CN111409113A - Robot fault detection system - Google Patents
Robot fault detection system Download PDFInfo
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- CN111409113A CN111409113A CN202010387036.5A CN202010387036A CN111409113A CN 111409113 A CN111409113 A CN 111409113A CN 202010387036 A CN202010387036 A CN 202010387036A CN 111409113 A CN111409113 A CN 111409113A
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- motor
- voltage
- rotating speed
- fault detection
- detection system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention relates to the technical field of robot fault detection, in particular to a robot fault detection system. The robot fault detection system includes: the voltage detection equipment is connected with the motor to be detected in parallel and is used for detecting voltage signals loaded at two ends of the motor; the motor rotating speed measuring instrument is used for detecting the rotating speed of the motor; and the data processor is connected with the voltage detection equipment and the motor rotating speed measuring instrument in series and is used for receiving the signals transmitted by the voltage detection equipment and the motor rotating speed measuring instrument and judging whether the voltage of the motor accords with the rated voltage and/or whether the load of the motor exceeds the rated value according to the received signals. The system can quickly know the reason of the motor failure, reduce the troubleshooting difficulty of workers and shorten the maintenance time.
Description
Technical Field
The invention relates to the technical field of robot fault detection, in particular to a robot fault detection system.
Background
In the prior art, both service robots and industrial robots are basically supported by mechanical combination with computer technology. Particularly, robots related to mechanical arms are more important in the aspects of optimizing and kinematics of paths and the like, and are less important in the aspect of monitoring equipment.
Generally, each joint of a robot with a mechanical arm is provided with a motor, and because the joints of the robot are more, the number of the motors of each robot is also more. The motor is subjected to a load during operation and the voltage applied to the motor is not in accordance with the specification, so that each motor has a probability of accidents during operation. Because the whole mechanical arm cannot operate due to the fact that one motor fails, the probability that the whole mechanical arm cannot operate is very high.
However, in the prior art, the number of devices for monitoring the motor fault is small, even if monitoring devices are provided, the monitoring accuracy is low, the motor fault cannot be accurately monitored, the reason why the motor fails cannot be rapidly known, the troubleshooting difficulty of workers is increased, and the maintenance time is prolonged.
Based on the above description, a robot fault detection system is needed urgently to solve the problems that the motor monitoring equipment of the existing mechanical arm is low in accuracy, the reason that the motor fails cannot be known quickly, the troubleshooting difficulty of workers is increased, and the maintenance time is prolonged.
Disclosure of Invention
The invention aims to provide a robot fault detection system, which can quickly know the reason of the fault of a motor, reduce the troubleshooting difficulty of workers and shorten the maintenance time.
The purpose of the invention is realized by the following technical scheme.
A robot fault detection system comprising:
the voltage detection equipment is connected with the motor to be detected in parallel and is used for detecting voltage signals loaded at two ends of the motor;
the motor rotating speed measuring instrument is used for detecting the rotating speed of the motor;
and the data processor is connected with the voltage detection equipment and the motor rotating speed measuring instrument in series and is used for receiving the signals transmitted by the voltage detection equipment and the motor rotating speed measuring instrument and judging whether the voltage of the motor accords with the rated voltage and/or whether the load of the motor exceeds the rated value according to the received signals.
Preferably, a noise reduction device is connected in series before the data processor for removing noise or interference signals.
Preferably, the motor rotating speed measuring instrument is provided with a display screen, and the rotating speed of the motor can be directly displayed on the display screen.
Preferably, the robot fault detection system further comprises a display device, and whether the voltage of the motor meets the rated voltage and/or whether the load of the motor exceeds the rated value can be displayed on the display device.
Preferably, the display device and the data processor are integrated devices.
Preferably, the robot fault detection system further comprises an alarm device for alarming if the voltage of the motor does not meet a rated voltage and/or the motor load exceeds a rated value.
The invention has the beneficial effects that:
the robot fault detection system that this scheme provided includes: the voltage detection equipment is connected with the motor to be detected in parallel and is used for detecting voltage signals loaded at two ends of the motor; the motor rotating speed measuring instrument is used for detecting the rotating speed of the motor; and the data processor is connected with the voltage detection equipment and the motor rotating speed measuring instrument in series and is used for receiving the signals transmitted by the voltage detection equipment and the motor rotating speed measuring instrument and judging whether the voltage of the motor accords with the rated voltage and/or whether the load of the motor exceeds the rated value according to the received signals. The system can quickly know the reason of the motor failure, reduce the troubleshooting difficulty of workers and shorten the maintenance time.
Drawings
Fig. 1 is a schematic structural diagram of a robot fault detection system provided in this embodiment;
fig. 2 is a schematic structural diagram of a robot fault detection system provided in a preferred mode of the present embodiment.
1-a voltage detection device; 2-motor rotation speed measuring instrument; 3-a data processor; 4-a noise reduction device; 5-a display device; 6-alarm equipment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When the arm is at work, the motor can be frequent breaks down, generally causes the reason that the motor can not normally operate mainly to include:
(1) the supply voltage does not conform to the nominal voltage. The voltage is lower than the rated voltage, so that the motor cannot reach the rated rotating speed after being started, the current of the motor is overlarge, the temperature of a winding is increased, and even the winding is burnt by smoking; the voltage is too high to exceed the rated voltage, so that the motor works in an overspeed mode and is damaged due to overheating for a long time.
(2) The motor load is out of specification. Due to the fact that the goods are too large, the load of the motor exceeds a rated value, or other parts of the palletizing robot are blocked, and the motor is prevented from acting to cause the load of the motor to be too large. If the motor runs in an overload mode for a long time, the rotating speed of the motor is too low, the current is increased, the temperature of a winding is increased, and finally the motor is in a fault state.
Therefore, the power supply applied to the motor and the load of the motor must be constantly monitored during the operation of the robot arm, and if any data is wrong, the operation of the motor needs to be stopped. If the power supply loaded on the motor does not meet the rated voltage, the work must be stopped to readjust the voltage loaded on the power supply; if the motor load is greater than the rated load, the load of the motor must be reduced, otherwise the motor may malfunction.
For the above analysis, as shown in fig. 1 to 2, the present solution provides a robot fault detection system, including:
and the voltage detection equipment 1 is connected with the motor to be detected in parallel and is used for detecting voltage signals loaded at two ends of the motor. The voltage detection device 1 is generally a voltmeter, and the number of the voltage detection devices is equal to the number of the motors included in the mechanical arm, that is, one motor is connected in parallel with one voltage detection device 1.
And the motor rotating speed measuring instrument 2 is used for detecting the rotating speed of the motor. The number of the motor speed measuring instruments 2 is equal to the number of the motors included in the mechanical arm, that is, one motor speed measuring instrument 2 detects the speed of one motor corresponding to the motor speed measuring instrument.
And the data processor 3 is connected with the voltage detection device 1 and the motor rotating speed measuring instrument 2 in series and is used for receiving the signals transmitted by the voltage detection device 1 and the motor rotating speed measuring instrument 2 and judging whether the voltage of the motor meets the rated voltage and/or whether the load of the motor exceeds the rated value according to the received signals.
The rated voltage is required to be preset in the data processor 3 in advance, the received voltage signal is compared with the preset rated voltage, and if the received voltage is lower than the rated voltage, the motor cannot reach the rated rotating speed after being started, so that the current of the motor is too large, the temperature of a winding is increased, and even the winding is burnt by smoking; if the received voltage is too high to exceed the rated voltage, the motor is operated in an overspeed mode, and the motor is overheated and damaged for a long time. In the event of a voltage above or below the nominal voltage, the machine must be stopped to adjust the value of the voltage applied across the machine.
And moreover, the motor load is rated by presetting a value in the data processor 3, the received motor load signal is compared with the motor load rated by the presetting value in the data processor 3, if the received motor load is greater than the rated motor load, the motor load exceeds the rated value due to too large goods, and if the motor runs in an overload mode for a long time, the rotating speed of the motor is too low, the current is increased, the temperature of a winding is increased, and finally the motor is in a fault state. Therefore, the reason for the excessive load of the motor needs to be found out, and a method for reducing the load of the motor needs to be found out.
In this embodiment, as a preferable scheme, a noise reduction device 4 is further connected in series before the data processor 3, and is configured to remove noise or interference signals attached to the monitored voltage signal and the monitored load signal, so as to ensure accuracy of subsequent data processing and accurate determination of fault determination.
In this embodiment, as a preferred scheme, the motor speed measuring instrument 2 is provided with a display screen, so that the rotating speed of the motor can be directly displayed on the display screen, and the rotating speed of the motor can be conveniently read by a worker. The display screen and the motor speed measuring instrument 2 can be arranged into an integral structure or a split structure.
In this embodiment, the robot fault detection system further preferably includes a display device 5, and the display device 5 can display whether the voltage of the motor meets the rated voltage and/or whether the load of the motor exceeds the rated value. The staff can know the fault reason conveniently. The display device 5 may be an integrated device with the data processor 3, or may be a separate structure connected in series with the data processor 3.
In this embodiment, the robot fault detection system preferably further comprises an alarm device 6 for alarming if the voltage of the motor does not meet the rated voltage and/or the motor load exceeds the rated value. The alarm device 6 is convenient for reminding workers in time when a fault occurs, and the condition that the loss is caused because the workers do not find the fault is avoided.
The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.
Claims (6)
1. A robot fault detection system, comprising:
the voltage detection equipment is connected with the motor to be detected in parallel and is used for detecting voltage signals loaded at two ends of the motor;
the motor rotating speed measuring instrument is used for detecting the rotating speed of the motor;
and the data processor is connected with the voltage detection equipment and the motor rotating speed measuring instrument in series and is used for receiving the signals transmitted by the voltage detection equipment and the motor rotating speed measuring instrument and judging whether the voltage of the motor accords with the rated voltage and/or whether the load of the motor exceeds the rated value according to the received signals.
2. The robot fault detection system of claim 1,
and a noise reduction device is also connected in series in front of the data processor and used for removing noise or interference signals.
3. The robot fault detection system of claim 1, wherein a display screen is provided on the motor speed measurement device, and the motor speed is directly displayed on the display screen.
4. The robot fault detection system of claim 1, further comprising a display device on which it is possible to display whether the voltage of the motor meets a rated voltage and/or whether the motor load exceeds a rated value.
5. The robot fault detection system of claim 4, wherein the display device and the data processor are an integrated device.
6. The robot fault detection system of claim 1, further comprising an alarm device to alarm if the voltage of the motor does not meet a rated voltage and/or the motor load exceeds a rated value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010387036.5A CN111409113A (en) | 2020-05-09 | 2020-05-09 | Robot fault detection system |
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| CN202010387036.5A CN111409113A (en) | 2020-05-09 | 2020-05-09 | Robot fault detection system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997049977A1 (en) * | 1996-06-24 | 1997-12-31 | Arcelik A.S. | Model-based fault detection system for electric motors |
| US20110153236A1 (en) * | 2008-04-14 | 2011-06-23 | Michel Montreuil | Electrical anomaly detection method and system |
| CN205581273U (en) * | 2016-05-07 | 2016-09-14 | 山东英才学院 | Motor fault monitoring device based on thing networking |
| CN109298336A (en) * | 2018-11-01 | 2019-02-01 | 南京世界村汽车动力有限公司 | A kind of electric motor of automobile detection system |
| CN111055306A (en) * | 2019-12-31 | 2020-04-24 | 杭州电子科技大学 | Servo motor service performance comprehensive test method for six-axis industrial robot |
| CN212312083U (en) * | 2020-05-09 | 2021-01-08 | 廊坊市智恒机器人科技有限公司 | Robot fault detection system |
-
2020
- 2020-05-09 CN CN202010387036.5A patent/CN111409113A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997049977A1 (en) * | 1996-06-24 | 1997-12-31 | Arcelik A.S. | Model-based fault detection system for electric motors |
| US20110153236A1 (en) * | 2008-04-14 | 2011-06-23 | Michel Montreuil | Electrical anomaly detection method and system |
| CN205581273U (en) * | 2016-05-07 | 2016-09-14 | 山东英才学院 | Motor fault monitoring device based on thing networking |
| CN109298336A (en) * | 2018-11-01 | 2019-02-01 | 南京世界村汽车动力有限公司 | A kind of electric motor of automobile detection system |
| CN111055306A (en) * | 2019-12-31 | 2020-04-24 | 杭州电子科技大学 | Servo motor service performance comprehensive test method for six-axis industrial robot |
| CN212312083U (en) * | 2020-05-09 | 2021-01-08 | 廊坊市智恒机器人科技有限公司 | Robot fault detection system |
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