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Aiming at the problem of a spur gear fault of the rotation vector (RV) reducer in industrial robots, an instantaneous phase detection technology based on eccentric modulation and laser displacement sensor is proposed. Taking the RV-20E reducer as the object, through the analysis of the RV reducer gear fault mechanism, an RV reducer fault diagnosis test bed is developed to simulate the actual operating conditions of the RV reducer of industrial robot. The instantaneous phase information of the RV reducer is collected, and the adaptive permutation entropy is used to process the instantaneous phase data, which can judge the gear fault type quickly and effectively. The test results show that the fault diagnosis test bench based on this detection technology can effectively and quantitatively judge the fault type of the spur gear of the RV reducer. © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 International License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

Aiming at the operation conflict problem of multi-objective, multi-path and multi-vehicle relay during mine locomotive operation under complex geological conditions, a mine operation of locomotive modeling method based on an object-oriented stratified timed Petri net is proposed. In order to load and transport materials as object oriented, which are combined with the mine operation of locomotive rules and time constraints, stratified modeling of an underground roadway route is carried out. In addition, given token time parameters to describe the dynamic behavior of the locomotive, through the model to analyze the operation of a mine transport locomotive, the correlation matrix and accessibility tree analysis are used to study the conflict. Taking the actual operation of a locomotive in a complex mine in Guizhou as an example, the operation of locomotive behavior model was established to detect the interval and time of operation conflicts. The experimental results show that the proposed operation of locomotive modeling and conflict analysis method are effective and feasible, and have important application value to the safe operation of a mine production system.

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