Method and system for assessing the state of at least one axial joint
First Claim
1. A method for assessing a state of at least one axial joint of an industrial robot, which comprises the steps of:
- determining a state of wear of the at least one axial joint on a basis of data of a mechanical backlash present at the at least one axial joint of the industrial robot;
determining a first loading state of the at least one axial joint on a basis of data of a torque profile of the at least one axial joint during at least one first working cycle of the industrial robot;
determining a second loading state of the at least one axial joint on a basis of data of a movement sequence of the at least one axial joint during at least one second working cycle of the industrial robot; and
carrying out an assessment of the state by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.
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Accused Products
Abstract
A method assesses a state of at least one axial joint of an industrial robot, on the basis of data of a mechanical backlash present at the axial joint of the industrial robot, a state of wear of the axial joint being determined. On the basis of data of a torque profile, a first loading state of the axial joint is determined at the axial joint during at a first working cycle of the industrial robot. On a basis of data of a movement sequence at the axial joint during a second working cycle of the industrial robot, a second loading state of the axial joint is determined. An assessment of the state is carried out by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.
19 Citations
22 Claims
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1. A method for assessing a state of at least one axial joint of an industrial robot, which comprises the steps of:
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determining a state of wear of the at least one axial joint on a basis of data of a mechanical backlash present at the at least one axial joint of the industrial robot;
determining a first loading state of the at least one axial joint on a basis of data of a torque profile of the at least one axial joint during at least one first working cycle of the industrial robot;
determining a second loading state of the at least one axial joint on a basis of data of a movement sequence of the at least one axial joint during at least one second working cycle of the industrial robot; and
carrying out an assessment of the state by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for assessing a state of at least one axial joint of a robot arm of an industrial robot, the system comprising:
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a data module containing data of an existing mechanical backlash, a torque profile and a movement sequence of at least one axial joint during at least one working cycle of the industrial robot;
an analysis module for determining loading states and/or states of wear on a basis of the data; and
an assessment module for assessing the loading states and the states of wear, said assessment module performing a subsequent comparison with an empirically obtained comparison value matrix. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification