本发明涉及一种工业机器人智能状态监测与故障诊断系统及故障诊断方法，通过传感器网络实时采集机器人多个部位的多种数据信息，将数据信息转换为电压信号；对所述电压信号进行调理，利用特征提取与监测预警模块对调理信号进行异常检测及异常信号报警，并将异常信号传输到上位机智能故障诊断系统；利用上位机智能故障诊断系统结合智能诊断算法对多个部位的所述异常信号进行故障综合分析及诊断，得到机器人系统的故障综合诊断结果。本发明通过采集工业机器人多个部件的多种数据类型，进行特征提取、特征分析及诊断，并将诊断结果进行融合，进而进行故障综合诊断，得到机器人综合故障诊断结果，能够全面准确地反映故障问题根源。

The invention relates to an industrial robot intelligent state monitoring and fault diagnosis system and a fault diagnosis method, which collects multiple data information of multiple parts of the robot in real time through a sensor network and converts the data information into voltage signals; The voltage signal is regulated, the feature extraction and monitoring and warning module is used to detect the abnormal signal and alarm the abnormal signal, and the abnormal signal is transmitted to the upper intelligent fault diagnosis system; The integrated fault diagnosis results of the robot system are obtained by using the intelligent intelligent fault diagnosis system and intelligent diagnosis algorithm to analyze and diagnose the abnormal signals of multiple parts. By collecting multiple data types of multiple parts of industrial robot, feature extraction, feature analysis and diagnosis are carried out, and the diagnosis results are fused to carry out comprehensive fault diagnosis, and the robot comprehensive fault diagnosis results are obtained, which can reflect the root cause of fault problems comprehensively and accurately.