CN104656633B - A flexible manufacturing system fault detection method for early stream trolley - Google Patents

A flexible manufacturing system fault detection method for early stream trolley Download PDF

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CN104656633B
CN104656633B CN 201410807363 CN201410807363A CN104656633B CN 104656633 B CN104656633 B CN 104656633B CN 201410807363 CN201410807363 CN 201410807363 CN 201410807363 A CN201410807363 A CN 201410807363A CN 104656633 B CN104656633 B CN 104656633B
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stream
min
test
car
trolley
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CN 201410807363
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CN104656633A (en )
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张根保
冉琰
李冬英
罗冬梅
佘林
王扬
刘雁
李平
张学智
周斌成
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重庆大学
四川普什宁江机床有限公司
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Abstract

本发明公开了一种柔性制造系统物流小车早期故障检测方法,包括以下步骤,(1)进给速度试验步骤:如在步骤(1)中未判断出存在缺陷,则进行下述步骤(2)负载运行试验步骤:如步骤(2)未判断出存在缺陷,则继续进行下述步骤(3)试验后处理:1)卸下压重块,吊装回贮存处;2)对物流小车进行清洗和维护。 The present invention discloses a fault detection method for a flexible manufacturing early stream trolley system, comprising the steps of, (1) feed rate Test procedure: as in step (1) is not judged defective, then the following step (2) test load operation the steps of: step (2) is not judged defective, proceed to the following step (3) after experimental treatments: 1) Remove the ballast blocks, hoisting back depots; 2) for cleaning the car and the logistics maintain. 本方法能通过试验的方式,对柔性制造系统物流系统的重要功能部件—物流小车进行早期故障激发,找到生产制造过程或设计的潜在缺陷,从而为提高机床整机的可靠性提供实用方法,保证出厂的机床出现早期故障的概率大大降低。 This test method by way of the flexible manufacturing system, an important feature of the logistics system - trolley stream excitation early failure, find latent defects or manufacturing process designed to provide a practical method to improve the reliability of the machine tool, to ensure the probability of factory machines with early failure greatly reduced. 同时本方法还可以为机床在设计时是否存在缺陷提供参考依据,以便于对机床设计进行改善。 The method may also be present at the same time whether there is a defect in the machine designed to provide a reference, so as to improve the design of the machine.

Description

一种柔性制造系统物流小车早期故障检测方法 A flexible manufacturing system fault detection method for early stream trolley

技术领域 FIELD

[0001] 本发明涉及一种以激发早期柔性制造系统故障为目的的故障检测方法,尤其涉及一种作为柔性制造系统的重要功能部件物流小车,对其进行强化试验以进行早期故障检测的方法。 [0001] The present invention relates to a flexible manufacturing system fault excitation early fault detection purposes, particularly to a carriage is an important feature stream FMS, its intensive test for early fault detection method.

背景技术 Background technique

[0002] 柔性制造系统是由统一的信息控制系统、物料储运系统和一组数字控制加工设备组成,能适应加工对象变换的自动化机械制造系统(Flexible Manufacturing System),英文缩写为FMS。 [0002] The flexible manufacturing system is unified information control system, material handling system and a set of digital processing devices control the composition, to accommodate automation of Manufacturing Systems (Flexible Manufacturing System) transformation of the object, the abbreviation for the FMS. 根据柔性制造系统可靠性建模技术研究可知,柔性制造系统主要由加工系统、物流系统、刀具系统、控制系统及辅助系统五个子系统组成。 Reliability The flexible manufacturing system modeling shows that flexible manufacturing system consists of processing systems, logistics systems, tool systems, control systems and auxiliary systems of five subsystems. 通过对柔性制造系统进行跟踪统计,结果表明系统在出厂后再使用过程中,其失效和出现故障的概率在时间上呈浴盆曲线。 Through the flexible manufacturing system to track statistics, the results show that the probability of the system at the factory before use, and its failure was the failure of the bathtub curve in time. 柔性制造系统在出厂之后存在一个早期失效期,这个时间段内,机床出现故障的概率较大,这种故障称为早期故障。 There is a flexible manufacturing system early failure period after the shipment, this period of time, the probability of failure of a larger machine, called this failure early failure.

[0003] 柔性制造系统中,加工系统主要由加工中心组成;物流系统由传输装置、物流小车、机械手等组成;控制系统由控制加工中心、物料搬运系统等自动操作所需的局部通信网络和中央控制计算机、传感器、在线监测设备以及各种管理和监控软件组成;辅助系统主要包括工件检测装置和清洗机等设备组成。 [0003] The flexible manufacturing system, processing system consists of machining centers; logistics system by the transmission means, logistics car, robot, etc; automatic operation control system required by the local communication network and a central control machining centers, material handling systems control computer, sensors, online monitoring devices, and various management and monitoring software components; assistance system includes detection means and a workpiece washing machines and other equipment. 根据资料表明,物流系统、刀具系统、辅助系统和加工设备是柔性制造系统故障频发的子系统。 The data indicate that the logistics system, tool system, auxiliary systems and process equipment failures are frequent FMS subsystems. 为了提高柔性制造系统的可靠性,有必要对其可靠性问题进行深入细致的研究。 To improve the reliability of the flexible manufacturing system, it is necessary to conduct intensive research on its reliability.

[0004] 物流系统是柔性制造系统重要的组成部分,其主要功能是实现物料在加工机床以及存储站有机床之间的自动运输、搬运、存放的等工作。 [0004] The logistics system is an important part of the flexible manufacturing system, and its main function is to achieve automatic material transport, handling between the machine tool and storage stations in the processing, storage and so on. 而物流小车主要工作是完成工件装卸站G加工中心G托板存储库G工件清洗站之间的工件输送,属于点到点位置控制系统。 The logistics trolley main work is done processing center workpiece handling stations G G G workpiece pallet store cleaning the workpiece transport between the stations, belonging to point position control system. 物流系统中所有的运动功能都集中在物流小车上,其实整个柔性制造系统物流系统的核心设备,一旦出现故障,将影响全线的运行,且根据统计结果,物流小车所发生故障占所有故障的月1/5,严重影响系统可靠运行,且部分故障为重要故障。 Logistics system in all sports functions are concentrated in the logistics small car, in fact, the entire FMS logistics system of core equipment, event of a failure, will affect the operation across the board, and according to statistics, logistics trolley the failure accounted for all the faults of the month occurred 1/5, seriously affect the reliable operation of the system and part of the fault is important fault.

[0005] 为此,通过试验对物流小车进行早期故障激发,以在将其装进柔性制造系统前找到该部件的设计、加工及装配引起的潜在缺陷,具有重要意义。 [0005] To this end, the test stream of the car early fault excitation to the design of the member found before it is put into the flexible manufacturing system, processing and potential defects caused by assembly, is important. 目前,关于对柔性制造系统物流小车进行以激发早期故障为目的的可靠安心试验方法还没有,无法保证将其安装到整机上的可靠性,因为也就无法保证整个柔性制造系统的可靠性。 Currently, flexible manufacturing systems on reliable stream trolley Confidence Test methods to stimulate early failure for the purpose of yet, not possible to guarantee the reliability of mounting it on the machine, since it can not guarantee the reliability of the flexible manufacturing system.

[0006] 故怎样设计一种可激发物流小车早期故障,以在柔性制造系统出厂前发现物流小车潜在缺陷的早期故障检测方法,成为本领域有待解决的问题。 [0006] Therefore, how to design an excitation stream trolley early failure, early fault detection method stream to latent defects found in the car before the FMS factory, a problem to be solved in the art.

发明内容 SUMMARY

[0007] 针对上述现有技术的不足,本发明所要解决的技术问题是:如何提供一种可以激发物流小车早期故障的柔性制造系统物流小车早期故障检测方法,从而找出其潜在缺陷, 为提高出厂可靠性创造条件。 [0007] The above-described deficiencies of the prior art, the present invention is to solve the technical problem: how to provide a flexible manufacturing system fault detection method for early stream stream trolley car can stimulate early failure, in order to identify potential defects, to improve the factory to create conditions for reliability.

[0008] 为了解决上述技术问题,本发明采用了如下的技术方案: [0008] To solve the above problems, the present invention adopts the following technical solution:

[0009] -种柔性制造系统物流小车早期故障检测方法,包括以下步骤, [0009] - seed stream trolley early fault detection method for flexible manufacturing system, comprising the steps of,

[0010] (1)进给速度试验步骤:所述进给速度试验步骤包括①将性能、精度检验合格的物流小车直接安装至一套试验用的柔性制造系统中,并调试好其基本功能;试验采用物流小车独立运行的方式进行,因此要求试验过程中要保证上下料工位、清洗机、主机托盘交换架等位置没有托盘存在,以免试验因发生干涉现象造成设备损坏和人员损伤,且试验过程中切断系统中主机、清洗机、上下料工位等无关系统的电源,保证无关系统试验过程中不会启动;②将物流小车分别以l〇〇〇mm/min、5000mm/min、20000mm/min、60000mm/min、80000mm/ min、100000mm/min的快移速度在X向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进行速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷;③将物流小车滑台分别以500mm/min [0010] (1) feed rate test procedure: the feeding speed comprises ① the step of testing the performance, precision inspection stream trolley mounted directly to the flexible manufacturing system in a test, and debug the basic function; test by way of stream trolley independent operation is performed, thus requiring during the test to ensure that the loading and unloading station, a cleaning position, hosts pallet racks no pallet is present, so as to avoid testing by the interference phenomenon caused equipment damage and personnel injury, and the test during the cutting of the host system, power washing machines, unloading station independent of other systems, regardless of the system to ensure that during the test does not start; ② the trolley stream respectively l〇〇〇mm / min, 5000mm / min, 20000mm / min, 60000mm / min, 80000mm / min, 100000mm / min rapid traverse motion in the X direction over the stroke range of 5 minutes, while the sampling levels feed speed, the recording reliability test recording operation, if the presence of the sampling speed is low the preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,; ③ the slide carriage stream respectively 500mm / min 2000mm/min、 3000mm/min、10000mm/min、20000mm/min的快移速度在Y向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进行速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷;④将物流小车滑台分别以500mm/ min、2000mm/min、10000111111/111;[11、20000_/111;[11、30000_/111;[11的快移速度在2向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录;如果抽检出存在进给速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷; 2000mm / min, 3000mm / min, 10000mm / min, 20000mm / min rapid traverse motion in the Y direction over the stroke range of 5 minutes, while the sampling levels feed speed, the recording reliability test recording operation, if the sampling for the presence of speed is lower than a preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,; ④ the slide carriage stream respectively 500mm / min, 2000mm / min, 10000111111/111; [11,20000_ / 111; [11,30000_ / 111; rapid traverse speeds [11 to move within a full range of travel 2 for 5 minutes while the feed rate sampling levels, reliability test log record; if the present sampling feed rate lower than a preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,;

[0011] 如在步骤(1)中未判断出存在缺陷,则进行下述步骤(2) [0011] As in step (1) is not judged defective, the following steps are carried out (2)

[0012] (2)负载运行试验步骤:所述负载运行试验步骤包括①在X方向,控制物流小车以50000mm/min的进给速度在X=0和X=11500mm之间往返五次,记录小车位置坐标;②在Y方向, 物流小车以l〇〇〇〇mm/min的进给速度在Y=0和Y=965mm之间往返五次,记录小车位置坐标;③ 在Z方向,物流小车以15000mm/min的进给速度在Z=0和Z=1600mm之间往返五次,记录小车位置坐标;④根据三个方向试验的数据判断物流小车定位精度是否满足误差小于〇.25_的要求;如果不满足要求,则判断存在缺陷;如果满足要求,进行下一步;⑤控制物流小车回到原点位置,并通过工装夹具把四个重为500kg的压重块装置固定到物流小车上去;⑥按照试验任务剖面编制的运行程序运行物流小车,设定自动运行时间2小时,即在小车X行程范围内设置0、6000、12000、23000四个模拟机位点,小车依次运动到四个点,在每个点 [0012] (2) Test load operation the steps of: running the test load comprises the step ① in the X direction, the car controlled stream feedrate 50000mm / min at X = 0 and from between five and X = 11500mm, recording car position coordinates; ② in the Y direction, the feed stream to the car speed l〇〇〇〇mm / min in Y = 0 and Y round five, the position coordinates recorded between trolley = 965mm; ③ in the Z direction, to the car stream 15000mm / min feed rate at Z = 0 and Z round five, the position coordinates recorded between trolley = 1600mm; ④ stream is determined whether the car positioning error is less than the required accuracy in accordance with three directions 〇.25_ test data; If the requirement is not satisfied, it is determined that a defect exists; if they meet the requirements, the next step; ⑤ car control stream back to the original position, and the four fixture by weight of 500kg ballast means secured to block the trolley up stream; ⑥ according test run the program compiled to run mission profile stream trolley run automatically set time of 2 hours, i.e., four simulator provided 0,6000,12000,23000 sites within range of travel X carriage, carriage movement to the four points in sequence, the each point 台在Y向进行全行程往返运动一次,Z向半行程往返一次,一个循环耗时62.5秒;步骤⑥没有性能指标要求而只有功能规定的,当其无法完成功能动作时即判为失效,失效形式包括以下四种: Y table to a full stroke in a reciprocating movement, Z to the semi round trip time, a cycle takes 62.5 seconds; step ⑥ performance requirements not only predetermined function, when it is not judged as complete function is activated i.e. failure, failure forms include the following four:

[0013] 1)物流小车在X、Y、Z某个方向或同时几个方向无动作; [0013] 1) while the trolley stream no action in several directions X, Y, Z or a certain direction;

[0014] 2)物流小车在X、Y、Z某个方向或同时几个方向动作延迟或提前的误动作; [0014] 2) a delay in the car stream X, Y, Z motion one or several directions simultaneously advance or malfunction;

[0015] 3)物流小车在X、Y、Z某个方向或同时几个方向超出运动范围; [0015] 3) In the trolley stream X, Y, Z direction or a motion range beyond several directions simultaneously;

[0016] 4)物流小车在X、Y、Z某个方向或同时出现卡死; [0016] 4) stuck stream occurs while the carriage X, Y, Z or a certain direction;

[0017] ⑦自动运行两个小时后,采用手动的方式运行任务剖面的3个试验循环(即步骤二中第⑥点),并依次测量小车的XYZ坐标,检测重复定位精度是否超过0.5mm,如果超过则判断存在缺陷;⑧重复步骤⑥和步骤⑦的内容,直到试验截止时间T=120h; After [0017] ⑦ automatically runs for two hours, using three test run cycles of manual mission profile (i.e., the first step ⑥ two points), and sequentially measuring the XYZ coordinates of the car, the detection accuracy of positioning is repeated more than 0.5mm, If it exceeds the determined defective; steps ⑥ and ⑧ repeat step ⑦ content until the tests deadline T = 120h;

[0018] 如步骤(2)未判断出存在缺陷,则继续进行下述步骤(3) [0018] The step (2) is not judged defective, proceed to the following step (3)

[0019] (3)试验后处理:1)卸下压重块,吊装回贮存处;2)对物流小车进行清洗和维护。 [0019] (3) After the test process: 1) Remove the ballast blocks, hoisting back depots; 2) for cleaning and maintenance trolley stream.

[0020] 本发明的检测方法,是在对物流小车进行故障模式分析和浴盆曲线定量化分析后得出的。 [0020] The detection method of the present invention, the car is in the logistics mode fault analysis and quantitative analysis of the bathtub curve is obtained. 本方法模拟物流小车在柔性制造系统中的实际工作情况,进行可靠性强化试验,对其早期故障进行激发并检测。 Simulation of the actual operation of the process stream in a car FMS performs RET, and excites its early failure detection. 本发明的试验方法首先进行进给速度试验,对物流小车的性能作试运行检验,以发现明显的装配缺陷,再进行强化负载运行试验,即在进行小车负载试验时,小车承载其最大负载重量,且以最大进给速度运动,运动频率也大大超过工况的情况下,检测其位置精度,检测其潜在故障。 Test method of the present invention is firstly feed speed test, performance test on stream for the test run of the car to find significant defects in assembly, and then intensive load running test, i.e. during the load test trolley, the trolley carrying the maximum load weight case, and at maximum feed velocity, the movement frequency is much higher than the operating conditions, the detection accuracy of the position, which detects potential failure. 最后试验完毕后进行拆卸、清洗和维护。 Disassembly, cleaning and maintenance after completion of the final test. 各步骤中若出现故障,可以进行人工处理或排除,如果不能排除则此物流小车禁止出厂,如果可以排除贝1J,则排除故障后可以继续进行后续步骤的检测。 If a failure occurs in each step, may be manual processing, or negative, if the stream can not be excluded then this car factory is prohibited, if the shell can be excluded 1J, the exclusion of the fault detection may continue in a subsequent step. 试验后的物流小车,如果能够消除缺陷, 则消除缺陷后可重新装配,装入柔性制造系统整机中,这样就可保证出厂其物流小车出现早期故障的概率大大降低。 Stream car after the test, if a defect can be eliminated, to eliminate the defects can re-assembly, the whole system was charged in a flexible manufacturing, this ensures that the probability of default stream carts out early failure greatly reduced.

[0021] 综上所述,本方法能通过试验的方式,对柔性制造系统物流系统的重要功能部件一物流小车进行早期故障激发,找到生产制造过程或设计的潜在缺陷,从而为提高机床整机的可靠性提供实用方法,保证出厂的机床出现早期故障的概率大大降低。 [0021] In summary, the present method can test mode, important features of the flexible manufacturing system of a logistics system stream trolley excitation early failure, find latent defects or manufacturing process design, so as to improve the machine tool It provides reliable and practical methods to ensure that the probability of the factory machines with early failure greatly reduced. 同时本方法还可以为机床在设计时是否存在缺陷提供参考依据,以便于对机床设计进行改善。 The method may also be present at the same time whether there is a defect in the machine designed to provide a reference, so as to improve the design of the machine.

具体实施方式 detailed description

[0022]下面结合具体实施方式对本发明作进一步的详细说明。 [0022] DETAILED DESCRIPTION The following embodiments of the present invention will be further described in detail.

[0023] 本方法特别适合对型号为FMS80的柔性制造系统中的物流小车进行检测。 [0023] The present process is particularly suitable for the detection of type flexible manufacturing system in stream FMS80 car. 具体地说,对该物料小车进行可靠性早期故障检测时,包括以下步骤, Specifically, when the material for the reliability of the car early fault detection, comprising the steps of,

[0024] -种柔性制造系统物流小车早期故障检测方法,包括以下步骤, [0024] - seed stream trolley early fault detection method for flexible manufacturing system, comprising the steps of,

[0025] (1)进给速度试验步骤:所述进给速度试验步骤包括①将性能、精度检验合格的物流小车直接安装至一套试验用的柔性制造系统中,并调试好其基本功能;试验采用物流小车独立运行的方式进行,因此要求试验过程中要保证上下料工位、清洗机、主机托盘交换架等位置没有托盘存在,以免试验因发生干涉现象造成设备损坏和人员损伤,且试验过程中切断系统中主机、清洗机、上下料工位等无关系统的电源,保证无关系统试验过程中不会启动;②将物流小车分别以l〇〇〇mm/min、5000mm/min、20000mm/min、60000mm/min、80000mm/ min、100000mm/min的快移速度在X向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进行速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷;③将物流小车滑台分别以500mm/min [0025] (1) feed rate test procedure: the feeding speed comprises ① the step of testing the performance, precision inspection stream trolley mounted directly to the flexible manufacturing system in a test, and debug the basic function; test by way of stream trolley independent operation is performed, thus requiring during the test to ensure that the loading and unloading station, a cleaning position, hosts pallet racks no pallet is present, so as to avoid testing by the interference phenomenon caused equipment damage and personnel injury, and the test during the cutting of the host system, power washing machines, unloading station independent of other systems, regardless of the system to ensure that during the test does not start; ② the trolley stream respectively l〇〇〇mm / min, 5000mm / min, 20000mm / min, 60000mm / min, 80000mm / min, 100000mm / min rapid traverse motion in the X direction over the stroke range of 5 minutes, while the sampling levels feed speed, the recording reliability test recording operation, if the presence of the sampling speed is low the preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,; ③ the slide carriage stream respectively 500mm / min 2000mm/min、 3000mm/min、10000mm/min、20000mm/min的快移速度在Y向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进行速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷;④将物流小车滑台分别以500mm/ min、2000mm/min、10000111111/111;[11、20000_/111;[11、30000_/111;[11的快移速度在2向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录;如果抽检出存在进给速度低于预设进给速度的2%,或者高于预设进给速度的6%,,则判断存在缺陷; 2000mm / min, 3000mm / min, 10000mm / min, 20000mm / min rapid traverse motion in the Y direction over the stroke range of 5 minutes, while the sampling levels feed speed, the recording reliability test recording operation, if the sampling for the presence of speed is lower than a preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,; ④ the slide carriage stream respectively 500mm / min, 2000mm / min, 10000111111/111; [11,20000_ / 111; [11,30000_ / 111; rapid traverse speeds [11 to move within a full range of travel 2 for 5 minutes while the feed rate sampling levels, reliability test log record; if the present sampling feed rate lower than a preset feed rate of 2% or higher than a preset feed rate of 6% is judged defective ,,;

[0026] 上述步骤(1)中,环境应力条件具体可设置为:试验温度:10°C~40°C ;温度变化< 20 °C /h;相对湿度:10%~15%;振动彡0.5G;试验负重载荷为0. [0026] The above step (1), and environmental stress conditions may specifically be set as follows: Test temperature: 10 ° C ~ 40 ° C; temperature <20 ° C / h; relative humidity: 10% to 15%; vibration San 0.5 G; test load to zero load.

[0027] 如在步骤(1)中未判断出存在缺陷,则进行下述步骤(2) [0027] As in step (1) is not judged defective, the following steps are carried out (2)

[0028] (2)负载运行试验步骤:所述负载运行试验步骤包括①在X方向,控制物流小车以50000mm/min的进给速度在X=0和X=11500mm之间往返五次,记录小车位置坐标;②在Y方向, 物流小车以lOOOOmm/min的进给速度在Y=0和Y=965mm之间往返五次,记录小车位置坐标;③ 在Z方向,物流小车以15000mm/min的进给速度在Z=0和Z=1600mm之间往返五次,记录小车位置坐标;④根据三个方向试验的数据判断物流小车定位精度是否满足误差小于〇.25_的要求;如果不满足要求,则判断存在缺陷;如果满足要求,进行下一步;⑤控制物流小车回到原点位置,并通过工装夹具把四个重为500kg的压重块装置固定到物流小车上去;⑥按照试验任务剖面编制的运行程序运行物流小车,设定自动运行时间2小时,即在小车X行程范围内设置0、6000、12000、23000四个模拟机位点,小车依次运动到四个点,在每个点滑台在Y [0028] (2) Test load operation the steps of: running the test load comprises the step ① in the X direction, the car controlled stream feedrate 50000mm / min at X = 0 and from between five and X = 11500mm, recording car position coordinates; ② in the Y direction, the feed stream to the car speed lOOOOmm / min in Y = 0 and Y round five, the position coordinates recorded between trolley = 965mm; ③ in the Z direction, the trolley stream to 15000mm / min feed speed at Z = 0 and Z round five, the position coordinates recorded between trolley = 1600mm; ④ 〇.25_ meets the requirements according to the data error is less than three stream direction of the test car positioning accuracy of the determination; if not required, it is determined that a defect exists; if they meet the requirements, the next step; ⑤ car control stream back to the original position, and the four fixture by weight of the weight means to the pressure carriage up stream of 500kg; ⑥ prepared in accordance with the test task profile run stream running car, automatic operation setting time of 2 hours, i.e., four simulator provided 0,6000,12000,23000 sites within range of travel X carriage, trolley sequentially moved to four points, each point in the slide in Y 向进行全行程往返运动一次,Z向半行程往返一次,一个循环耗时62.5秒;步骤⑥没有性能指标要求而只有功能规定的,当其无法完成功能动作时即判为失效,失效形式包括以下四种: A, Z full round trip to and from one motion to the half stroke, a cycle takes 62.5 seconds; step ⑥ performance requirements not only a predetermined function, the function can not complete when it is judged as failure operation i.e., failure modes comprising four categories:

[0029] 1)物流小车在X、Y、Z某个方向或同时几个方向无动作; [0029] 1) while the trolley stream no action in several directions X, Y, Z or a certain direction;

[0030] 2)物流小车在X、Y、Z某个方向或同时几个方向动作延迟或提前的误动作; [0030] 2) a delay in the car stream X, Y, Z motion one or several directions simultaneously advance or malfunction;

[0031] 3)物流小车在X、Y、Z某个方向或同时几个方向超出运动范围; [0031] 3) In the trolley stream X, Y, Z direction or a motion range beyond several directions simultaneously;

[0032] 4)物流小车在X、Y、Z某个方向或同时出现卡死; [0032] 4) stuck stream occurs while the carriage X, Y, Z or a certain direction;

[0033] ⑦自动运行两个小时后,采用手动的方式运行任务剖面的3个试验循环(即步骤二中第⑥点),并依次测量小车的XYZ坐标,检测重复定位精度是否超过0.5mm,如果超过则判断存在缺陷;⑧重复步骤⑥和步骤⑦的内容,直到试验截止时间T=120h; After [0033] ⑦ automatically runs for two hours, using three test run cycles of manual mission profile (i.e., the first step ⑥ two points), and sequentially measuring the XYZ coordinates of the car, the detection accuracy of positioning is repeated more than 0.5mm, If it exceeds the determined defective; steps ⑥ and ⑧ repeat step ⑦ content until the tests deadline T = 120h;

[0034] 上述步骤(2)中,环境应力条件具体可设置为:试验温度:10°C~40°C ;温度变化< 20 °C /h;相对湿度:10%~15%;振动彡0.5G;试验负重为500kg. [0034] The above step (2), the environmental stress conditions may specifically be set as follows: Test temperature: 10 ° C ~ 40 ° C; temperature <20 ° C / h; relative humidity: 10% to 15%; vibration San 0.5 G; test load of 500kg.

[0035] 如步骤⑵未判断出存在缺陷,则继续进行下述步骤⑶ [0035] In step ⑵ not judged defective, proceed to the following steps ⑶

[0036] (3)试验后处理:1)卸下压重块,吊装回贮存处;2)对物流小车进行清洗和维护。 [0036] (3) After the test process: 1) Remove the ballast blocks, hoisting back depots; 2) for cleaning and maintenance trolley stream.

[0037] 最后应该说明的是,以上事实例仅用于说明,而非限制本发明的技术实施方案,尽管参照上述实施例对本发明进行了详细说明,本领域的普通技术人员应当理解;依然可以对本发明进行修改或同替换,而不脱离本发明的精神和范围的任何修改或局部修改,其均应涵盖在本发明的保护范围内。 [0037] Finally, it should be noted that the above examples for illustration only and do not limit the technical embodiment of the present invention, although the present invention has been described in detail with reference to the embodiments described above, those of ordinary skill in the art should be understood; still the present invention may be modified or replaced with, any modification without departing from the spirit and scope or partial modification of the present invention, which should fall within the scope of the present invention.

Claims (1)

  1. 1. 一种柔性制造系统物流小车早期故障检测方法,包括以下步骤, (1) 进给速度试验步骤:所述进给速度试验步骤包括①将性能、精度检验合格的物流小车直接安装至一套试验用的柔性制造系统中,并调试好其基本功能;试验采用物流小车独立运行的方式进行,因此要求试验过程中要保证上下料工位、清洗机和主机托盘交换架位置没有托盘存在,以免试验因发生干涉现象造成设备损坏和人员损伤,且试验过程中切断系统中包括主机、清洗机和上下料工位在内的无关系统的电源,保证无关系统试验过程中不会启动;②将物流小车分别以1000mm/min、5000mm/min、20000mm/min、60000mm/min、 80000mm/min、100000mm/min的预设速度在X向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进给速度低于预设速度的2%,或者高于预设速度的6% 1. A flexible manufacturing system stream trolley early fault detection method, comprising the steps of, (1) feed rate test procedure: the feeding speed comprises ① the step of testing the performance, the accuracy of the inspection car mounted directly to a stream FMS test of and debug the basic function; test by way of stream trolley independent operation is performed, thus requiring during the test to ensure that the loading and unloading station, washing machines and the host pallet rack position without pallets exist, in order to avoid test interference phenomenon occurs due to equipment damage and personnel injury, and during the cutting test system includes a host, irrespective of the power supply system and the washing machine including loading and unloading stations, regardless of the system to ensure that during the test does not start; ② the stream car respectively 1000mm / min, 5000mm / min, 20000mm / min, 60000mm / min, the preset speed 80000mm / min, 100000mm / min motion 5 minutes into the full range of travel in the X, while sampling feed speed levels, recorded reliability test recording operation, if the present sampling rate lower than a preset feed rate of 2% or 6% higher than a preset speed ,则判断存在缺陷;③将物流小车滑台分别以500mm/min、2000mm/min、3000mm/ min、10000mm/min、20000mm/min的预设速度在Y向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录,如果抽检出存在进给速度低于预设速度的2%,或者高于预设速度的6%,则判断存在缺陷;④将物流小车滑台分别以500mm/min、2000mm/min、 10000mm/min、20000mm/min、30000mm/min的预设速度在Z向满行程范围内运动5分钟,同时抽检各级进给速度,记录可靠性试验运行记录;如果抽检出存在进给速度低于预设速度的2%,或者高于预设速度的6%,则判断存在缺陷; 如在步骤(1)中未判断出存在缺陷,则进行下述步骤(2) (2) 负载运行试验步骤:所述负载运行试验步骤包括①在X方向,控制物流小车以50000mm/min的进给速度在X=O和X=I 1500mm之间往返五次,记录小车位置坐标;②在Y方向, 物流小车以l , It is judged that there is a defect; ③ the slide carriage stream respectively 500mm / min, 2000mm / min, 3000mm / min, the preset speed 10000mm / min, 20000mm / min motion 5 minutes into the full range of travel in Y, while sampling feed speed levels, the recording reliability test recording operation, if the present sampling feedrate preset speed of less than 2%, 6% or higher than a preset speed, it is judged defective; ④ the slide carriage stream respectively 500mm / min, 2000mm / min, 10000mm / min, the preset speed 20000mm / min, 30000mm / min in the Z-direction movement of the full travel range of 5 minutes, while the feed rate sampling levels, the log recording reliability test ; If the present sampling rate lower than a preset feed rate of 2% or 6% higher than the preset speed, it is judged that there is a defect; as in step (1) is not judged defective, then the following steps are performed (2) (2) test load operation the steps of: running the test load comprises the step ① in the X direction, the car controlled stream feedrate 50000mm / min in the X = O and X = between five and from 1500mm I, recorded pallet position coordinates; ② in the Y direction, l stream to the trolley 〇〇〇mm/min的进给速度在Y=O和Y=965mm之间往返五次,记录小车位置坐标;③ 在Z方向,物流小车以15000mm/min的进给速度在Z=O和Z=1600mm之间往返五次,记录小车位置坐标;④根据三个方向试验的数据判断物流小车定位精度是否满足误差小于〇.25_的要求;如果不满足要求,则判断存在缺陷;如果满足要求,进行下一步;審控制物流小车回到原点位置,并通过工装夹具把四个重为500kg的压重块装置固定到物流小车上去;_按照试验任务剖面编制的运行程序运行物流小车,设定自动运行时间2小时,即在小车X行程范围内设置0、6000、12000、23000四个模拟机位点,小车依次运动到四个点,在每个点滑台在Y向进行全行程往返运动一次,Z向半行程往返一次,一个循环耗时62.5秒;步骤澎没有性能指标要求而只有功能规定的,当其无法完成功能动作时即判为失效,失效形式包括以下 〇〇〇mm / min feed rate of between five and from 965mm Y = O and Y =, car position records; ③ in the Z direction, the feed stream to the car speed of 15000mm / min in the Z = O and Z = 1600mm forth between five times, recording the position coordinates of the car; ④ error is less than meets the requirements of the data stream 〇.25_ carriage positioning accuracy of the test is determined in three directions; If not required, it is determined that a defect exists; if they meet the requirements , the next step; Unexamined car control stream back to the original position, and the fixture by means four ballast blocks fixed to the weight of 500kg trolley up stream; _ sectional prepared in accordance with the test task to run the car running stream, set automatically run time of 2 hours, i.e., four simulator provided 0,6000,12000,23000 sites within range of travel X carriage, carriage movement to the four points in turn, reciprocates full stroke at each point Y to slide a, Z to the semi round trip time, a cycle takes 62.5 seconds; Peng step performance requirements not only predetermined function, when it is not judged as complete failure i.e., functional operation, failure modes comprising 四种: 1) 物流小车在X、Y、Z某个方向或同时几个方向无动作; 2) 物流小车在Χ、Υ、Ζ某个方向或同时几个方向动作延迟或提前的误动作; 3) 物流小车在X、Y、Z某个方向或同时几个方向超出运动范围; 4) 物流小车在Χ、Υ、Ζ某个方向或同时出现卡死; Φ自动运行两个小时后,采用手动的方式运行任务剖面的3个试验循环,即步骤(二)中第銮点,并依次测量小车的XYZ坐标,检测重复定位精度是否超过0.5mm,如果超过则判断存在缺陷;Φ重复步骤翁和步骤®的内容,直到试验截止时间T=120h; 如步骤(2)未判断出存在缺陷,则继续进行下述步骤(3) (3) 试验后处理:1)卸下压重块,吊装回贮存处;2)对物流小车进行清洗和维护。 Four kinds: 1) in the car stream X, Y, Z direction, a simultaneously or several directions No action; 2) is delayed or advanced stream trolley malfunction in Χ, Υ, Ζ one or several directions simultaneously action; 3) in the trolley stream X, Y, Z, or simultaneously several directions beyond the range of motion in a certain direction; 4) stuck stream occurs while the car Χ, Υ, Ζ or one direction; Φ run automatically after two hours, using 3 a cross-sectional test cycle run tasks manually, i.e., the first step Luan point (b), and successively measure the XYZ coordinates of the car, the detection accuracy of positioning is repeated more than 0.5mm, it is determined if more than a defect; [Phi] repeating steps Weng and step ® content, until the test deadline T = 120h; step (2) is not judged defective, proceed to the following step (3) (3) test after treatment: 1) Remove the ballast blocks, hoisting back depots; 2) for cleaning and maintenance trolley stream.
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