Method and system for assessing the state of at least one axial joint

US7603200B2 · kind B2 · utility

Assignee

• ABB PATENT GMBH · DE

Inventors

• Axel Bader · Friedberg, DE
• Sven Hansen · Hamburg, DE
• Steffen Schmidt · Dresden, DE
• Kim Henrich · Gelnhaar, DE

Key dates

• Filing date: Jun 15, 2005
• Grant date: Oct 13, 2009
• Expiry date: Aug 28, 2027

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1641
• WIPO field: Handling
• WIPO sector: Mechanical engineering

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.