Industrial robot system for intelligent diagnosis and calibration of in-service precision and diagnosis and calibration method

The invention discloses an in-service precision intelligent diagnosis and calibration industrial robot system and a diagnosis and calibration method. The robot internal diagnostor and the robot internal controller are installed in the industrial robot body and electrically connected with each other. The laser trackers are distributed around and electrically connected with external computer equipment. The method comprises the steps that the rotating speed and torque of a speed reducer of an industrial robot body are input into a speed reducer degradation model, positioning precision is output, and when the rotating speed and torque are lower than threshold values, early warning is conducted and fault monitoring diagnosis is conducted; inputting the tail end point pose of the mechanical arm into the model KPCA, outputting the joint precision, and when the joint precision is lower than a threshold value, performing early warning and performing fault monitoring diagnosis; precision state measurement is carried ou