| US 7,603,200 B2 | ||
| Method and system for assessing the state of at least one axial joint | ||
| Axel Bader, Friedberg (Germany); Sven Hansen, Berstadt (Germany); Steffen Schmidt, Aalen (Germany); and Kim Henrich, Gelnhaar (Germany) | ||
| Assigned to ABB Patent GmbH, Ladenburg (Germany) | ||
| Filed on Jun. 15, 2005, as Appl. No. 11/153,041. | ||
| Claims priority of application No. 10 2004 028 557 (DE), filed on Jun. 15, 2004. | ||
| Prior Publication US 2005/0278067 A1, Dec. 15, 2005 | ||
| This patent is subject to a terminal disclaimer. | ||
| Int. Cl. G06F 19/00 (2006.01); G05B 9/02 (2006.01); G06F 11/00 (2006.01) | ||
| U.S. Cl. 700—245 [700/175; 318/566; 702/179; 702/183; 33/1 MP] | 21 Claims |
| 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.
|