US 12,064,882 B2
Method for diagnosing a robot, device and server
Heqing Sun, Shanghai (CN); and Jiafan Zhang, Shanghai (CN)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/296,756
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Dec. 24, 2018, PCT No. PCT/CN2018/123237
§ 371(c)(1), (2) Date May 25, 2021,
PCT Pub. No. WO2020/132837, PCT Pub. Date Jul. 2, 2020.
Prior Publication US 2022/0024038 A1, Jan. 27, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1674 (2013.01) [G05B 2219/39412 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A method for diagnosing a robot, comprising:
obtaining a first signal generated by a rotating component of the robot during operation of the robot, the first signal at least comprising motion information of the rotating component;
preprocessing the first signal to filter out a part of the motion information in the first signal, wherein preprocessing the first signal comprises determining a spectrum of the first signal;
sending the preprocessed first signal and spectrum information about the preprocessed first signal to a server for diagnosing the robot, wherein the spectrum information comprises a frequency amplitude of a sub-component of the rotating component, wherein the frequency amplitude is determined from the spectrum of a resampled first signal based on physical characteristics of the sub-component and a speed of the sub-component, wherein the physical characteristics comprise one or more dimensional parameters of the sub-component; and
receiving a second signal from the server, the second signal comprising diagnostic information indicating whether a sub-component of the rotating component has a failure.