Research On The Monitoring And Fault Detection System Of Rubber Self-feeding Robot

With the implementation of "China Manufacturing 2025",Our country's independent R&D(research and development)of industrial robots are widely used in various types of manufacturing industries,and the market scale continues to expand.However,the country's independent R&D of industrial robots are generally complex in structure and lack of general documents.When the ordinary workers working in the field,It is not easily for them to check the operating status of industrial robots,and it is difficult to distinguish the faults of various components of industrial robots by nakes eyes.Therefore,taking the rubber self-feeding robot independently researched and developed by a company as an example,studying a set of monitoring and fault diagnosis system for the rubber self-feeding robot is studied,which is not only of engineering value,but also of strong reference value and practical significance for the R&D of other industrial robots monitoring and fault diagnosis system of other independent R&D in China.First of all,the function and structure of the rubber self-feeding robot are analyzed.Based on this,the overall scheme of the fault diagnosis system of the monitoring system is established,and the corresponding hardware configuration and software selection are carried out according to the overall scheme.It's hardware includes an encoder,scale,NI acquisition card,high-speed camera,software is mainly LabVIEW,MATLAB and Siemens OPC server software S7-200 PC Access.Secondly,according to the requirements of state detection,using the technology of OPC server to realize the data acquistion and processing of the rubber self-feeding robot controller PLC,to realize the monitoring of important parameters of the rubber self-feeding robot and the preservation of specific data;using NI-DAQ technology to solve the data communication between PC and NI acquisition card,and to realize the visualization and preservation of encoder and scale data.as for the problem that vibration detection is difficult to detect directly in rubber-feeding robots,based on visual signals,a vibration-based detection technique was proposed.According to the target requirements,using NI's vision tool library module to achieve high-speed camera data extraction,processing in terms of binarization,area detection,edge detection,and line detection for each frame of image,getting the oscillation angle of each frame image oscillation.After integration,we can reproduce the process of swing oscillation,and calculate the angular velocity available to meet the detection requirements.Finally,on the basis of monitoring data,a fault detection system mixed virtual instrument and fault tree analysis method together for the rubber self-feeding robot was created,which will give detailed introductions for the establishment of fault tree,qualitative analysis and quantitative analysis of fault tree,and establish an expert system based on the established fault tree.During the establishment of the rule base,according to the characteristics of the robot's self-feeding robot,the controller program is divided according to the fault tree minimal cut set to improve the reliability of fault diagnosis.Through the practical tests,the monitoring system can meet the monitoring requirements to monitor the important parameters of the rubber-plastic self-feeding robot.The fault diagnosis system can quickly and accurately diagnose the faults of the modules in the rubberplastic self-feeding robot.