CN101650264A - Simulation testing system for testing fatigue of automobile parts and control method thereof - Google Patents
Simulation testing system for testing fatigue of automobile parts and control method thereof Download PDFInfo
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- CN101650264A CN101650264A CN200810041647A CN200810041647A CN101650264A CN 101650264 A CN101650264 A CN 101650264A CN 200810041647 A CN200810041647 A CN 200810041647A CN 200810041647 A CN200810041647 A CN 200810041647A CN 101650264 A CN101650264 A CN 101650264A
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Abstract
The invention discloses a simulation testing system for testing fatigue of automobile parts and a control method thereof. The testing system tests the automobile parts by simulating various simulationactions and comprises an industrial personal computer, a bus interface card, a servo control card and a sampling board card as well as a robot, a servo motor, a cylinder and a sampling mechanism. Thebus interface card is connected with the industrial personal computer through a PCI bus; the robot is connected with the bus interface card; the servo motor is connected with the servo control card;and the cylinder and the sampling mechanism are connected with the sampling board card. The method comprises a force application control method and a position control method. The system and the methodcan test the fatigue of the automobile parts by simulating the actions of a driver who drives an automobile through the robot in a lab and meet test requirements by simulating various actions throughthe robot according to the test requirements.
Description
Technical field
The present invention relates to electric automatization, industrial robot field, relate in particular to a kind of emulation test system and control method thereof that is used for testing fatigue of automobile parts.
Technical background
At present international and domestic, on advanced person's commercial production, Gao Du robotization and use industrial robot widely, as automobile assembly line, production of kinescope line, cigarette production line etc., on the robot work station of these production lines, robot can be under the programmed instruction of master control automatic system, separately accurately, repeatedly carrying out for ten million time working accurately.
But the action that drives a car with robot simulation people in the laboratory is carried out the tired of testing automobile parts and simulates various action according to the requirement of test that to satisfy test request be peerless.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, and provide a kind of emulation test system and control method thereof that is used for testing fatigue of automobile parts, the action that it can drive a car with robot simulation people in the laboratory to carry out the tired of testing automobile parts and simulate various action according to the requirement of test and satisfy test request.
The technical scheme that realizes above-mentioned purpose is:
A kind of emulation test system that is used for testing fatigue of automobile parts of one of the present invention, come the testing automobile part by simulating various simulated actions, wherein, bus interface card, servo controlling card and sampling integrated circuit board that it comprises an industrial computer, is connected by pci bus with described industrial computer, also comprise the robot that links to each other with described bus interface card, the servomotor that links to each other with described servo controlling card, the cylinder and the sampling mechanism that link to each other with described sampling integrated circuit board, wherein:
The PCI control card is installed on the described industrial computer;
Described bus interface card accept from industrial computer pass through the pci bus issued command, and the state of robot is fed back to industrial computer by pci bus;
Described servo controlling card is realized the control of servomotor;
Described sampling integrated circuit board is gathered the signal from sampling mechanism, and the operation of control cylinder;
Described robot simulation's emulation exercises come the testing automobile part;
Described servomotor is realized the control of auto parts and components;
The power output that described cylinder comes control cylinder by the compressed-air actuated pressure of regulating in the cylinder;
Described sampling mechanism is gathered each analog quantity of robot, servomotor and cylinder.
The above-mentioned emulation test system that is used for testing fatigue of automobile parts, wherein, described sampling mechanism comprises pull pressure sensor, torque sensor and sextuple sensor, wherein:
Described pull pressure sensor detects the power of cylinder and robot motion generation;
The moment of torsion that described torque sensor produces when gathering servomotor and robot spinning movement;
The power and the moment of torsion of three directions during described sextuple sensor robot motion.
The above-mentioned emulation test system that is used for testing fatigue of automobile parts, wherein, described sampling integrated circuit board comprises data collecting card, A/D card and I/O card.
The above-mentioned emulation test system that is used for testing fatigue of automobile parts, wherein, operation labview software platform on the described industrial computer.
The above-mentioned emulation test system that is used for testing fatigue of automobile parts, wherein, the mode of described servocontrol card control servomotor comprises angle control and moment of torsion control.
A kind of usefulness of two of the present invention emulation test system that is used for testing fatigue of automobile parts is as above realized adds force control method, according to test request control target power, and reinforcing in the type of setting becomes, wherein, it may further comprise the steps:
Step S1 is provided with required afterburning numerical value L;
Step S2 is provided with afterburning maximum displacement Y;
Step S3 is provided with afterburning round-robin frequency n;
Step S4, control robot moves according to the direction of reinforcing;
Step S5 judges whether the maximum displacement of detected reinforcing is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2,
If the i.e. maximum displacement of the reinforcing of Ce Lianging is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2, then enters step S6;
If not, i.e. the maximum displacement of the reinforcing of Ce Lianging is greater than the afterburning maximum displacement Y that is provided with among the step S2, and then test result directly enters step S8 for not by test;
Whether step S6, the numerical value of judgment sensor sample are greater than or equal to afterburning numerical value L set among the step S1,
If promptly the numerical value of sensor sample is greater than or equal to afterburning numerical value L set among the step S1, then enters step S7;
If not, promptly the numerical value of sensor sample then returns step S4 less than afterburning numerical value L set among the step S1;
Step S7 judges whether to finish once reinforcing, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S8;
As not, promptly do not finish once reinforcing, then enter step S71;
Step S71 carries out other test actions, returns step S4 then;
Step S8 finishes test.
The position control method that a kind of usefulness of three of the present invention emulation test system that is used for testing fatigue of automobile parts is as above realized is tested by the test moment of torsion, and wherein, it may further comprise the steps:
Step S1 ' is provided with anglec of rotation ∝;
Step S2 ' is provided with the peak torque Y ' in the rotary course;
Step S3 ' is provided with afterburning cycle index n;
Step S4 ', control robot is rotated operation;
Step S5 ' judges whether the moment of torsion that detects rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ',
If the moment of torsion of i.e. detected rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ', then enters step S6;
If not, i.e. the moment of torsion of detected rotation is greater than the peak torque Y ' that is provided with among the step S2 ', and then test result directly enters step S7 ' for not by test;
Step S6 ' judges whether to finish once test, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S7 ';
As not, promptly do not finish once reinforcing, then enter step S61 ';
Step S61 ' carries out other test actions, returns step S4 ' then;
Step S7 ' finishes test.
The invention has the beneficial effects as follows: the present invention at the testing fatigue of automobile parts platform, utilizes robot simulation people's action to test by an emulation test system, has the efficient height, and advantage simple to operate, system are easy to safeguard and upgrading.
Description of drawings
Fig. 1 is the structural representation of one of the present invention's the emulation test system that is used for testing fatigue of automobile parts;
Fig. 2 is the present invention's two the process flow diagram that adds force control method;
Fig. 3 is the process flow diagram of the present invention's three position control method.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
See also Fig. 1, there is shown a kind of emulation test system that is used for testing fatigue of automobile parts of one of the present invention, come the testing automobile part by simulating various simulated actions, bus interface card 2, servo controlling card 3 and sampling integrated circuit board 4 that it comprises an industrial computer 1, is connected by pci bus 11 with industrial computer 1, also comprise the robot 5 that links to each other with bus interface card 2, the servomotor 6 that links to each other with servo controlling card 3, the cylinder 7 and the sampling mechanism 8 that link to each other with sampling integrated circuit board 4, in the present embodiment, the part of automobile includes tubing string and key, wherein:
The PCI control card is installed on the industrial computer 1, and operation labview software platform;
Servo controlling card 3 is realized the control of servomotor 6, and in the present embodiment, the model of servo controlling card 3 is PCI-7342, and the mode of its control servomotor 6 comprises angle control and moment of torsion control;
The signal that sampling integrated circuit board 4 is gathered from sampling mechanism 8, and the operation of control cylinder 7, it comprises data collecting card (not shown), A/D card (not shown) and I/O card (not shown), the model of data collecting card is PCI-6220, I/O card and A/D card model are respectively PCI-6514,6232, data collecting card is used for gathering the numerical value of sextuple sensor, A/D, the analog quantity of I/O card is used for the numerical value of pick-up transducers, digital quantity is used for the collection position signal, and digital quantity output control electromagnetic valve promotes cylinder 7 operations;
Each analog quantity that sampling mechanism 8 is gathered robot 5, servomotor 6 and cylinder 7, sampling mechanism 8 comprises pull pressure sensor (not shown), torque sensor (not shown) and sextuple sensor (not shown), wherein:
Pull pressure sensor detects the power of cylinder 7 and robot 5 action generations;
The moment of torsion that torque sensor produces when gathering servomotor 6 and robot 5 spinning movements;
The power and the moment of torsion of three directions when 6 DOF sensor robot 5 moves.
See also Fig. 2, there is shown the force control method that adds that one of a kind of the present invention's of employing of two of the present invention the emulation test system that is used for testing fatigue of automobile parts realizes, according to test request control target power, afterburning in the type of setting becomes, it may further comprise the steps:
Step S1 is provided with required afterburning numerical value L, is 700N in the present embodiment;
Step S2 is provided with afterburning maximum displacement Y, is 15mm in the present embodiment;
Step S3 is provided with afterburning round-robin frequency n, present embodiment meta 6500;
Step S4, control robot moves according to the direction of reinforcing;
Step S5 judges whether the maximum displacement of detected reinforcing is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2,
If the i.e. maximum displacement of the reinforcing of Ce Lianging is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2, then enters step S6;
If not, i.e. the maximum displacement of the reinforcing of Ce Lianging is greater than the afterburning maximum displacement Y that is provided with among the step S2, and then test result directly enters step S8 for not by test;
Whether step S6, the numerical value of judgment sensor sample are greater than or equal to afterburning numerical value L set among the step S1,
If promptly the numerical value of sensor sample is greater than or equal to afterburning numerical value L set among the step S1, then enters step S7;
If not, promptly the numerical value of sensor sample then returns step S4 less than afterburning numerical value L set among the step S1;
Step S7 judges whether to finish once reinforcing, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S8;
As not, promptly do not finish once reinforcing, then enter step S71;
Step S71 carries out other test actions, returns step S4 then;
Step S8 finishes test.
During afterburning control, test request control target power will add power in the type of setting becomes, and for example the experiment test pipe moves up and down the locking function tubing string this control mode of sampling exactly.
See also Fig. 3, there is shown a kind of position control method of realizing with one of the present invention's the emulation test system that is used for testing fatigue of automobile parts of three of the present invention, test by the test moment of torsion, it may further comprise the steps:
Step S1 ' is provided with anglec of rotation ∝, is set to 120 ° in the present embodiment;
Step S2 ' is provided with the peak torque Y ' in the rotary course, is 0.6Nm in the present embodiment;
Step S3 ' is provided with afterburning cycle index n, is 6500 in the present embodiment;
Step S4 ', control robot is rotated operation;
Step S5 ' judges whether the moment of torsion that detects rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ',
If the moment of torsion of i.e. detected rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ', then enters step S6;
If not, i.e. the moment of torsion of detected rotation is greater than the peak torque Y ' that is provided with among the step S2 ', and then test result directly enters step S7 ' for not by test;
Step S6 ' judges whether to finish once test, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S7 ';
As not, promptly do not finish once reinforcing, then enter step S61 ';
Step S61 ' carries out other test actions, returns step S4 ' then;
Step S7 ' finishes test.
During position control, what use in the experiment of changeing key with robot is the position control mode, requires automobile key is turned to RUN from the OFF position, angle is 120 degree, will detect moment of torsion in real time in rotary course, when moment of torsion surpasses setting value, experiment just stops, and illustrates that lock damages.
Above embodiment is only for the usefulness that the present invention is described, but not limiting the scope of the invention.Relevant those skilled in the art under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification, and the technical scheme that all are equal to also should belong within the category of the present invention's protection, is limited by each claim.
Claims (7)
1. emulation test system that is used for testing fatigue of automobile parts, come the testing automobile part by simulating various simulated actions, it is characterized in that, bus interface card, servo controlling card and sampling integrated circuit board that it comprises an industrial computer, is connected by pci bus with described industrial computer, also comprise the robot that links to each other with described bus interface card, the servomotor that links to each other with described servo controlling card, the cylinder and the sampling mechanism that link to each other with described sampling integrated circuit board, wherein:
The PCI control card is installed on the described industrial computer;
Described bus interface card accept from industrial computer pass through the pci bus issued command, and the state of robot is fed back to industrial computer by pci bus;
Described servo controlling card is realized the control of servomotor;
Described sampling integrated circuit board is gathered the signal from sampling mechanism, and the operation of control cylinder;
Described robot simulation's emulation exercises come the testing automobile part;
Described servomotor is realized the control of auto parts and components;
The power output that described cylinder comes control cylinder by the compressed-air actuated pressure of regulating in the cylinder;
Described sampling mechanism is gathered each analog quantity of robot, servomotor and cylinder.
2. the emulation test system that is used for testing fatigue of automobile parts according to claim 1 is characterized in that, described sampling mechanism comprises pull pressure sensor, torque sensor and sextuple sensor, wherein:
Described pull pressure sensor detects the power of cylinder and robot motion generation;
The moment of torsion that described torque sensor produces when gathering servomotor and robot spinning movement;
The power and the moment of torsion of three directions during described sextuple sensor robot motion.
3. the emulation test system that is used for testing fatigue of automobile parts according to claim 1 and 2 is characterized in that, described sampling integrated circuit board comprises data collecting card, A/D card and I/O card.
4. the emulation test system that is used for testing fatigue of automobile parts according to claim 1 is characterized in that, operation labview software platform on the described industrial computer.
5. the emulation test system that is used for testing fatigue of automobile parts according to claim 1 is characterized in that, the mode of described servocontrol card control servomotor comprises angle control and moment of torsion control.
6. one kind adds force control method with what the emulation test system that is used for testing fatigue of automobile parts of claim 1 was realized, and according to test request control target power, reinforcing in the type of setting becomes is characterized in that it may further comprise the steps:
Step S 1, and required afterburning numerical value L is set;
Step S2 is provided with afterburning maximum displacement Y;
Step S3 is provided with afterburning round-robin frequency n;
Step S4, control robot moves according to the direction of reinforcing;
Step S5 judges whether the maximum displacement of detected reinforcing is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2,
If the i.e. maximum displacement of the reinforcing of Ce Lianging is less than or equal to the afterburning maximum displacement Y that is provided with among the step S2, then enters step S6;
If not, i.e. the maximum displacement of the reinforcing of Ce Lianging is greater than the afterburning maximum displacement Y that is provided with among the step S2, and then test result directly enters step S8 for not by test;
Whether step S6, the numerical value of judgment sensor sample are greater than or equal to afterburning numerical value L set among the step S1,
If promptly the numerical value of sensor sample is greater than or equal to afterburning numerical value L set among the step S1, then enters step S7;
If not, promptly the numerical value of sensor sample then returns step S4 less than afterburning numerical value L set among the step S1;
Step S7 judges whether to finish once reinforcing, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S8;
As not, promptly do not finish once reinforcing, then enter step S71;
Step S71 carries out other test actions, returns step S4 then;
Step S8 finishes test.
7. a position control method of realizing with the emulation test system that is used for testing fatigue of automobile parts of claim 1 is tested by the test moment of torsion, it is characterized in that it may further comprise the steps:
Step S1 ' is provided with anglec of rotation ∝;
Step S2 ' is provided with the peak torque Y ' in the rotary course;
Step S3 ' is provided with afterburning cycle index n;
Step S4 ', control robot is rotated operation;
Step S5 ' judges whether the moment of torsion that detects rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ',
If the moment of torsion of i.e. detected rotation is less than or equal to the peak torque Y ' that is provided with among the step S2 ', then enters step S6;
If not, i.e. the moment of torsion of detected rotation is greater than the peak torque Y ' that is provided with among the step S2 ', and then test result directly enters step S7 ' for not by test;
Step S6 ' judges whether to finish once test, judges that promptly afterburning cycle index n subtracts 1 and whether equals 0,
If, promptly finish once reinforcing, then enter step S7 ';
As not, promptly do not finish once reinforcing, then enter step S61 ';
Step S61 ' carries out other test actions, returns step S4 ' then;
Step S7 ' finishes test.
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| CN104697770A (en) * | 2015-01-06 | 2015-06-10 | 武汉华威专用汽车检测有限责任公司 | System and method for rigidity testing by industrial robot |
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| JP2613517B2 (en) * | 1991-12-07 | 1997-05-28 | 株式会社堀場製作所 | Car driving robot on chassis dynamometer |
| US5821718A (en) * | 1996-05-07 | 1998-10-13 | Chrysler Corporation | Robotic system for automated durability road (ADR) facility |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
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| CN104697770A (en) * | 2015-01-06 | 2015-06-10 | 武汉华威专用汽车检测有限责任公司 | System and method for rigidity testing by industrial robot |
| CN104697770B (en) * | 2015-01-06 | 2017-04-19 | 武汉华威专用汽车检测有限责任公司 | System and method for rigidity testing by industrial robot |
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| CN110160811A (en) * | 2019-04-11 | 2019-08-23 | 浙江大学 | A kind of batteries of electric automobile cold plate test macro based on feedback control |
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| CN111497855A (en) * | 2020-04-13 | 2020-08-07 | 重庆车辆检测研究院有限公司 | Evaluation system, method and device of driver monitoring device and evaluator |
| CN111665878A (en) * | 2020-05-15 | 2020-09-15 | 成都飞机工业（集团）有限责任公司 | Constant force loading simulation device and force loading method based on closed-loop control |
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Inventor after: Hua Xiaolong Inventor after: Sun Qin Inventor after: Qin Liangzhong Inventor after: Li Ming Inventor after: Hua Jianqiang Inventor after: Xia Xin Inventor before: Hua Xiaolong Inventor before: Sun Qin Inventor before: Li Ming Inventor before: Hua Jianqiang Inventor before: Xia Xin |
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