CN101263499A - 智能状态监测和故障诊断系统 - Google Patents
智能状态监测和故障诊断系统 Download PDFInfo
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- CN101263499A CN101263499A CNA2006800332477A CN200680033247A CN101263499A CN 101263499 A CN101263499 A CN 101263499A CN A2006800332477 A CNA2006800332477 A CN A2006800332477A CN 200680033247 A CN200680033247 A CN 200680033247A CN 101263499 A CN101263499 A CN 101263499A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
- G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
- G05B23/0235—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/008—Reliability or availability analysis
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- H—ELECTRICITY
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- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
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- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
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Abstract
Description
编号 | 说明 |
301 | 大气部分 |
302 | 真空部分 |
303 | 处理模块 |
304 | 外壳 |
305 | 装载埠(Loadport) |
306 | 大气机械手 |
307 | 基板对准器(Substrate aligner) |
308 | 扇形滤波器单元 |
309 | 真空室 |
310 | 装载锁 |
311 | 真空机械手 |
312 | 真空泵 |
313 | 狭口阀 |
314 | 工具控制器 |
315 | 大气部分控制器 |
316 | 真空部分控制器 |
317 | 过程控制器 |
318 | 装载埠控制器 |
319 | 大气机器人控制器 |
320 | 对准器控制器 |
321 | 扇形滤波器单元控制器 |
322 | 电机控制器 |
323 | 真空机器人控制器 |
编号 | 说明 |
401 | 机器人机架 |
402 | 安装法兰 |
403 | 垂直轨 |
404 | 线性轴承 |
405 | 车架 |
406 | 垂直驱动电机 |
407 | 滚珠螺杆 |
408 | 电机1(传动杆件1) |
409 | 电机2(传动杆件2) |
410 | (耦合到电机1的)编码器1 |
411 | (耦合到电机2的)编码器2 |
412 | 外轴 |
413 | 内轴 |
414 | 连杆1(上臂) |
415 | 皮带传动杆件2 |
416 | 连杆2(前臂) |
417A | 电机A(驱动末端执行器A) |
417B | 电机B(驱动末端执行器B) |
418A | 皮带传动A的第一级 |
418B | 皮带传动B的第一级 |
419A | 皮带传动A的第二级 |
419B | 皮带传动B的第二级 |
420A | 末端执行器A(上部末端执行器) |
420B | 末端执行器B(下部末端执行器) |
421A、421B | 末端执行器A和B上的有效载荷 |
422 | 主控制器 |
423A、423B、423C | 电机控制器 |
424A、424B | 末端执行器A和B的电子单元 |
425 | 通信网络 |
426 | 滑环 |
428A、428B | 映射器传感器 |
429 | 电源 |
430 | 真空泵 |
431A、431B | 阀 |
432A、432B | 压力传感器 |
433、434A、434B | 唇形密封 |
435 | 制动装置 |
目的 | 当前机器人伺服状态 |
综述 | 指示是否为每个电机激活位置反馈伺服。如果所有的电机使得它们的反馈伺服激活,则机器人处在“伺服活动”状态。如果不是,则机器人处在“伺服不活动”状态。 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比(benefit-to-effort ratio)) |
目的 | 机器人“伺服活动”状态的总持续时间 |
综述 | 自从机器人首次运转以来机器人处在“伺服活动”状态的总持续时间,单位为天、小时、分和秒 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 当前“伺服活动”期的持续时间 |
综述 | 当前“伺服活动”期的持续时间,单位为天、小时、分和秒。如果机器人目前不在伺服活动状态,则这个量指的是上次伺服活动期的持续时间 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 机器人运动的持续时间 |
综述 | 机器人在作为其部分正常操作的运动中的持续时间 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 运动错误的次数 |
综述 | 由于错误状态机器人伺服状态从“活动”变为“不活动”的次数 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 错误之间的平均运动持续时间 |
综述 | 连续的运动错误之间的持续时间的平均值 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 电机“里程” |
综述 | 每个电机已经移动的距离,单位为度或mm |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 基板获取/释放操作的数量 |
综述 | 指示机器人执行了多少次拾/放操作 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 错误报告 |
综述 | 当错误状态发生时的通知,包括错误的起源、对应的错误代码和错误描述 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
目的 | 诊断信息的记录 |
综述 | 关于所有系统操作、系统状态中的变化以及系统错误的信息都记录在文件中 |
实现方案的可行性 | 容易实现;并不要求理论研发或实验验证;并不要求附加的传感器或硬件 |
实现方案优先级 | 高(极好的收益努力比) |
基于能量耗散的机器人/对准器整体健康 |
基于转矩/电流残差的机器人/对准器整体健康 |
基于功耗的机器人/对准器整体健康 |
基于跟踪误差的机器人/对准器整体健康 |
机器人/对准器电机模型有效性 |
机器人/对准器编码器数据完整性 |
连续皮带张力监测 |
结构振动的监测 |
热耗散的监测 |
冷却风扇的监测 |
机器人/对准器超程开关的监测 |
机器人/对准器夹持器和真空系统健康 |
通信网络健康 |
连续的机器人可重复性监测 |
拾/放操作的监测 |
连续病毒扫描 |
扇形滤波器单元滤波器的监测 |
电离器功能的监测 |
电流/转矩残差分析 |
电机功耗分析 |
跟踪误差分析 |
障碍检测 |
干扰观测器数据的分析 |
皮带张力分析 |
频域分析 |
机器人/对准器模型识别 |
机器人/对准器频率响应 |
机器人/对准器关节状态检查 |
请求式机器人/对准器皮带张力检查 |
静负载状态下的电机模型证实 |
机器人/对准器编码器信号检查 |
机器人/对准器夹持器的请求式检查 |
机器人/对准器传感器检查 |
机器人映射器功能检查 |
机器人/对准器控制稳定性验证 |
通信网络拓扑检查 |
请求式机器人可重复性检查 |
机器人工作站对准检查 |
请求式病毒扫描 |
Claims (37)
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US69852105P | 2005-07-11 | 2005-07-11 | |
US60/698,521 | 2005-07-11 | ||
PCT/US2006/026974 WO2007008940A2 (en) | 2005-07-11 | 2006-07-11 | Intelligent condition-monitoring and dault diagnostic system |
Publications (2)
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CN101263499A true CN101263499A (zh) | 2008-09-10 |
CN101263499B CN101263499B (zh) | 2013-03-27 |
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Country Status (7)
Country | Link |
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US (2) | US7882394B2 (zh) |
EP (2) | EP2998894B1 (zh) |
JP (1) | JP5043839B2 (zh) |
KR (1) | KR101322434B1 (zh) |
CN (1) | CN101263499B (zh) |
TW (1) | TWI470385B (zh) |
WO (1) | WO2007008940A2 (zh) |
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JP5043839B2 (ja) | 2012-10-10 |
KR101322434B1 (ko) | 2013-10-28 |
WO2007008940A3 (en) | 2007-12-13 |
US20070067678A1 (en) | 2007-03-22 |
EP1913506A2 (en) | 2008-04-23 |
US20110173496A1 (en) | 2011-07-14 |
CN101263499B (zh) | 2013-03-27 |
US7882394B2 (en) | 2011-02-01 |
EP1913506A4 (en) | 2008-08-13 |
TWI470385B (zh) | 2015-01-21 |
EP2998894A1 (en) | 2016-03-23 |
WO2007008940A2 (en) | 2007-01-18 |
TW200805018A (en) | 2008-01-16 |
KR20080055789A (ko) | 2008-06-19 |
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JP2009500767A (ja) | 2009-01-08 |
US8356207B2 (en) | 2013-01-15 |
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