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US 11,835,420 B2Granted
Method and device for diagnosing a robot
AssigneeABB Schweiz AG
InventorsHeqing Sun, Jiafan Zhang
Life of this patent
Estimating the term…
Abstract
Methods and devices for diagnosing a robot. A method includes obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot. A frequency amplitude of a sub-component of the rotating component is determined from the spectrum, based on a physical characteristic and a speed of the sub-component. A failure of the sub-component is detected by comparing the frequency amplitude with a threshold amplitude.
Claims12
A method for diagnosing a robot, comprising:
- obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot, wherein the motion signal comprises a plurality of different rates of acceleration of the rotating component;
- determining a frequency amplitude of a sub-component of the rotating component from the spectrum, based on a physical characteristic and a speed of the sub-component;
- detecting a failure of the sub-component by comparing the frequency amplitude with a threshold amplitude;
- and
- sending a control signal, based on detecting the failure, to a user device, wherein the control signal provides for a user to take appropriate responsive action.
2 more elements
A device for diagnosing a robot, comprising:
- a controller;
- and
- a memory coupled to the controller and storing machine-executable instructions which, when executed by the controller, cause the robot to perform acts comprising:
- obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot, wherein the motion signal comprises a plurality of different rates of acceleration of the rotating component;
- determining a frequency amplitude of a sub-component of the rotating component from the spectrum, based on a physical characteristic and a speed of the sub-component;
- detecting a failure of the sub-component by comparing the frequency amplitude with a threshold amplitude;
- and
- sending a control signal, based on detecting the failure, to a user device, wherein the control signal provides for a user to take appropriate responsive action.
5 more elements
Dependencies are inferred from the claim text.