CN114918976A - Joint robot health state assessment method based on digital twinning technology - Google Patents
Joint robot health state assessment method based on digital twinning technology Download PDFInfo
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Abstract
The invention provides a joint robot health state assessment method based on a digital twin technology, wherein a sensor is arranged in each joint motor of a joint robot to detect the action data of the joint motor, the action data is analyzed and processed, and the motor loss data of the joint robot is determined; analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information; according to the method, by means of a digital twinning technology, the running state of the joint robot is visually displayed, a corresponding digital twinning model is constructed, historical action data of a joint motor of the joint robot are mined and analyzed, health state assessment of the joint robot is achieved, waste of overhaul resources is reduced, and unplanned shutdown events of the joint robot are effectively avoided.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a joint robot health state assessment method based on a digital twin technology.
Background
The joint robot is widely applied to the manufacturing industry, is used as an automatic industrial production tool, and has the advantages of strong practicability, high efficiency, stability, high precision and the like. In actual work, in order to ensure normal and continuous work of the joint robot, inspection and maintenance of the joint robot are required. The prior art mainly comprises two modes of visual maintenance and regular maintenance, wherein the visual maintenance can be carried out only after a joint robot breaks down, the potential risk of the joint robot cannot be predicted, and the regular maintenance has the problem of untimely or unnecessary maintenance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a joint robot health state assessment method based on a digital twinning technology, wherein a sensor is arranged in each joint motor of a joint robot to detect the action data of the joint motor, the action data is analyzed and processed, and the motor loss data of the joint robot is determined; analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present or not according to the motor loss state information; according to the method, by means of a digital twinning technology, the running state of the joint robot is visually displayed, a corresponding digital twinning model is constructed, historical action data of a joint motor of the joint robot are mined and analyzed, health state assessment of the joint robot is achieved, waste of overhaul resources is reduced, and unplanned shutdown events of the joint robot are effectively avoided.
The invention provides a joint robot health state assessment method based on a digital twinning technology, which comprises the following steps:
step S1, instructing the joint robot to move and collecting the movement image of the joint robot; analyzing and processing the motion image, and determining whether the current actual motion posture of the joint robot is matched with the expected motion posture;
step S2, when the actual action posture is not matched with the expected action posture, indicating a motion sensor in the joint robot to collect the motion data of the joint robot in the action process; analyzing and processing the motion data to determine motor loss data of the joint robot;
step S3, analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information;
and step S4, performing the operation state adjustment process for the corresponding joint motor according to the judgment result of the joint robot.
Further, in step S1, the instructing the joint robot to move and acquiring the movement image of the joint robot specifically includes:
sending an action instruction to a joint motor of the joint robot to drive the corresponding joint motor to operate, so that the joint robot acts; and simultaneously shooting the motion process of the joint robot so as to obtain a motion image of the joint robot.
Further, in step S1, the analyzing the motion image to determine whether the current actual motion posture of the joint robot matches the expected motion posture specifically includes:
sequentially extracting a plurality of action picture frames from the action image, and identifying and obtaining the current action amplitude and action direction of a manipulator of the joint robot from each action picture frame to be used as an actual action posture;
comparing the action amplitude with an action amplitude corresponding to the expected action posture, and determining an action amplitude deviation value between the action amplitude and the expected action posture;
comparing the action direction with an action direction corresponding to the expected action posture, and determining an action direction deviation angle value between the action direction and the action direction;
if the action amplitude deviation value is greater than or equal to a preset amplitude deviation threshold value, or the action direction deviation angle value is greater than or equal to a preset deviation angle threshold value, determining that the actual action attitude is not matched with the expected action attitude; otherwise, determining that the actual motion gesture matches the expected motion gesture.
Further, in the step S2, when the actual motion posture is not matched with the expected motion posture, the motion sensor inside the joint robot is instructed to collect motion data of the joint robot in the motion process; analyzing and processing the motion data, and determining the motor loss data of the joint robot specifically comprises the following steps:
each joint motor of the joint robot is provided with a torque sensor, and when the actual action attitude is not matched with the expected action attitude, each torque sensor is indicated to acquire the rotation angle of each joint motor relative to a preset initial position in the process from the start of the joint robot to the current moment by using a preset sampling frequency value as the action data;
and analyzing and processing the motion data to determine the power loss of each joint motor of the joint robot.
Further, in step S2, the analyzing the motion data and determining the power loss of each joint motor of the joint robot specifically includes:
obtaining the number of the joint motor which is in the working state simultaneously in the process from the beginning of the joint robot to the current moment according to the preset collection frequency value and the rotation angle of each joint motor relative to the preset initial position collected by each torque sensor at each sampling moment by using the following formula (1),
in the above formula (1), E [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At + kxT moment, the working state value of the ith joint motor of the joint robot; t is t 0 Indicating the time corresponding to the start of the joint robot; t represents the sampling period of the torque sensor, which is the reciprocal of the predetermined acquisition frequency value; k represents an integer variable having a value range of
t represents the current time;
represents a rounding down operation; theta [ (t) 0 +k×T),i]Indicates the t-th time from the start of the operation of the articulated robot to the current time 0 At the moment of + kxT, an angle value corresponding to the preset initial position of the ith joint motor of the joint robot; theta { [ t ] 0 +(k-1)×T]And i + represents the t-th time from the start of the operation of the joint robot to the present time 0 At the moment of +/-k-1) multiplied by T, the rotation angle value of the ith joint motor of the joint robot relative to the preset initial position;
if E [ (t) 0 +k×T),i]When 1, it indicates the t-th time point in the process from the start of the operation of the articulated robot to the current time 0 At + kXT moment, the ith joint motor of the joint robot is in a working state;
if E [ (t) 0 +k×T),i]When the value is 0, it indicates the t-th time point in the process from the start of the operation of the joint robot to the current time point 0 At the moment of + kxT, the ith joint motor of the joint robot is in a stop state;
then, the following formula (2) is utilized, according to the serial number of the joint motor in the working state, the total power of the joint robot acquired at each sampling moment and the torque value of the corresponding joint motor acquired by each torque sensor, the power loss value of each joint motor of the joint robot during the process from the start of the joint robot to the current moment is obtained,
in the above formula (2), p [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment of + kxT, the loss power value of the ith joint motor of the joint robot; r generally represents the total internal resistance value of the joint robot; u represents the working voltage value of the joint robot; p (t) 0 + kxT) indicates the time from the start of the operation of the articulated robotT th during the current time 0 At + kXT, the total power value of the joint robot; g [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment + kxT, the torque value of the ith joint motor of the joint robot; n represents the total number of joint motors included in the joint robot.
Further, in step S3, analyzing the motor loss data to obtain current motor loss state information of the joint robot specifically includes:
obtaining a loss line graph of each joint motor of the joint robot according to the loss power value of each joint motor by using the following formula (3),
in the above formula (3), h [ (t) 0 +k×T),i]T is on the time axis of the abscissa in the loss curve diagram of the ith joint motor of the joint robot 0 If the denominator of the height value of the polyline point corresponding to the + kXT moment is zero in the calculation process, directly making h [ (T) 0 +k×T),i]H; h represents the maximum display height of the loss profile;
the maximum value of the loss power values corresponding to the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is represented;
and the minimum value of the loss power values of the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is shown.
Further, in step S3, the determining whether the joint robot is currently in the motor excessive loss state according to the motor loss state information specifically includes:
determining an average power loss value of each joint motor in the process from the start of the joint robot to the current moment according to the loss line graph of each joint motor;
if the number of the joint motors with the average power loss value larger than or equal to the preset power loss threshold value in the joint robot exceeds the preset number threshold value, determining that the joint robot is in a motor excessive loss state currently; otherwise, determining that the joint robot is not in the motor excessive loss state currently.
Further, in step S4, the adjusting the operating state of the corresponding joint motor according to the determination result of the joint robot specifically includes:
and when the joint robot is determined to be in the motor excessive loss state at present, carrying out restarting treatment or bearing lubrication treatment on the joint motor of which the average power loss value is greater than or equal to a preset power loss threshold value.
Compared with the prior art, the joint robot health state assessment method based on the digital twin technology is characterized in that a sensor is arranged in each joint motor of the joint robot to detect the action data of the joint motor, the action data are analyzed and processed, and the motor loss data of the joint robot are determined; analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information; according to the method, by means of a digital twinning technology, the running state of the joint robot is visually displayed, a corresponding digital twinning model is constructed, historical action data of a joint motor of the joint robot are mined and analyzed, health state assessment of the joint robot is achieved, waste of overhaul resources is reduced, and unplanned shutdown events of the joint robot are effectively avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a joint robot health state assessment method based on a digital twinning technology provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a joint robot health status assessment method based on a digital twinning technique according to an embodiment of the present invention. The joint robot health state assessment method based on the digital twinning technology comprises the following steps:
step S1, instructing the joint robot to move and collecting the movement image of the joint robot; analyzing and processing the motion image, and determining whether the current actual motion posture of the joint robot is matched with the expected motion posture;
step S2, when the actual action posture is not matched with the expected action posture, indicating a motion sensor in the joint robot to collect the action data of the joint robot in the action process; analyzing and processing the action data to determine motor loss data of the joint robot;
step S3, analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information;
and step S4, performing the operation state adjustment process for the corresponding joint motor according to the judgment result of the joint robot.
The beneficial effects of the above technical scheme are: according to the joint robot health state evaluation method based on the digital twin technology, a sensor is arranged in each joint motor of a joint robot to detect motion data of the joint motor, the motion data is analyzed and processed, and motor loss data of the joint robot is determined; analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information; according to the method, by means of a digital twinning technology, the running state of the joint robot is visually displayed, a corresponding digital twinning model is constructed, historical action data of a joint motor of the joint robot are mined and analyzed, health state assessment of the joint robot is achieved, waste of overhaul resources is reduced, and unplanned shutdown events of the joint robot are effectively avoided.
Preferably, in step S1, the instructing the joint robot to move and acquiring the motion image of the joint robot includes:
sending an action instruction to a joint motor of the joint robot to drive the corresponding joint motor to operate, so that the joint robot acts; and simultaneously shooting the motion process of the joint robot so as to obtain a motion image of the joint robot.
The beneficial effects of the above technical scheme are: through the mode, each joint motor of the joint robot can independently send an action instruction to drive each joint motor to independently operate, and the overall action flexibility of the joint robot is improved. In addition, the motion process of the joint robot is dynamically shot to obtain a corresponding motion image, so that whether the joint robot accurately executes a corresponding motion instruction or not can be conveniently and accurately analyzed subsequently.
Preferably, in step S1, the analyzing the motion image and determining whether the current actual motion posture of the joint robot matches the expected motion posture specifically includes:
sequentially extracting a plurality of action picture frames from the action image, and identifying and obtaining the current action amplitude and action direction of a manipulator of the joint robot from each action picture frame to be used as an actual action posture;
comparing the action amplitude with the action amplitude corresponding to the expected action posture, and determining an action amplitude deviation value between the action amplitude and the expected action posture;
comparing the action direction with an action direction corresponding to the expected action posture, and determining an action direction deviation angle value between the action direction and the action direction;
if the action amplitude deviation value is greater than or equal to a preset amplitude deviation threshold value, or the action direction deviation angle value is greater than or equal to a preset deviation angle threshold value, determining that the actual action attitude is not matched with the expected action attitude; otherwise, a match between the actual motion pose and the desired motion pose is determined.
The beneficial effects of the above technical scheme are: through the method, the picture frame recognition processing is carried out on the motion image of the joint robot, whether the current actual motion posture of the joint robot is matched with the expected motion posture corresponding to the motion command received by the joint robot or not is judged from the aspects of motion amplitude and motion direction, and therefore the current motion state of the joint robot is accurately quantified and judged.
Preferably, in step S2, when there is no match between the actual motion posture and the expected motion posture, the motion sensor inside the joint robot is instructed to collect motion data of the joint robot during motion; analyzing and processing the motion data, and determining the motor loss data of the joint robot specifically comprises the following steps:
each joint motor of the joint robot is provided with a torque sensor, and when the actual action attitude is not matched with the expected action attitude, each torque sensor is indicated to acquire the rotation angle of each joint motor relative to a preset initial position in the process from the start of the joint robot to the current moment by using a preset sampling frequency value as the action data;
and analyzing and processing the motion data to determine the power loss of each joint motor of the joint robot.
The beneficial effects of the above technical scheme are: through the mode, when the current actual action posture of the joint robot is not matched with the expected action posture, the torque of each joint motor of the joint robot is further detected, so that the action data of each joint motor is subjected to detailed analysis, the loss power of each joint motor is determined, and the comprehensive detailed analysis of all joint motors of the joint robot is realized.
Preferably, in step S2, the analyzing the motion data and determining the power loss of each joint motor of the joint robot specifically includes:
obtaining the number of the joint motor which is in the working state simultaneously in the process from the beginning of the joint robot to the current moment according to the preset collection frequency value and the rotation angle of each joint motor relative to the preset initial position collected by each torque sensor at each sampling moment by using the following formula (1),
in the above formula (1), E [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At + kxT moment, the working state value of the ith joint motor of the joint robot; t is t 0 Indicating the time corresponding to the start of the joint robot; t represents the sampling period of the torque sensor, which is the reciprocal of the predetermined acquisition frequency value; k represents an integer variable having a value range of
t represents the current time;
represents a rounding down operation; theta [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment of + kxT, an angle value corresponding to the preset initial position of the ith joint motor of the joint robot; theta { [ t { [ 0 +(k-1)×T]I represents the t-th time from the start of the operation of the articulated robot to the current time 0 At the moment of +/-k-1) multiplied by T, the rotation angle value of the ith joint motor of the joint robot relative to the preset initial position;
if E [ (t) 0 +k×T),i]1 denotes the t-th time point in the process from the start of the operation of the joint robot to the current time point 0 At the moment of + kxT, the ith joint motor of the joint robot is in a working state;
if E [ (t) 0 +k×T),i]When the value is 0, it indicates the t-th time point in the process from the start of the operation of the joint robot to the current time point 0 At the moment of + kxT, the ith joint motor of the joint robot is in a stop state;
then, the following formula (2) is utilized, according to the serial number of the joint motor in the working state, the total power of the joint robot acquired at each sampling moment and the torque value of the corresponding joint motor acquired by each torque sensor, the loss power value of each joint motor of the joint robot is obtained in the process from the start of the joint robot to the current moment,
in the above formula (2), p [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment of + kxT, the loss power value of the ith joint motor of the joint robot; r generally represents the total internal resistance value of the joint robot; u represents the working voltage value of the joint robot; p (t) 0 + k × T) represents the T-th time period from the start of the operation of the articulated robot to the current time 0 At + kxT, the total power value of the joint robot; g [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment + kxT, the torque value of the ith joint motor of the joint robot; n represents the total number of joint motors included in the joint robot.
The beneficial effects of the above technical scheme are: obtaining the joint motor number of the robot which works at each sampling moment in the current time period from the beginning of use by using the formula (1) according to the sampling frequency value and the rotation angle of each joint motor relative to the initial position of the motor, which is obtained by sampling at each sampling moment, so that the working condition of each joint motor at the same moment is known, and the subsequent subdivision of power consumption is facilitated; and then estimating the loss power of each joint motor of the robot from the beginning to the current time period at each sampling time according to the serial number of the joint motor, the total power of the robot sampled at each sampling time and the torque of each joint motor, which is acquired by a torque sensor arranged on each joint motor, of the robot from the beginning to the current time period, by using the formula (2), so that the total power consumption is subdivided on each joint motor, the service life and the service condition of each joint motor are conveniently refined and analyzed, and a large amount of historical data accumulated by equipment is mined and analyzed, so that favorable data is provided.
Preferably, in step S3, the analyzing the motor loss data to obtain the current motor loss state information of the joint robot specifically includes:
obtaining a loss line graph of each joint motor of the joint robot according to the loss power value of each joint motor by using the following formula (3),
in the above formula (3), h [ (t) 0 +k×T),i]T is a time axis of an abscissa in a loss curve diagram representing the ith joint motor of the joint robot 0 If the denominator is zero in the calculation process, then directly let h [ (T) 0 +k×T),i]H; h represents the maximum display height of the loss profile;
the maximum value of the loss power values corresponding to the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is represented;
and the minimum value of the loss power values of the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is shown.
The beneficial effects of the above technical scheme are: the loss line graph of each joint motor of the robot is obtained according to the loss power of each joint motor of the robot from the beginning of use to each sampling moment in the current time period by using the formula (3), the line graph with the uniform display height is favorable for observing and comparing the use condition of each joint motor, and the display with the maximum display height can also increase the watching comfort degree of a watcher.
Preferably, in step S3, the determining whether the joint robot is currently in the motor excessive loss state according to the motor loss state information specifically includes:
determining an average power loss value of each joint motor in the process from the start of the joint robot to the current moment according to the loss line graph of each joint motor;
if the number of the joint motors with the average power loss value larger than or equal to the preset power loss threshold value in the joint robot exceeds the preset number threshold value, determining that the joint robot is in a motor excessive loss state currently; otherwise, determining that the joint robot is not in the motor excessive loss state currently.
The beneficial effects of the above technical scheme are: by the mode, the loss line graph of each joint motor is taken as a reference, the power loss conditions of all joint motors of the joint robot are integrated, and therefore whether the joint robot is in a motor excessive loss state or not is judged.
Preferably, in step S4, the adjusting the operating state of the joint motor according to the determination result of the joint robot specifically includes:
and when the joint robot is determined to be in the motor excessive loss state at present, carrying out restarting treatment or bearing lubrication treatment on the joint motor with the average power loss value being greater than or equal to the preset power loss threshold value.
The beneficial effects of the above technical scheme are: by the mode, the joint robot can be maintained in time, and the problem that the joint robot is not reversible is effectively solved.
As can be seen from the content of the above embodiment, in the joint robot health state assessment method based on the digital twin technology, a sensor is provided in each joint motor of the joint robot to detect motion data of the joint motor, the motion data is analyzed and processed, and motor loss data of the joint robot is determined; analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present according to the motor loss state information; according to the method, by means of a digital twinning technology, the running state of the joint robot is visually displayed, a corresponding digital twinning model is constructed, historical action data of a joint motor of the joint robot are mined and analyzed, health state assessment of the joint robot is achieved, waste of overhaul resources is reduced, and unplanned shutdown events of the joint robot are effectively avoided.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. The joint robot health state assessment method based on the digital twinning technology is characterized by comprising the following steps of:
step S1, instructing the joint robot to move and collecting the movement image of the joint robot; analyzing and processing the motion image, and determining whether the current actual motion posture of the joint robot is matched with the expected motion posture;
step S2, when the actual action posture is not matched with the expected action posture, a motion sensor in the joint robot is indicated to collect the motion data of the joint robot in the motion process;
analyzing and processing the action data to determine motor loss data of the joint robot;
step S3, analyzing and processing the motor loss data to obtain the current motor loss state information of the joint robot; judging whether the joint robot is in a motor excessive loss state at present or not according to the motor loss state information;
and step S4, performing the operation state adjustment process for the corresponding joint motor according to the judgment result of the joint robot.
2. The joint robot health status assessment method based on digital twinning technique as claimed in claim 1, characterized in that:
in step S1, the instructing the articulated robot to move and acquiring the motion image of the articulated robot may include:
sending an action instruction to a joint motor of the joint robot to drive the corresponding joint motor to operate, so that the joint robot acts; and simultaneously shooting the motion process of the joint robot so as to obtain a motion image of the joint robot.
3. The joint robot health state evaluation method based on the digital twin technique according to claim 2, characterized in that:
in step S1, the analyzing the motion image and determining whether the current actual motion posture of the joint robot matches the expected motion posture specifically includes:
sequentially extracting a plurality of action picture frames from the action image, and identifying and obtaining the current action amplitude and action direction of a manipulator of the joint robot from each action picture frame to be used as an actual action posture;
comparing the action amplitude with an action amplitude corresponding to the expected action posture, and determining an action amplitude deviation value between the action amplitude and the expected action posture;
comparing the action direction with an action direction corresponding to the expected action posture, and determining an action direction deviation angle value between the action direction and the action direction;
if the action amplitude deviation value is greater than or equal to a preset amplitude deviation threshold value, or the action direction deviation angle value is greater than or equal to a preset deviation angle threshold value, determining that the actual action attitude is not matched with the expected action attitude; otherwise, determining that the actual motion gesture matches the expected motion gesture.
4. The joint robot health state evaluation method based on the digital twin technique according to claim 3, characterized in that:
in the step S2, when the actual motion posture is not matched with the expected motion posture, instructing a motion sensor inside the joint robot to collect motion data of the joint robot in the motion process; analyzing and processing the motion data, and determining the motor loss data of the joint robot specifically comprises the following steps:
each joint motor of the joint robot is provided with a torque sensor, and when the actual action attitude is not matched with the expected action attitude, each torque sensor is indicated to acquire the rotation angle of each joint motor relative to a preset initial position in the process from the start of the joint robot to the current moment by using a preset sampling frequency value as the action data;
and analyzing and processing the motion data to determine the power loss of each joint motor of the joint robot.
5. The digital twinning technique-based joint robot health status assessment method according to claim 4, characterized in that:
in step S2, the analyzing the motion data and determining the power loss of each joint motor of the joint robot specifically includes:
obtaining the number of the joint motor which is in a working state simultaneously in the process from the start of the joint robot to the current moment according to a preset acquisition frequency value and the rotation angle of each joint motor relative to a preset initial position acquired by each torque sensor at each sampling moment by using the following formula (1),
in the above formula (1), E [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At + kXT moment, the working state value of the ith joint motor of the joint robot; t is t 0 Indicating the time corresponding to the start of the joint robot; t represents the sampling period of the torque sensor, which is the reciprocal of the predetermined acquisition frequency value; k represents an integer variable having a value range of
t represents the current time;
represents a rounding down operation; theta [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment of + kxT, an angle value corresponding to the preset initial position of the ith joint motor of the joint robot; theta { [ t { [ 0 +(k-1)×T]I represents the time elapsed from the start of the operation of the articulated robot to the present timeT th in the process 0 At the moment of +/-k-1) multiplied by T, the rotation angle value of the ith joint motor of the joint robot relative to the preset initial position;
if E [ (t) 0 +k×T),i]1 denotes the t-th time point in the process from the start of the operation of the joint robot to the current time point 0 At + kXT moment, the ith joint motor of the joint robot is in a working state;
if E [ (t) 0 +k×T),i]When the value is 0, it indicates the t-th time point in the process from the start of the operation of the joint robot to the current time point 0 At the moment of + kxT, the ith joint motor of the joint robot is in a stop state;
then, the following formula (2) is utilized, according to the serial number of the joint motor in the working state, the total power of the joint robot acquired at each sampling moment and the torque value of the corresponding joint motor acquired by each torque sensor, the power loss value of each joint motor of the joint robot during the process from the start of the joint robot to the current moment is obtained,
in the above formula (2), p [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At + kXT moment, the power loss value of the ith joint motor of the joint robot; r is General (1) The total internal resistance value of the joint robot is represented; u represents the working voltage value of the joint robot; p (t) 0 + kxT) represents the T-th time period from the start of the operation of the joint robot to the current time 0 At + kxT, the total power value of the joint robot; g [ (t) 0 +k×T),i]Indicates the t-th time in the process from the start of the operation of the joint robot to the current time 0 At the moment + kxT, the torque value of the ith joint motor of the joint robot; n represents the total number of joint motors included in the joint robot.
6. The joint robot health state evaluation method based on the digital twin technique according to claim 5, characterized in that:
in step S3, the analyzing the motor loss data to obtain current motor loss state information of the joint robot specifically includes:
obtaining a loss line graph of each joint motor of the joint robot according to the loss power value of each joint motor by using the following formula (3),
in the above formula (3), h [ (t) 0 +k×T),i]T is a time axis of an abscissa in a loss curve diagram representing the ith joint motor of the joint robot 0 If the denominator is zero in the calculation process, then directly let h [ (T) 0 +k×T),i]H; h represents the maximum display height of the loss profile;
the maximum value of the loss power values corresponding to the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is represented;
and the minimum value of the loss power values of the ith joint motor at each sampling moment in the process from the start of the joint robot to the current moment is shown.
7. The joint robot health state evaluation method based on the digital twin technique according to claim 6, characterized in that:
in step S3, the determining whether the joint robot is currently in the motor excessive loss state according to the motor loss state information specifically includes:
determining an average power loss value of each joint motor in the process from the start of the joint robot to the current moment according to the loss line graph of each joint motor;
if the number of the joint motors with the average power loss value larger than or equal to the preset power loss threshold value in the joint robot exceeds the preset number threshold value, determining that the joint robot is in a motor excessive loss state currently; otherwise, determining that the joint robot is not in the motor excessive loss state currently.
8. The joint robot health state evaluation method based on the digital twin technique according to claim 7, characterized in that:
in step S4, the adjusting the operating state of the corresponding joint motor according to the result of the determination of the joint robot specifically includes:
and when the joint robot is determined to be in the motor excessive loss state at present, carrying out restarting treatment or bearing lubrication treatment on the joint motor with the average power loss value being greater than or equal to the preset power loss threshold value.
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