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 of the first loading state and the second loading state with an empirically obtained comparison value matrix, for assessing the state of the at least one axial joint.
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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.
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Citations
21 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 of the first loading state and the second loading state with an empirically obtained comparison value matrix, for assessing the state of the at least one axial joint. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. 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 of the at least one axial joint on a basis of the data; and an assessment module for assessing the loading states and the state of wear of the at least one axial joint, said assessment module performing a subsequent comparison of the first loading state and the second loading state with an empirically obtained comparison value matrix, for assessing the state of said at least one axial joint. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification