parameter triggers an early warning, it analyzes and identifies the component closest to its service life among the pre-associated components and prompts for spare parts replacement. This achieves high utilization of spare parts lifespan, reduces waste from excessive spare parts replacement, and minimizes equipment downtime due to untimely spare parts replacement. Attached Figure Description

[0016] To better understand the above and other objects, features, advantages, and functions of the present invention, reference can be made to the embodiments shown in the accompanying drawings. The same reference numerals in the drawings refer to the same parts. Those skilled in the art should understand that the drawings are intended to schematically illustrate preferred embodiments of the invention and do not limit the scope of the invention in any way; the parts in the drawings are not drawn to scale.

[0017] Figure 1 A flowchart of an intelligent monitoring method for a robot according to an embodiment of the present invention is shown;

[0018] Figure 2 A block diagram of an intelligent monitoring device for a robot according to an embodiment of the present invention is shown;

[0019] Figure 3 A block diagram of an intelligent monitoring system for a robot according to an embodiment of the present invention is shown. Detailed Implementation

[0020] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0021] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0022] To at least partially address one or more of the aforementioned problems and other potential issues, embodiments of this disclosure propose an intelligent monitoring method for robots, such as... Figure 1 As shown, it includes the following steps:

[0023] The system receives several operating parameters from the robots. Specifically, several robots in the production workshop communicate with the server via wired and / or wireless networks. These robots send their operating parameters to the server for collection and storage. The system then receives these operating parameters from the server. Preferably, based on several preset parameter types, the system receives corresponding operating parameters from the server. These operating parameters are the parameters that need to be monitored. Taking a painting robot as an example, the preset parameter types include: rotation speed feedback value (A1AtomRS), rotation speed set value (A1Atom), first shaping air set value (A1shape1set), first shaping air actual value (A1shape1act), second shaping air set value (A1shape2set), second shaping air actual value (A1shape2act), main needle valve (A1Needle), paint return valve (A1Dump), rotary cup cleaning valve (A1BellClean), high pressure set value (HV), high pressure actual value (HVact), and high pressure current value (HV). The parameters include: Cur, inlet pressure of the first gear pump (A1Pump1In), inlet pressure of the second gear pump (A1Pump2In), outlet pressure of the first gear pump (A1Pump1Out), outlet pressure of the second gear pump (A1Pump2Out), gear pump bypass valve (A1ByPump), air cleaning valve (Aircc), solvent cleaning valve (Solvcc), paint valve (A1Pin), actual gear pump flow rate (A1FluidAct), gear pump flow rate setpoint (A1Fluid), robot 1-axis motor torque (Axis1_Torque), robot 2-axis motor torque (Axis2_Torque), robot 3-axis motor torque (Axis3_Torque), robot 4-axis motor torque (Axis4_Torque), robot 5-axis motor torque (Axis5_Torque), and robot 6-axis motor torque (Axis6_Torque). These parameters are retrieved from the server when obtaining the robot's operating parameters.

[0024] Based on the robot's structural module information and operational parameter information, several operational parameters are categorized into corresponding structural modules. The structural module information includes the robot's several structural modules, and each structural module contains several operational parameters. Specifically, based on the robot's structure, it is divided into several structural modules, each containing several components. During operation, some of these components generate operational parameters. For operational parameters that need to be monitored, they can be categorized into corresponding structural modules for easy reference by staff. Taking a painting robot as an example, it is preferable to divide the robot into three modules: a robot front-end atomizer module, a robot process module, and a robot body module. The operational parameters within the robot front-end atomizer module include speed feedback values ​​and speed settings. The operating parameters within the robot's process module include: first gear pump inlet pressure, second gear pump inlet pressure, first gear pump outlet pressure, second gear pump outlet pressure, gear pump bypass valve, air cleaning valve, solvent cleaning valve, paint valve, gear pump flow rate, and gear pump flow rate setting value. The operating parameters within the robot body module include: robot one-axis motor torque, robot two-axis motor torque, robot three-axis motor torque, robot four-axis motor torque, robot five-axis motor torque, and robot six-axis motor torque. When the received operating parameter is a speed feedback value, it is classified into the robot front-end atomizer module, and so on.

[0025] Each operating parameter is monitored using a pre-associated monitoring algorithm, and the monitoring results are stored. When a viewing command for a specific operating parameter is received from the display device, the monitoring result for that parameter is sent to the display device for display. When a warning is triggered for a specific operating parameter, a warning message for that parameter is output to the display device for display. Specifically, based on the nature of the operating parameter, a suitable monitoring algorithm is pre-associated for each parameter. The monitoring algorithm can be an existing algorithm, such as a statistical algorithm or a deep learning-based algorithm.

[0026] In a preferred embodiment, three monitoring algorithms are developed based on the set values ​​of the operating parameters, including a first type of monitoring algorithm, a second type of monitoring algorithm, and a third type of monitoring algorithm.

[0027] The first type of monitoring algorithm includes the following steps: Each time the robot runs, a curve for a certain operating parameter is plotted and saved; the difference between the curves for that operating parameter in two consecutive robot runs is calculated; an early warning is issued when the number of differences greater than a first preset threshold exceeds a first preset number, or the number of differences less than a second preset threshold exceeds a second preset number, where the first preset threshold is a positive number and the second preset threshold is a negative number. The first type of monitoring algorithm is suitable for monitoring operating parameters with set values. Taking a painting robot as an example, the operating parameters monitored using the first type of monitoring algorithm include the inlet pressure value of the first gear pump and the inlet pressure value of the second gear pump. For example, if the inlet pressure of the first gear pump is set to A, a curve representing the inlet pressure of the first gear pump is plotted and saved when the painting robot produces one car, and the same curve is plotted and saved when the painting robot produces the next car. The difference between these two curves is calculated. If the difference is less than a first preset difference threshold or greater than a second preset difference threshold, it indicates that the actual inlet pressure of the first gear pump is near its set value. If the difference is greater than the first preset difference threshold, it indicates that the actual inlet pressure of the first gear pump is above its set value. As the number of values ​​above the set value increases, it indicates that the actual inlet pressure of the first gear pump is increasing. When the difference reaches a first preset number, an early warning is issued. If the difference is less than the first preset difference threshold, it indicates that the actual inlet pressure of the first gear pump is below its set value. As the number of values ​​below the set value increases, it indicates that the actual inlet pressure of the first gear pump is decreasing. When the difference reaches a second preset number, an early warning is issued.

[0028] The second type of monitoring algorithm includes the following steps: plotting and saving a curve about a certain operating parameter; issuing an alert when the set value of the operating parameter is at a first set value and the value of the operating parameter exceeds the upper and lower allowable fluctuation range about the first set value; issuing an alert when the set value of the operating parameter is at a second set value and the value of the operating parameter exceeds the upper and lower allowable fluctuation range about the second set value; issuing an alert when the set value of the operating parameter changes from the first set value to the second set value and the fluctuation duration of the operating parameter is greater than a preset fluctuation duration threshold, wherein the upper limit of the upper and lower allowable fluctuation range about the set value is (1 + allowable fluctuation rate) times the first set value, and the lower limit is (1 - allowable fluctuation rate) times the first set value. For example, if the set value is A and the allowable fluctuation rate is B%, then the upper and lower allowable fluctuation range about the first set value is [A(1-B%), A(1+B%)]. The second type of monitoring algorithm is applicable to the monitoring of operating parameters with at least two set values. Taking a painting robot as an example, the operating parameters monitored by the second type of monitoring algorithm include rotational speed feedback value, rotational speed set value, first shaping air set value, first shaping air actual value, second shaping air set value, second shaping air actual value, high pressure set value, high pressure actual value, high pressure current value, gear pump flow actual value, and gear pump flow set value. For example, the first rotational speed set value is 'a' ten thousand revolutions per minute, and the allowable fluctuation rate of the first set value is b%. The second set value is 'c' ten thousand revolutions per minute, and the allowable fluctuation rate of the second set value is d%. The preset fluctuation duration threshold is 'e' milliseconds. When the rotational speed set value is at the first set value, an alarm is triggered when the rotational speed feedback value exceeds [a(1-b%), a(1+b%)]. When the rotational speed set value changes to the second set value, an alarm is triggered when the fluctuation duration of the rotational speed feedback value is greater than 'e'. When the rotational speed feedback value passes the fluctuation period, an alarm is triggered when the rotational speed feedback value exceeds [c(1-d%), c(1+d%)].

[0029] The third type of monitoring algorithm includes the following steps: plotting and saving a curve for a certain operating parameter; calculating the conformity rate between the curve of the operating parameter and the preset standard curve corresponding to the operating parameter; and issuing an early warning when the conformity rate is lower than a preset conformity rate threshold. The preset standard curve is a time-series basic curve formed by training with a large amount of data collected under normal operating conditions. The third type of monitoring algorithm is suitable for monitoring operating parameters that do not have set values. Taking a painting robot as an example, the operating parameters monitored using the third type of monitoring algorithm include the outlet pressure value of the first gear pump, the outlet pressure value of the second gear pump, the torque of the robot's first-axis motor, the torque of the robot's second-axis motor, the torque of the robot's third-axis motor, the torque of the robot's fourth-axis motor, the torque of the robot's fifth-axis motor, and the torque of the robot's sixth-axis motor.

[0030] Based on the pre-associated information of several related components for each operating parameter, the difference between the actual working time and the preset working time threshold for each related component of the operating parameter that triggers a warning is calculated. The related component information with the smallest difference is selected as the spare part replacement prompt and output to the display device for display. Specifically, based on the robot's structure and process principles, when an operating parameter triggers a warning, it is possible to infer which components may have problems. This operating parameter and these components are pre-associated to form a set of pre-associated related component information for the operating parameter. When this operating parameter triggers a warning, the difference between the actual working time and the preset working time threshold for each of these components is calculated, where the working time includes the working duration and the number of switching operations. The related component information with the smallest difference is selected as the spare part replacement prompt and output to the display device to remind the staff to replace the spare part. Furthermore, the operating parameters and their warning states, as well as several components that may cause problems under each warning state, are pre-associated to form several associated component information for the operating parameters. For example, if an operating parameter has two warning states, components A and B may cause problems when the operating parameter is in the first warning state, and components C and D may cause problems when the operating parameter is in the second warning state. When the operating parameter issues the first warning, the difference between the actual working time and the preset working time threshold of components A and B is calculated respectively. When the operating parameter issues the second warning, the difference between the actual working time and the preset working time threshold of components C and D is calculated respectively. The associated component information with the smallest difference is selected as the spare parts replacement prompt information and output to the display device.

[0031] This application also provides an intelligent monitoring device for robots, such as... Figure 2 As shown, the device includes: a data receiving module configured to receive several operating parameters of the robot; a data classification module configured to classify the several operating parameters of the robot into corresponding structural modules according to the robot's structural module information and the belonging information of the operating parameters, wherein the robot's structural module information includes several structural modules of the robot, and each robot structural module includes several operating parameters; a parameter monitoring module configured to perform corresponding monitoring using a monitoring algorithm pre-associated to each operating parameter and store the monitoring results; when a viewing instruction for a certain operating parameter is received from the display device, the monitoring result of the operating parameter is sent to the display device for display; when a warning is issued for the monitoring result of a certain operating parameter, a warning message for the operating parameter is output to the display device for display; and a warning parameter analysis module configured to calculate the difference between the actual working time and a preset working time threshold of each associated element of the operating parameter that has issued a warning, based on several associated element information pre-associated to each operating parameter, and select the associated element information with the smallest difference as a spare parts replacement prompt information and output it to the display device for display.

[0032] This application also provides an intelligent monitoring device for a robot, the device including a memory and a processor, the memory storing a computer program, which, when executed by the processor, implements the intelligent monitoring method for a robot as described above.

[0033] This application also provides an intelligent monitoring system for robots, such as... Figure 3 As shown, the device includes the aforementioned intelligent monitoring equipment and display device for a robot; the intelligent monitoring equipment is used to communicate with a server that collects the operating parameters of each robot; the display device is used to receive and display the early warning information and spare parts replacement prompts from the intelligent monitoring equipment, and to input and send viewing instructions for a certain operating parameter to the intelligent monitoring equipment, and to display the monitoring results of a certain operating parameter sent by the intelligent monitoring equipment.

[0034] This application also provides a storage medium storing computer-readable instructions that, when executed by a processor, perform the method according to any one of the preceding descriptions.

[0035] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand this document.

Claims

1. An intelligent monitoring method for robots, characterized in that: Includes the following steps: Receive several operating parameters from the robot; Based on the robot's structural module information and the information on the operation parameters, the robot's various operation parameters are classified into the corresponding structural modules. The robot's structural module information includes several structural modules of the robot, and each robot structural module includes several operation parameters. Each operating parameter is monitored using a pre-associated monitoring algorithm, and the monitoring results are stored. When a viewing command for a certain operating parameter is received from the display device, the monitoring result for that operating parameter is sent to the display device for display. When a warning is triggered by the monitoring result of a certain operating parameter, the warning information about that operating parameter is output to the display device for display. Based on the information of several associated components pre-associated with each operating parameter, the difference between the actual working time and the preset working time threshold of each associated component of the operating parameter that triggered the warning is calculated, and the associated component information with the smallest difference is selected as the spare parts replacement prompt information and output to the display device for display.

2. The intelligent monitoring method for a robot according to claim 1, characterized in that: The monitoring algorithm includes a first type of monitoring algorithm, which is applicable to the monitoring of operating parameters with set values. The first type of monitoring algorithm includes the following steps: Each time the robot runs, a curve about a certain operating parameter is plotted and saved; Calculate the difference between the curves of the robot running the same parameter in two consecutive runs; An alert is issued when the number of differences greater than the first preset difference threshold is greater than the first preset number, or the number of differences less than the second preset difference threshold is greater than the second preset number.

3. The intelligent monitoring method for a robot according to claim 2, characterized in that: The monitoring algorithm also includes a second type of monitoring algorithm, which is applicable to the monitoring of operating parameters with at least two set values. The second type of monitoring algorithm includes the following steps: Plot and save a curve related to a specific operating parameter; A warning is issued when the setting value of the operating parameter is at the first setting value, and the value of the operating parameter exceeds the allowable fluctuation range above and below the first setting value; A warning is issued when the set value of the operating parameter is at the second set value, and the value of the operating parameter exceeds the allowable fluctuation range above and below the second set value. When the setting value of the operating parameter changes from the first setting value to the second setting value, and the fluctuation duration of the operating parameter exceeds the preset fluctuation duration threshold, an early warning will be issued.

4. The intelligent monitoring method for a robot according to claim 3, characterized in that: The monitoring algorithm also includes a third type of monitoring algorithm, which is applicable to the monitoring of operating parameters that do not have set values. The third type of monitoring algorithm includes the following steps: Plot and save a curve related to a specific operating parameter; Calculate the compliance rate between the curve of the operating parameter and the preset standard curve corresponding to the operating parameter, and issue an early warning when the compliance rate is lower than the preset compliance rate threshold.

5. The intelligent monitoring method for a robot according to claim 4, characterized in that: The operating parameters monitored using the first type of monitoring algorithm include the inlet pressure value of the first gear pump and the inlet pressure value of the second gear pump; the operating parameters monitored using the second type of monitoring algorithm include the speed feedback value, speed setpoint, first shaping air setpoint, first shaping air actual value, second shaping air setpoint, second shaping air actual value, high pressure setpoint, high pressure actual value, high pressure current value, gear pump flow actual value, and gear pump flow setpoint; the operating parameters monitored using the third type of monitoring algorithm include the outlet pressure value of the first gear pump, the outlet pressure value of the second gear pump, the torque of the robot's first-axis motor, the torque of the robot's second-axis motor, the torque of the robot's third-axis motor, the torque of the robot's fourth-axis motor, the torque of the robot's fifth-axis motor, and the torque of the robot's sixth-axis motor.

6. The intelligent monitoring method for a robot according to claim 1, characterized in that: The robot's structural module information includes a robot front-end atomizer module, a robot process module, and a robot body module. The operating parameters within the robot front-end atomizer module include rotation speed feedback value, rotation speed setpoint, first shaping air setpoint, first shaping air actual value, second shaping air setpoint, second shaping air actual value, main needle valve, paint return valve, rotary cup cleaning valve, high pressure setpoint, high pressure actual value, and high pressure current value. The operating parameters within the robot process module include the first gear pump inlet pressure value, the second gear pump inlet pressure value, the first gear pump outlet pressure value, the second gear pump outlet pressure value, the gear pump bypass valve, air cleaning valve, solvent cleaning valve, paint valve, gear pump flow rate actual value, and gear pump flow rate setpoint. The operating parameters within the robot body module include the torque of the robot's first-axis motor, robot's second-axis motor, robot's third-axis motor, robot's fourth-axis motor, robot's fifth-axis motor, and robot's sixth-axis motor.

7. An intelligent monitoring device for a robot, characterized in that: The device includes: The data receiving module is configured to receive several operating parameters of the robot. The data classification module is configured to classify several operating parameters of the robot into corresponding structural modules based on the robot's structural module information and the information to which the operating parameters belong. The robot's structural module information includes several structural modules of the robot, and each robot structural module includes several operating parameters. The parameter monitoring module is configured to perform corresponding monitoring using a pre-associated monitoring algorithm for each operating parameter and store the monitoring results; when a viewing command for a certain operating parameter is received from the display device, the monitoring result of that operating parameter is sent to the display device for display; when a warning is issued for the monitoring result of a certain operating parameter, the warning information for that operating parameter is output to the display device for display. The early warning parameter analysis module is configured to calculate the difference between the actual working time and the preset working time threshold of each associated component of the operating parameter that triggers the early warning, based on the information of several associated components pre-associated with each operating parameter. The module then selects the associated component information with the smallest difference as a spare parts replacement prompt and outputs it to the display device for display.

8. An intelligent monitoring device for a robot, characterized in that: The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements an intelligent monitoring method for a robot according to any one of claims 1 to 6.

9. An intelligent monitoring system for a robot, characterized in that: The invention includes an intelligent monitoring device and a display device for a robot as described in claim 8; the intelligent monitoring device is used to communicate with a server that collects the operating parameters of each robot; the display device is used to receive and display the early warning information and spare parts replacement prompts from the intelligent monitoring device, and to input and send viewing instructions for a certain operating parameter to the intelligent monitoring device.

10. A storage medium, characterized in that: It stores computer-readable instructions that, when executed by a processor, perform the method according to any one of claims 1-6.

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