1. A method for detecting an industrial robot shaft motor is characterized by comprising the following steps: the method comprises the following steps:

acquiring technical parameters of shaft motors in a plurality of beats under normal conditions, and cleaning the technical parameters of the shaft motors in each beat to remove dirty data to obtain a standard technical parameter group;

calculating the average value of each data of the standard technical parameter group to obtain a standard technical parameter curve;

step three, obtaining a corresponding upper deviation amplitude curve and a corresponding lower deviation amplitude curve according to the standard technical parameter curve and the default attribute value of the shaft motor;

acquiring technical parameters of the shaft motor under a plurality of beats in the real-time production process, and comparing the technical parameters with the standard technical parameter curve to obtain a deviation value; if the deviation value falls outside the upper deviation magnitude curve and the lower deviation magnitude curve a plurality of times, it is determined that the shaft motor has failed, and a determination result is derived.

2. The industrial robot axis motor detection method according to claim 1, characterized in that: the shaft motor technical parameter is shaft motor torque, shaft motor current or shaft motor temperature.

3. The industrial robot axis motor detection method according to claim 1, characterized in that: in the first step, the technical parameters of the shaft motor in each beat are cleaned through an isolated forest algorithm to remove dirty data.

4. The industrial robot axis motor detection method according to claim 1, characterized in that: technical parameters of a shaft motor are collected through a communication module on the industrial robot.

5. The industrial robot axis motor detection method according to claim 4, characterized in that: the communication module comprises a wired communication module and a wireless communication module; the wired communication module comprises an Ethernet interface and a serial interface, and the wireless communication module comprises a Bluetooth assembly, a mobile communication assembly and a WiFi assembly.

6. The industrial robot axis motor detection method according to claim 1, characterized in that: and in the fourth step, calculating the change rate of the deviation value within a period of time, and obtaining the time of reaching the maximum deviation value within the deviation amplitude by a least square method to realize prediction.

7. The utility model provides an industrial robot axle motor detection device which characterized in that: the method comprises the following steps:

the acquisition module is used for acquiring technical parameters of a shaft motor on the industrial robot;

the cleaning module is used for cleaning the technical parameters of the shaft motor in each beat to remove dirty data;

the calculating module is used for calculating the deviation value of the technical parameter of the shaft motor;

the fault prediction module is used for predicting and judging the time of the shaft motor in fault;

the storage module is used for storing the collected technical parameters of the shaft motor and the calculated data;

and the output module is used for exporting the judgment result.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor implements the steps of a method for detecting an axis motor of an industrial robot as claimed in any one of claims 1 to 6.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein: the processor, when executing the computer program, implements the steps of a method for detecting an axis motor of an industrial robot as claimed in any one of claims 1 to 6.

Background

Along with the improvement of social human cost, the manufacturing factory continuously improves the requirements on production efficiency, safety and quality stability, and more industrial robots are applied to a large number of factories. For the increasing management of industrial robots in factories, the loss caused by the failure of the shaft motors of the core components of industrial robots will be more and more important. And the real-time and historical data of the shaft motor fault of the industrial robot is needed to be used for equipment management, efficiency management, energy consumption management, maintenance management and the like in a large number of MES (manufacturing execution system) systems. On the other hand, industrial robots, as highly integrated software and hardware systems, require frequent maintenance in the later period in order to operate in an optimal state. The existing maintenance detection method for the industrial robot is to perform maintenance by stopping the robot regularly and manually, and whether and when the whole robot fails due to shaft motor failure cannot be judged in advance, so that the stopping maintenance detection time and the maintenance cost are increased.

Disclosure of Invention

In view of the pain points and the disadvantages of the prior art, the present invention provides a method and an apparatus for detecting an axis motor of an industrial robot, a storage medium, and an electronic device, which are used to solve the problem that the occurrence of a failure of the axis motor cannot be predicted in the prior art.

In order to solve the technical problem, the invention is realized as follows: a method for detecting an industrial robot shaft motor comprises the following steps:

acquiring technical parameters of shaft motors in a plurality of beats under normal conditions, and cleaning the technical parameters of the shaft motors in each beat to remove dirty data to obtain a standard technical parameter group;

calculating the average value of each data of the standard technical parameter group to obtain a standard technical parameter curve;

step three, obtaining a corresponding upper deviation amplitude curve and a corresponding lower deviation amplitude curve according to the standard technical parameter curve and the default attribute value of the shaft motor;

acquiring technical parameters of the shaft motor under a plurality of beats in the real-time production process, and comparing the technical parameters with the standard technical parameter curve to obtain a deviation value; if the deviation value falls outside the upper deviation magnitude curve and the lower deviation magnitude curve a plurality of times, it is determined that the shaft motor has failed, and a determination result is derived.

Further, the shaft motor technical parameter is shaft motor torque, shaft motor current or shaft motor temperature.

Further, in the first step, the shaft motor technical parameters in each beat are cleaned through an isolated forest algorithm to remove dirty data.

Furthermore, the technical parameters of the shaft motor are collected through a communication module on the industrial robot.

Furthermore, the communication module comprises a wired communication module and a wireless communication module; the wired communication module comprises an Ethernet interface and a serial interface, and the wireless communication module comprises a Bluetooth assembly, a mobile communication assembly and a WiFi assembly.

Further, in the fourth step, the variation rate of the deviation value within a period of time is calculated, and the time of reaching the maximum deviation value within the deviation amplitude is obtained through a least square method to realize prediction.

The invention also provides a shaft motor detection device of the industrial robot, which comprises:

the acquisition module is used for acquiring technical parameters of a shaft motor on the industrial robot;

the cleaning module is used for cleaning the technical parameters of the shaft motor in each beat to remove dirty data;

the calculating module is used for calculating the deviation value of the technical parameter of the shaft motor;

the fault prediction module is used for predicting and judging the time of the shaft motor in fault;

the storage module is used for storing the collected technical parameters of the shaft motor and the calculated data;

and the output module is used for exporting the judgment result.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of a method for detecting an axis motor of an industrial robot.

The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the industrial robot shaft motor detection method.

As described above, the industrial robot shaft motor detection method, the industrial robot shaft motor detection device, the industrial robot shaft motor storage medium and the electronic equipment know whether the shaft motor of the industrial robot fails or not and when the shaft motor of the industrial robot fails in advance through ingenious design, and arrange specific time for maintenance on different robots in a targeted manner, so that the downtime and the maintenance cost are reduced, and the maintenance accuracy is effectively improved.

Drawings

Fig. 1 is a flowchart illustrating a method for detecting an axis motor of an industrial robot according to an embodiment of the present invention;

fig. 2 is a graph showing a standard technical parameter of the method for detecting the shaft motor of the industrial robot according to the embodiment of the present invention, which is used for acquiring the shaft motor torque in one beat under a normal condition;

fig. 3 is a graph showing an upper deviation amplitude curve and a lower deviation amplitude curve of the shaft motor torque in one beat under a normal condition collected by the method for detecting the shaft motor of the industrial robot in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of an industrial robot axis motor detection apparatus according to an embodiment of the present invention;

fig. 5 is a schematic network connection diagram of an industrial robot axis motor detection apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

As shown in fig. 1, the invention provides a method for detecting an axis motor of an industrial robot, which comprises the following steps:

the method comprises the steps of firstly, acquiring shaft motor technical parameters in multiple beats under normal conditions through a communication module on the industrial robot and a standard protocol provided by the industrial robot, and cleaning the shaft motor technical parameters in each beat through an isolated forest algorithm to remove dirty data to obtain a standard technical parameter group. The communication module comprises a wired communication module and a wireless communication module, the wired communication module comprises an Ethernet interface and a serial interface, and the wireless communication module comprises a Bluetooth assembly, a mobile communication assembly and a WiFi assembly. The standard protocols provided by the industrial robot include a webservice protocol, an http protocol and a Tcp protocol.

And step two, calculating the average value of each data of the standard technical parameter group to obtain a standard technical parameter curve. The shaft motor technical parameter is shaft motor torque, shaft motor current or shaft motor temperature, and the shaft motor torque is exemplified here. As shown in fig. 2, a standard specification curve of shaft motor torque is obtained.

And step three, according to the standard technical parameter curve of the shaft motor torque and the default attribute value of the shaft motor, as shown in fig. 3, obtaining an upper deviation amplitude curve and a lower deviation amplitude curve corresponding to the shaft motor torque.

And step four, collecting the technical parameters of the shaft motor under a plurality of beats in the real-time production process, and comparing the technical parameters with a standard technical parameter curve to obtain a deviation value. If the deviation value falls outside the upper deviation amplitude curve and the lower deviation amplitude curve a plurality of times, for example, more than 6 times in 10 beats, it is determined that the shaft motor may malfunction. And calculating the change rate of the deviation value in a period of time, and obtaining the time reaching the maximum deviation value by a least square method, wherein the time is the time for predicting the occurrence of the fault.

And exporting the result of the prediction judgment and the data into a data format conforming to a TCP (Transmission control protocol), an http (hyper text transport protocol), a webapi (Webapi) protocol or a restful api standard, or combining the result and the data into a file conforming to an xml (extensive markup language) file, a jason file, a binary file or an ASCII (American standard code for information interchange) file format, so that the data is provided to the outside through the communication module, and the remote viewing is facilitated.

As shown in fig. 4, the present invention also provides an industrial robot axis motor detection apparatus, including:

the acquisition module is used for acquiring technical parameters of a shaft motor on the industrial robot;

the cleaning module is used for cleaning the technical parameters of the shaft motor in each beat to remove dirty data;

the calculating module is used for calculating the deviation value of the technical parameter of the shaft motor;

the fault prediction module is used for predicting and judging the time of the shaft motor in fault;

the storage module is used for storing the collected technical parameters of the shaft motor and the calculated data;

and the output module is used for exporting the judgment result.

As shown in fig. 5, the device is connected to the control cabinets of the industrial six-axis robots to realize data acquisition through the communication mode of ethernet wired connection or the communication modes of WiFi, 4G and 5G.

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 industrial robot axis motor detection method described above. A computer-readable medium can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection having one or more wires, a portable computer case, a random access memory, a read only memory, an erasable programmable read only memory, an optical fiber device, and a portable compact disc read only memory. Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

As shown in fig. 6, the present invention further provides an electronic device, which includes a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the memory and the processor may be connected through a bus, and the processor is configured to implement the steps of the method for detecting an axis motor of an industrial robot in the above embodiment when executing the computer program stored in the memory.

In summary, the industrial robot shaft motor detection method, the industrial robot shaft motor detection device, the industrial robot shaft motor storage medium and the electronic device have the advantages that whether the shaft motor of the industrial robot fails or not and when the shaft motor of the industrial robot fails are known in advance through ingenious design, specific time is set for different robots to be maintained in a targeted mode, downtime and maintenance cost are reduced, and maintenance accuracy is effectively improved. Therefore, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.