CN113608118A - Method and device for detecting abnormality of servo terminal machine and computer readable storage medium - Google Patents
Method and device for detecting abnormality of servo terminal machine and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an abnormality detection method and equipment of a servo terminal machine and a computer readable storage medium, wherein the abnormality detection method of the servo terminal machine is applied to the servo terminal machine, the servo terminal machine comprises a servo motor, and the abnormality detection method of the servo terminal machine comprises the following steps: when the servo terminal machine is in a working mode, acquiring output torque information of the servo motor; and detecting whether the servo terminal machine is abnormal or not based on the output torque information and preset threshold information. According to the invention, the abnormity detection is carried out on the servo terminal machine under the condition that no additional functional component is added, so that the influence of the additional functional component on the performance of the servo terminal machine is reduced, and the operation stability of the servo terminal machine is further improved.
Description
Technical Field
The present invention relates to the field of servo terminal machines, and in particular, to a method and apparatus for detecting an abnormality of a servo terminal machine, and a computer-readable storage medium.
Background
With the rapid development of technology, the application of the servo terminal machine is more and more extensive. The servo terminal machine is a core device for wire processing, which is used to press a terminal to a wire end. The crimping quality of the terminal directly affects the stability of the wire end, so the crimping quality of the servo terminal machine needs to be improved, and the terminal wire meets the production requirements. In order to improve the crimping quality of the servo terminal machine, it is often necessary to detect an abnormality in the crimping process of the servo terminal machine.
Currently, a pressure sensor or an industrial camera is arranged on a servo terminal machine to detect crimping abnormality through a method of detecting crimping force by the pressure sensor or processing images. However, the addition of functional components such as a sensor and a camera to the servo terminal machine to detect a pressure contact abnormality increases the production and maintenance costs of the servo terminal machine, and also complicates the mechanical and electrical systems of the servo terminal machine due to the addition of these functional components, thereby deteriorating the operational stability of the servo terminal machine.
In summary, how to detect the abnormality of the servo terminal machine without adding additional functional components is an urgent problem to be solved.
Disclosure of Invention
The invention mainly aims to provide a method and equipment for detecting the abnormality of a servo terminal machine and a computer readable storage medium, aiming at realizing the abnormality detection of the servo terminal machine under the condition of not adding additional functional components.
In order to achieve the above object, the present invention provides an abnormality detection method for a servo terminal machine, which is applied to the servo terminal machine, wherein the servo terminal machine comprises a servo motor, and the abnormality detection method for the servo terminal machine comprises the following steps:
when the servo terminal machine is in a working mode, acquiring output torque information of the servo motor;
and detecting whether the servo terminal machine is abnormal or not based on the output torque information and preset threshold information.
Optionally, the step of acquiring the output torque information of the servo motor includes:
acquiring the running current of the servo motor;
and determining output torque information of the servo motor based on the operating current.
Optionally, the step of determining output torque information of the servo motor based on the operating current comprises:
and determining the torque sum of the output torque of the servo motor based on the current information of the preset section in the running current, wherein the torque sum is the torque sum of the output torque of the servo terminal machine in a crimping process.
Optionally, the output torque information includes a torque sum of the output torque, the preset threshold information includes an air pressure threshold and a pressure-superposed threshold, and the step of detecting whether the servo terminal machine is abnormal based on the output torque information and the preset threshold information includes:
comparing the torque sum with the air compression threshold value and the overlying threshold value respectively;
if the moment sum is smaller than the air compression threshold value, judging that the air compression terminal of the servo terminal machine is abnormal;
and if the moment sum is larger than the laminating threshold value, judging that the servo terminal machine is abnormal in laminating terminals.
Optionally, before the step of detecting whether the servo terminal machine is abnormal based on the output torque information and preset threshold information, the method further includes:
acquiring the current crimping speed of the servo terminal machine;
and determining the corresponding preset threshold information based on the current crimping speed.
Optionally, before the step of acquiring the output torque information of the servo motor when the servo terminal machine is in the operating mode, the method further includes:
when the servo terminal machine is in a learning mode, acquiring the crimping times of the learning mode;
after the servo terminal machine finishes the crimping times, acquiring output torque training information of the servo motor;
and determining the preset threshold information based on the output torque training information.
Optionally, the output torque training information includes torques of a plurality of output torques and training data, the number of the torques and the training data is the same as the number of times of crimping, and the step of determining the preset threshold information based on the output torque training information includes:
determining a maximum value and a minimum value of a plurality of the moments and training data;
and taking the maximum value as an overlying threshold value, and taking the minimum value as an air pressure threshold value, so that the preset threshold value information comprises the air pressure threshold value and the overlying threshold value.
Optionally, after the step of determining the preset threshold information based on the output torque training information, the method further includes:
acquiring the training crimping speed of the learning mode;
and mapping the training crimping speed and the preset threshold information so as to determine the corresponding preset threshold information based on the current crimping speed of the servo terminal machine.
Further, to achieve the above object, the present invention also provides an abnormality detection apparatus of a servo terminal machine, including: the present invention relates to a servo terminal machine, and more particularly to a servo terminal machine, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program realizes the steps of the above-described method for detecting an abnormality of a servo terminal machine when executed by the processor.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the abnormality detection method of the servo terminal machine as described above.
The invention provides an abnormality detection method, equipment and a computer readable storage medium of a servo terminal machine, wherein the method is applied to the servo terminal machine, the servo terminal machine comprises a servo motor, and when the servo terminal machine is in a working mode, output torque information of the servo motor is obtained; and detecting whether the servo terminal machine is abnormal or not based on the output torque information and the preset threshold value information. Through the mode, the servo terminal machine can judge whether the servo motor is abnormal or not through the output torque information only by acquiring the output torque information of the servo motor, and compared with the method of adding an additional functional component on the servo terminal machine to realize the abnormal detection of the servo terminal machine, the method can realize the abnormal detection of the servo terminal machine only by acquiring the output torque information of the original servo motor of the servo terminal machine. Therefore, the invention can detect the abnormity of the servo terminal machine without adding additional functional components, thereby reducing the performance influence of the additional functional components on the servo terminal machine and further improving the operation stability of the servo terminal machine.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for detecting an abnormality of a servo terminal machine according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for detecting an abnormality of a servo terminal machine according to a third embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for detecting an abnormality of a servo terminal machine according to a fourth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal in the embodiment of the present invention is an abnormality detection device for a servo terminal device, and the abnormality detection device for the servo terminal device may be a terminal device having a processing function, such as a servo terminal device, a Personal Computer (PC), a microcomputer, a notebook computer, or a server.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU (Central processing unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a computer program.
In the terminal shown in fig. 1, applied to a servo terminal machine including a servo motor, the processor 1001 may be configured to call up a computer program stored in the memory 1005 and perform the following operations:
when the servo terminal machine is in a working mode, acquiring output torque information of the servo motor;
and detecting whether the servo terminal machine is abnormal or not based on the output torque information and preset threshold information.
Further, the processor 1001 may be configured to invoke the computer program stored in the memory 1005 to also perform the following operations:
acquiring the running current of the servo motor;
and determining output torque information of the servo motor based on the operating current.
Further, the processor 1001 may be configured to invoke the computer program stored in the memory 1005 to also perform the following operations:
and determining the torque sum of the output torque of the servo motor based on the current information of the preset section in the running current, wherein the torque sum is the torque sum of the output torque of the servo terminal machine in a crimping process.
Further, the output torque information includes a torque sum of the output torque, the preset threshold information includes a pneumatic pressure threshold and a pressure-superposed pressure threshold, and the processor 1001 may be configured to call up a computer program stored in the memory 1005, and further perform the following operations:
comparing the torque sum with the air compression threshold value and the overlying threshold value respectively;
if the moment sum is smaller than the air compression threshold value, judging that the air compression terminal of the servo terminal machine is abnormal;
and if the moment sum is larger than the laminating threshold value, judging that the servo terminal machine is abnormal in laminating terminals.
Further, the processor 1001 may be configured to invoke the computer program stored in the memory 1005 to also perform the following operations:
acquiring the current crimping speed of the servo terminal machine;
and determining the corresponding preset threshold information based on the current crimping speed.
Further, the processor 1001 may be configured to invoke the computer program stored in the memory 1005 to also perform the following operations:
when the servo terminal machine is in a learning mode, acquiring the crimping times of the learning mode;
after the servo terminal machine finishes the crimping times, acquiring output torque training information of the servo motor;
and determining the preset threshold information based on the output torque training information.
Further, the output torque training information includes torque and training data of a plurality of output torques, the number of the torque and the training data is the same as the number of times of crimping, and the processor 1001 may be configured to call up the computer program stored in the memory 1005, and further perform the following operations:
determining a maximum value and a minimum value of a plurality of the moments and training data;
and taking the maximum value as an overlying threshold value, and taking the minimum value as an air pressure threshold value, so that the preset threshold value information comprises the air pressure threshold value and the overlying threshold value.
Further, the processor 1001 may be configured to invoke the computer program stored in the memory 1005 to also perform the following operations:
acquiring the training crimping speed of the learning mode;
and mapping the training crimping speed and the preset threshold information so as to determine the corresponding preset threshold information based on the current crimping speed of the servo terminal machine.
Based on the hardware structure, various embodiments of the abnormality detection method for the servo terminal machine are provided.
The invention provides an abnormality detection method for a servo terminal machine.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for detecting an abnormality of a servo terminal machine according to the present invention.
In this embodiment, the abnormality detection method of a servo terminal machine is applied to a servo terminal machine including a servo motor, and includes:
step S10, when the servo terminal machine is in a working mode, obtaining output torque information of the servo motor;
in the embodiment, when the servo terminal machine is in the working mode, the output torque information of the servo motor is acquired. The servo terminal machine is used for crimping the terminal to the wire end; when the servo terminal machine is in a working mode, the servo terminal machine is in a terminal crimping mode, namely the servo terminal machine is in a normal terminal crimping mode; the servo motor is a power source of the servo terminal machine, and the output torque of the servo motor can be used for representing the crimping force of the servo terminal machine; the servo terminal machine transmits the output torque of the servo motor to the crimping punch mechanism through a transmission mechanism such as a gear and the like to perform crimping action.
It should be noted that the output torque information may include: in the process of crimping the servo terminal machine, the sum of the moments of the output moments of the servo motor is obtained; of course, the output torque information may also include: in a crimping process of the servo terminal machine, a plurality of output torques of the servo motor.
In addition, it should be noted that when the servo terminal machine is in the operating mode, the output torque information of the servo motor is acquired in real time. Specifically, when the servo terminal machine is in a crimping process, the output torque information of the servo motor is obtained in real time, wherein the output torque information is the output torque information in the crimping process.
In addition, it should be noted that the output torque of the servo motor is linearly proportional to the current of the servo motor. Based on this, the output torque of the servo motor can be determined based on the operating current of the servo motor. For a specific implementation process, reference may be made to the following second embodiment, which is not described in detail herein.
In one embodiment, the output torque information includes a sum of torques of the output torques, and the step S10 includes:
and when the servo terminal machine is in a working mode, acquiring the sum of the moments of the output moments of the servo motor, wherein the sum of the moments is the sum of the moments of the output moments of the servo terminal machine in a crimping process. Specifically, the maximum torque position where the output torque of the servo motor is maximum in the process of crimping the terminal is found, and then the sum of the output torque is obtained by summing the output torque in the preset range before and after the maximum torque position.
In a specific embodiment, the step of obtaining a torque sum of the output torques of the servo motors includes:
determining the maximum output torque of the servo motor; determining a corresponding maximum torque position based on the maximum output torque; determining a plurality of output torques of the servo motor based on the maximum torque position and a preset range; and summing the output torques to obtain the torque sum of the output torques. The preset range can be set according to actual needs, for example, according to the duration, that is, the output torques are output torques within a certain duration before and after the maximum output torque; or, the setting is performed according to the value of the output torque, that is, the output torques are output torques larger than a preset torque threshold within a crimping process time, where the preset torque threshold may be set according to an actual situation, and is not specifically limited herein.
In another embodiment, the output torque information includes a plurality of output torques, and the step S10 includes:
when the servo terminal machine is in a working mode, a plurality of output torques of the servo motor are obtained, wherein the output torques are output torques of the servo terminal machine in a crimping process.
In a specific embodiment, the step of obtaining a plurality of output torques of the servo motor includes:
acquiring a preset range; and determining a plurality of output torques of the servo motor based on the preset range. The preset range can be set according to actual needs, for example, according to the time length, that is, a plurality of output torques are output torques within a certain time length before and after a crimping process time; alternatively, the output torques are all output torques during a crimping process time.
And step S20, detecting whether the servo terminal machine is abnormal or not based on the output torque information and preset threshold information.
In the present embodiment, based on the output torque information and the preset threshold information, it is detected whether an abnormality occurs in the servo terminal machine. Specifically, the output torque information is compared with preset threshold information, and whether the servo terminal machine is abnormal or not is detected based on the comparison result.
In some embodiments, the preset threshold information includes a first preset threshold and a second preset threshold, where the first preset threshold is greater than the second preset threshold, and the step S20 includes:
comparing the output torque information with the first preset threshold and the second preset threshold respectively; if the output torque information is smaller than the second preset threshold value, judging that the servo terminal machine has an abnormal air compression terminal; and if the output torque information is larger than the first preset threshold value, judging that the servo terminal machine is abnormal in the laminated terminal.
In one embodiment, the output torque information includes a sum of torques of the output torques, and the step S20 includes:
comparing the moment sum with the first preset threshold and the second preset threshold respectively; if the moment sum is smaller than the second preset threshold value, judging that the servo terminal machine has an abnormal air compression terminal; and if the moment sum is greater than the first preset threshold value, judging that the servo terminal machine is abnormal in the laminated terminal. For a specific implementation process, reference may be made to the following third embodiment, which is not described in detail herein.
In another embodiment, the output torque information includes a plurality of output torques, and the step S20 includes:
comparing the output torque sums with the first preset threshold and the second preset threshold respectively; if at least one of the output torques is smaller than the second preset threshold value, judging that the air compression terminal of the servo terminal machine is abnormal; and if at least one of the output torques is larger than the first preset threshold value, judging that the servo terminal machine is abnormal in the laminated terminal.
It should be noted that the preset threshold information corresponds to the output torque information one to one, and the output torque information in different forms corresponds to different preset threshold information, and it can be understood that the torque of the output torque and the corresponding preset threshold are larger than the preset thresholds corresponding to a plurality of output torques before superposition. Based on this, the preset threshold information may be determined based on the output torque information.
In addition, it should be noted that the servo terminal machine includes a learning mode in addition to the operating mode, and the learning mode is used for enabling the servo terminal machine to set the preset threshold information by itself, rather than setting the preset threshold information manually, so that the accuracy of setting the preset threshold information can be improved, and the accuracy of detecting the abnormality of the servo terminal machine can be improved. For a specific implementation process, reference may be made to the following fourth embodiment, which is not described in detail herein.
Further, before step S20, the method for detecting an abnormality of a servo terminal machine further includes:
step A, acquiring the current crimping speed of the servo terminal machine;
and B, determining corresponding preset threshold information based on the current crimping speed.
In this embodiment, when the crimping speeds of the servo terminal machines are different, the abnormality detection criteria of the servo terminal machines are also different, that is, the corresponding preset threshold information is also different. Specifically, the current crimping speed of the servo terminal machine is obtained, and corresponding preset threshold information is determined based on the current crimping speed.
In an embodiment, the step of determining the corresponding preset threshold information based on the current crimping speed includes:
and determining corresponding preset threshold information based on the current crimping speed and a preset mapping relation. The preset mapping relation is the mapping relation between the crimping speed and the preset threshold value information.
It can be understood that different preset threshold information is obtained according to different crimping speeds of the servo terminal machine in the working mode, so that the accuracy of abnormality detection of the servo terminal machine is improved when whether the servo terminal machine is abnormal or not is detected based on the output torque information and the preset threshold information.
The embodiment of the invention provides an abnormality detection method of a servo terminal machine, which is applied to the servo terminal machine, wherein the servo terminal machine comprises a servo motor, and when the servo terminal machine is in a working mode, output torque information of the servo motor is obtained; and detecting whether the servo terminal machine is abnormal or not based on the output torque information and the preset threshold value information. Through the mode, the servo terminal machine can judge whether the servo motor is abnormal or not through the output torque information only by acquiring the output torque information of the servo motor, and compared with the method of realizing the abnormal detection of the servo terminal machine by adding an additional functional component on the servo terminal machine, the method and the device can realize the abnormal detection of the servo terminal machine only by acquiring the output torque information of the original servo motor of the servo terminal machine. Therefore, the embodiment of the invention carries out abnormity detection on the servo terminal machine under the condition of not increasing additional functional components, thereby reducing the performance influence of the additional functional components on the servo terminal machine and further improving the operation stability of the servo terminal machine.
Further, based on the first embodiment, a second embodiment of the method for detecting an abnormality of a servo terminal machine according to the present invention is provided.
In this embodiment, in step S10, the acquiring output torque information of the servo motor includes:
step a11, obtaining the running current of the servo motor;
and a step a12, determining the output torque information of the servo motor based on the operating current.
In the present embodiment, first, the operating current of the servo motor is acquired, and then, based on the operating current of the servo motor, the output torque information of the servo motor is determined. Specifically, the operating current of the servo motor is obtained in real time, and then the output torque information of the servo motor is determined based on the operating current and a preset mapping relation. The preset mapping relationship is a corresponding relationship between the operating current and the output torque information.
It should be noted that the output torque information may include: in the process of crimping the servo terminal machine, the sum of the moments of the output moments of the servo motor is obtained; of course, the output torque information may also include: in a crimping process of the servo terminal machine, a plurality of output torques of the servo motor.
In one embodiment, the output torque information includes a torque sum of the output torques, and the step a12 includes:
and determining the moment sum of the output moment of the servo motor based on the operating current, wherein the moment sum is the moment sum of the output moment of the servo terminal machine in a crimping process. Specifically, the maximum current position where the current of the servo motor is maximum in the process of crimping the terminal is found, and then the sum of the output torque is obtained by summing the output torque corresponding to the current in the preset range before and after the maximum current position.
In a specific embodiment, the step a12 includes:
step a121, determining a torque sum of output torques of the servo motor based on current information of a preset section in the operating current, wherein the torque sum is the torque sum of the output torques of the servo terminal machine in a crimping process.
Specifically, a plurality of output torques of the servo motor are determined based on current information of a preset section in the running current; and summing the output torques to obtain the torque sum of the output torques. The preset section can be set according to actual needs, for example, according to duration, that is, the current information is current within a certain duration before and after the maximum current; or, the setting is performed according to the value of the current, that is, the current information is the current of which the current is greater than the preset current threshold in the time of the crimping process, wherein the preset current threshold may be set according to the actual situation, and is not specifically limited herein.
In one embodiment, the step a121 includes:
determining a peak current based on the operating current; determining a preset area based on the peak current; acquiring current information of the preset area, and acquiring a plurality of output torques corresponding to the current information; and accumulating the output torques to obtain the torque sum of the output torques of the servo motor, wherein the torque sum is the torque sum of the output torques of the servo terminal machine in a crimping process.
It should be noted that, if the multiple output torques are obtained by sampling, the multiple output torques are directly accumulated and summed by aggregation algorithms such as addition operation and mean operation; if the multiple output torques are represented in a curved fashion, they can be summed and summed by an integration operation.
In another embodiment, the output torque information includes a plurality of output torques, and the step a12 includes:
and determining a plurality of output torques of the servo motor based on the operating current, wherein the output torques are output torques of the servo terminal machine in a crimping process. Specifically, a preset range is obtained; and determining a plurality of output torques of the servo motor based on the preset range. The preset range can be set according to actual needs, for example, according to the time length, that is, a plurality of output torques are output torques within a certain time length before and after a crimping process time; alternatively, the output torques are all output torques during a crimping process time.
It can be understood that the specific implementation process of the operation current of the servo motor is basically the same as that of the operation current described above, and the description thereof is omitted here.
In this embodiment, only the operating current of the servo motor needs to be acquired, so that the output torque information of the servo motor is determined based on the operating current, that is, the abnormal detection of the servo terminal machine can be realized only by acquiring the operating current of the original servo motor of the servo terminal machine. Therefore, the embodiment of the invention can detect the abnormality of the servo terminal machine under the condition of not increasing additional functional components, thereby reducing the performance influence of the additional functional components on the servo terminal machine and further improving the operation stability of the servo terminal machine.
Further, based on the first embodiment, a third embodiment of the method for detecting an abnormality of a servo terminal machine according to the present invention is provided.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for detecting an abnormality of a servo terminal machine according to a third embodiment of the present invention.
In this embodiment, the output torque information includes a torque sum of the output torque, the preset threshold information includes an air pressure threshold and a pressure-superposed threshold, and the step S20 includes:
step S21, comparing the torque sum with the air pressure threshold value and the pressure-superposed threshold value respectively;
step S22, if the moment sum is smaller than the air pressure threshold value, judging that the air pressure terminal of the servo terminal machine is abnormal;
and step S23, if the moment sum is larger than the laminating threshold value, judging that the servo terminal machine has laminating terminal abnormity.
In this embodiment, the torque sum is compared with the air pressure threshold and the pressure-superposed threshold respectively; if the moment sum is smaller than the air compression threshold value, judging that the air compression terminal of the servo terminal machine is abnormal; and if the moment sum is larger than the laminating threshold value, judging that the servo terminal machine is abnormal in laminating terminals. And the pressure-superposed threshold is greater than the air pressure threshold.
The sum of the torques of the output torques is the sum of the torques during a crimping process of the servo terminal machine.
In one embodiment, the torque sum of the output torques is obtained by: and when the servo terminal machine is in a working mode, acquiring the sum of the moments of the output moments of the servo motor. That is to say, the maximum torque position where the output torque of the servo motor is maximum in the process of crimping the terminal is found, and then the sum of the output torque is obtained by summing the output torque in the preset range before and after the maximum torque position.
Specifically, determining the maximum output torque of the servo motor; determining a corresponding maximum torque position based on the maximum output torque; determining a plurality of output torques of the servo motor based on the maximum torque position and a preset range; and summing the output torques to obtain the torque sum of the output torques. The preset range can be set according to actual needs, for example, according to the duration, that is, the output torques are output torques within a certain duration before and after the maximum output torque; or, the setting is performed according to the value of the output torque, that is, the output torques are output torques larger than a preset torque threshold within a crimping process time, where the preset torque threshold may be set according to an actual situation, and is not specifically limited herein.
In the embodiment, the torque sum of the output torque of the servo motor is compared with the air pressure threshold and the overlying threshold respectively to detect the abnormality of the servo terminal machine, and the output torque of the servo terminal machine in the crimping process is comprehensively considered, so that the accuracy of the abnormality detection of the servo terminal machine is further improved.
Further, based on the first embodiment, a fourth embodiment of the method for detecting an abnormality of a servo terminal machine according to the present invention is provided.
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for detecting an abnormality of a servo terminal machine according to a fourth embodiment of the present invention.
In this embodiment, before step S10, the method for detecting an abnormality of a servo terminal machine further includes:
step S30, when the servo terminal machine is in a learning mode, acquiring the crimping times of the learning mode;
in the present embodiment, when the servo terminal machine is in the learning mode, the number of times of crimping in the learning mode is acquired. The learning mode is a mode for training the servo terminal machine, namely preset threshold information is obtained through training; the number of times of crimping is a training number, and the number of times of crimping may be set according to actual conditions, and is not limited herein.
Step S40, after the servo terminal machine completes the crimping times, obtaining the output torque training information of the servo motor;
in the present embodiment, the output torque training information of the servo motor is acquired after the servo terminal machine completes the crimping times. Wherein, the quantity of the output torque training information is the same as the crimping times.
It should be noted that the output torque training information may include: in the process of crimping the servo terminal machine, the sum of the moments of the output moments of the servo motor is obtained; of course, the output torque information may also include: in a crimping process of the servo terminal machine, a plurality of output torques of the servo motor.
In an embodiment, the output torque training information includes a torque sum of the output torque, and the step of obtaining the output torque training information of the servo motor includes:
and acquiring the sum of the moments of the output moments of the servo motor, wherein the sum of the moments is the sum of the moments of the output moments of the servo terminal machine in a crimping process. Specifically, the maximum torque position where the output torque of the servo motor is maximum in the process of crimping the terminal is found, and then the sum of the output torque is obtained by summing the output torque in the preset range before and after the maximum torque position.
In a specific embodiment, the step of obtaining a torque sum of the output torques of the servo motors includes:
determining the maximum output torque of the servo motor; determining a corresponding maximum torque position based on the maximum output torque; determining a plurality of output torques of the servo motor based on the maximum torque position and a preset range; and summing the output torques to obtain the torque sum of the output torques. The preset range can be set according to actual needs, for example, according to the duration, that is, the output torques are output torques within a certain duration before and after the maximum output torque; or, the setting is performed according to the value of the output torque, that is, the output torques are output torques larger than a preset torque threshold within a crimping process time, where the preset torque threshold may be set according to an actual situation, and is not specifically limited herein.
In another embodiment, the output torque training information includes a plurality of output torques, and the step of obtaining the output torque training information of the servo motor includes:
and acquiring a plurality of output torques of the servo motor, wherein the output torques are output torques of the servo terminal machine in a crimping process.
In a specific embodiment, the step of obtaining a plurality of output torques of the servo motor includes:
acquiring a preset range; and determining a plurality of output torques of the servo motor based on the preset range. The preset range can be set according to actual needs, for example, according to the time length, that is, a plurality of output torques are output torques within a certain time length before and after a crimping process time; alternatively, the output torques are all output torques during a crimping process time.
Step S50, determining the preset threshold information based on the output torque training information.
In the present embodiment, the preset threshold information is determined based on the output torque training information. Specifically, the maximum value of the output torque and the minimum value of the output torque in the output torque training information are determined, then the maximum value is used as a superposed threshold value, and the minimum value is used as an air pressure threshold value, so that the preset threshold value information includes the air pressure threshold value and the superposed threshold value.
In an embodiment, the output torque training information includes torque and training data of a plurality of output torques, and the number of the torque and the training data is the same as the number of times of crimping, and the step S50 includes:
step a51, determining the maximum value and the minimum value of a plurality of moments and training data;
step a51, using the maximum value as an overlap threshold value and the minimum value as an air pressure threshold value, so that the preset threshold value information includes the air pressure threshold value and the overlap threshold value.
In this embodiment, the maximum value and the minimum value of a plurality of moments and training data are determined, and then the maximum value is used as a laminating threshold value, and the minimum value is used as a pneumatic threshold value, so that the preset threshold value information includes the pneumatic threshold value and the laminating threshold value. Specifically, the position where the output torque of the servo motor is the maximum in the process of crimping the terminal is found out through the process of crimping the terminal for a plurality of times in a learning mode before the crimping of the terminal, then the output torque in the range around the maximum torque position is accumulated in a program to calculate the torque sum, the maximum value A1 and the minimum value B1 of the torque sum in the section of the position after the learning for a plurality of times are recorded, A1 and B1 are used as references when the maximum value A and the minimum value B of the judgment threshold values of terminal machine air pressure and the laminated terminal are set, after the learning process is completed, the torque sum T of the motor is calculated in the same position in the process of normal crimping of the terminal, if T is larger than A, the abnormality of the laminated terminal occurs in the servo terminal machine, and if T is smaller than B, the abnormality of the air pressure terminal occurs in the servo terminal machine.
Further, after step S50, the method for detecting an abnormality of a servo terminal machine further includes:
step C, acquiring the training crimping speed of the learning mode;
and step D, mapping the training crimping speed and the preset threshold information so as to determine the corresponding preset threshold information based on the current crimping speed of the servo terminal machine.
In this embodiment, when the crimping speeds of the servo terminal machines are different, the abnormality detection criteria of the servo terminal machines are also different, that is, the corresponding preset threshold information is also different. Specifically, a training crimping speed of a current learning mode of the servo terminal machine is obtained, and the training crimping speed is mapped with preset threshold information, so that the corresponding preset threshold information is determined based on the current crimping speed of the servo terminal machine.
Specifically, the step D includes:
and mapping the training crimping speed and the preset threshold information to obtain a mapping relation so as to determine the corresponding preset threshold information based on the current crimping speed of the servo terminal machine and the mapping relation.
The method can be understood that preset threshold information corresponding to different crimping speeds is set for different crimping speeds of the servo terminal machine in the learning mode, so that different preset threshold information is obtained subsequently for different crimping speeds of the servo terminal machine in the working mode, and the accuracy of abnormal detection of the servo terminal machine is further improved when whether the servo terminal machine is abnormal or not is detected based on the output torque information and the preset threshold information.
In this embodiment, the servo terminal machine further includes a learning mode, and the learning mode is used for training the servo terminal machine so as to set the preset threshold information by itself, and compared with the case where the preset threshold information is set manually, the setting accuracy of the preset threshold information can be improved, and the accuracy of detecting the abnormality of the servo terminal machine can be further improved.
The present invention also provides an abnormality detection system for a servo terminal machine, including: the computer program is stored on the memory and can be run on the processor, and when being executed by the processor, the computer program realizes the steps of the abnormality detection method of the servo terminal machine according to any one of the above embodiments.
The specific embodiment of the abnormality detection system of the servo terminal machine of the present invention is basically the same as the embodiments of the abnormality detection method of the servo terminal machine, and details are not described herein.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the abnormality detection method of a servo terminal machine according to any one of the above embodiments.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the abnormality detection method of the servo terminal machine, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a server terminal, a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The abnormality detection method of the servo terminal machine is characterized by being applied to the servo terminal machine, wherein the servo terminal machine comprises a servo motor, and the abnormality detection method of the servo terminal machine comprises the following steps:
when the servo terminal machine is in a working mode, acquiring output torque information of the servo motor;
and detecting whether the servo terminal machine is abnormal or not based on the output torque information and preset threshold information.
2. The abnormality detection method of a servo terminal machine according to claim 1, wherein the step of acquiring the output torque information of the servo motor includes:
acquiring the running current of the servo motor;
and determining output torque information of the servo motor based on the operating current.
3. The abnormality detection method of a servo terminal machine according to claim 2, wherein the step of determining the output torque information of the servo motor based on the operating current includes:
and determining the torque sum of the output torque of the servo motor based on the current information of the preset section in the running current, wherein the torque sum is the torque sum of the output torque of the servo terminal machine in a crimping process.
4. The method for detecting an abnormality of a servo terminal machine according to claim 1, wherein the output torque information includes a torque sum of output torque, the preset threshold information includes a pneumatic threshold and a pressure-superposed threshold, and the step of detecting whether an abnormality occurs in the servo terminal machine based on the output torque information and the preset threshold information includes:
comparing the torque sum with the air compression threshold value and the overlying threshold value respectively;
if the moment sum is smaller than the air compression threshold value, judging that the air compression terminal of the servo terminal machine is abnormal;
and if the moment sum is larger than the laminating threshold value, judging that the servo terminal machine is abnormal in laminating terminals.
5. The method for detecting an abnormality of a servo terminal machine according to claim 1, wherein before the step of detecting whether an abnormality occurs in the servo terminal machine based on the output torque information and preset threshold information, the method further comprises:
acquiring the current crimping speed of the servo terminal machine;
and determining the corresponding preset threshold information based on the current crimping speed.
6. The abnormality detection method of the servo terminal machine according to any one of claims 1 to 5, characterized by further comprising, before the step of acquiring the output torque information of the servo motor when the servo terminal machine is in an operating mode:
when the servo terminal machine is in a learning mode, acquiring the crimping times of the learning mode;
after the servo terminal machine finishes the crimping times, acquiring output torque training information of the servo motor;
and determining the preset threshold information based on the output torque training information.
7. The abnormality detection method of a servo terminal machine according to claim 6, wherein the output torque training information includes torques and training data of a plurality of output torques, the number of the torques and the training data being the same as the number of times of crimping, and the step of determining the preset threshold value information based on the output torque training information includes:
determining a maximum value and a minimum value of a plurality of the moments and training data;
and taking the maximum value as an overlying threshold value, and taking the minimum value as an air pressure threshold value, so that the preset threshold value information comprises the air pressure threshold value and the overlying threshold value.
8. The method for detecting an abnormality in a servo terminal machine according to claim 6, wherein, after the step of determining the preset threshold information based on the output torque training information, the method further comprises:
acquiring the training crimping speed of the learning mode;
and mapping the training crimping speed and the preset threshold information so as to determine the corresponding preset threshold information based on the current crimping speed of the servo terminal machine.
9. An abnormality detection apparatus of a servo terminal machine, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of detecting an abnormality of a servo terminal machine according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the steps of the abnormality detection method of a servo terminal machine according to any one of claims 1 to 8.
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