基于FTA的焊接机器人故障诊断技术研究

Analysis welding robots diagnosis based on fault tree analysis

焊接机器人作为一种大型复杂系统,主要从事焊接、切割与喷涂作业,因其控制对象复杂、处理任务繁多,所以出故障机率较大、诊断难度较高。为了解决焊接机器人故障诊断的盲目性问题,提高诊断效率及运行可靠性,在结合分析焊接机器人故障模式及故障树分析法特点的基础上,将故障树分析法应用于焊接机器人故障诊断中。根据维修经验找出系统可能发生的各种故障原因,由总体至部分,按树枝状结构,采用自上而下逐层细化的分析方法,探讨了新型焊接机器人机械及电气控制系统的故障树模型。并以焊接机焊枪姿态和悬浮高度设置系统故障为例,研究了系统故障树模型的建立,并对此进行定性和定量分析,找出系统的薄弱环节,及时确定故障源。计算结果表明,该方法直观简单,可操作性强,具有很好的实际应用价值。

Welding robots as a large complex system mainly engaged in welding, cutting and spraying work, it has a high failure rate more difficult diagnosis for its complex control objects and many tasks. In order to solve the problem of diagnosing welding robots blindly, improve the efficiency of diagnosis and reliability of welding robots, the fault tree analysis（FTA） method was applied to the welding robot fault diagnosis based on analyzing the failure mode of robot and the trait of fault trees diagnosis. All the possible failure causes of welding robots system will be found by the fault repair experiences, the analysis method of from general to part, from top to bottom according to the tree structure was applied, and the fault tree model of mechanic and electric control system on new welding robot was studied. Take the welding torch gesture and suspension height of welding robots for example, quantitative and qualitative analysis for fault diagnosis model was used to find the weakness and failure causes of system. The results indicate that the method is intuitive and simple, and have good maneuverability. It has greater theoretical significance and practical engineering value for new welding robot designing.