CN106768014A - Industrial robot Reliability Synthesis detection means - Google Patents
Industrial robot Reliability Synthesis detection means Download PDFInfo
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- CN106768014A CN106768014A CN201611005057.6A CN201611005057A CN106768014A CN 106768014 A CN106768014 A CN 106768014A CN 201611005057 A CN201611005057 A CN 201611005057A CN 106768014 A CN106768014 A CN 106768014A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention relates to a kind of industrial robot Reliability Synthesis detection means.The positional information at industrial robot position to be detected can be obtained by trajectory track component, and the movement locus and velocity information for obtaining position to be detected are processed by processor.Further, sensory package obtains temperature information, vibration information and the noise information of industrial robot, and by processor generation parameter list.Therefore, above-mentioned industrial robot Reliability Synthesis detection means can realize that many aspects such as movement locus to industrial robot, movement velocity, temperature, vibration and Noise measarement are detected.Structure after processor treatment can be read, record and analyze, so as to be estimated to industrial machine human reriability.Therefore, industrial robot can only be tested in a certain respect or compared with the device of several respects performance with traditional, above-mentioned industrial robot Reliability Synthesis detection means is based on multi-sensor information fusion technology, can carry out complete detection to industrial machine human reriability.
Description
Technical field
The present invention relates to mechanical automation technology, more particularly to a kind of industrial robot Reliability Synthesis detection means.
Background technology
China is manufacturing powerhouse, with the raising of industrial automation level, with the automation of the artificial core of industrial machine
Production line will be as principal mode.Industrial robot is irreplaceable important equipment and means in advanced manufacturing industry, industrial machine
Device Genus Homo is in the relatively expensive manufacturing equipment of with high content of technology, price, and it is pre- that this requires that industrial robot not only reaches in function
Fixed technical indicator, while also requiring that these functions can stably keep, steady operation, that is, require that it has pole for a long time
Reliability level high.
Because industrial robot is relatively used for automatic production line, if its reliability level cannot ensure, failure frequently
Hair, will be brought huge loss using the manufacturing enterprise of enterprise and robot.First, failure will be caused industrial robot in itself
Production line stop, massive losses are brought to user enterprise, especially supermatic production line.Such as Automobile Welding, automobile
The production line of spray painting, once breaking down, loses huge；Secondly, industrial robot break down also brought to user it is high
Maintenance cost, such as maintenance personal, spare part take.
At present, conventional detection means can only test industrial robot in a certain respect or the performance of several aspects,
Or only detect the reliability data of a certain part of industrial robot.If desired robot is comprehensively detected, is then needed
Multiple system superpositions could be realized.
The content of the invention
Based on this, it is necessary to provide a kind of industrial robot reliability that comprehensive detection can be compared to industrial robot
Property comprehensive detection device.
A kind of industrial robot Reliability Synthesis detection means, including：
Trajectory track component, including target and laser tracker, the target are used to be arranged at the to be checked of industrial robot
Position is surveyed, the laser tracker sends laser signal to the target, to realize tracking, and Real-time Collection institute to the target
State the positional information of target；
Sensory package, for being arranged at the industrial robot, the sensory package is used to obtain the industrial machine
The temperature information of people, vibration information and noise information；And
Processor, is connected with the laser tracker and sensory package communication, and the processor is used for institute's rheme
Confidence breath is processed, and obtains movement locus, acceleration and the velocity information at the industrial robot position to be detected, is additionally operable to
According to temperature information, vibration information and noise information generation parameter list.
Wherein in one embodiment, the trajectory track component also includes support, and the support includes base, rotatable
Be installed on U-shaped frame on the base, the laser tracker is rotatably installed in the U-shaped frame, and the laser
The rotating shaft of tracker is vertical with the rotating shaft of the U-shaped frame.
Wherein in one embodiment, the trajectory track component also includes tracking control unit, and the laser tracker leads to
Cross the tracking control unit to be connected with processor communication, the tracking control unit is used for send the laser tracker
The wavelength of laser signal is adjusted.
It is described also including the environment measuring element being connected with tracking control unit communication wherein in one embodiment
Environment measuring element is used to obtain ambient parameter, and the tracking control unit is used for according to the ambient parameter, to the laser with
The wavelength of the laser signal of track instrument is adjusted.
Wherein in one embodiment, the environment measuring element includes environment temperature sensor, humidity sensor and gas
Pressure sensor, the ambient parameter includes environment temperature, ambient humidity and ambient pressure.
Wherein in one embodiment, the sensory package includes data collecting instrument and is communicated with data collecting instrument respectively to connect
Acceleration transducer, temperature sensor, the noise transducer for connecing, the data collecting instrument are connected with processor communication.
Wherein in one embodiment, the processor be additionally operable to by the movement locus, acceleration and velocity information with
Preset standard track, normal acceleration and velocity information are compared, and the parameter list is entered with preset standard list
Row is compared, and obtains comparing result.
Wherein in one embodiment, the processor also includes display module, and the display module is used for will be described right
Shown than result.
Above-mentioned industrial robot Reliability Synthesis detection means, can obtain industrial robot to be checked by trajectory track component
The positional information at position is surveyed, and the movement locus and velocity information for obtaining position to be detected are processed by processor.Further,
Sensory package obtains temperature information, vibration information and the noise information of industrial robot, and by processor generation parameter list.
Therefore, above-mentioned industrial robot Reliability Synthesis detection means can realize movement locus, movement velocity, the temperature to industrial robot
The many aspects such as degree, vibration and Noise measarement are detected.Structure after processor treatment can be read, record and analyze, from
And the Reliability Synthesis performance of industrial robot is estimated.Therefore, industrial robot one party can only be tested with traditional
The device of face or several respects performance is compared, and above-mentioned industrial robot Reliability Synthesis detection means is based on multi-sensor information fusion
Technology, can carry out complete detection to industrial robot including the multiple performance including reliability.
Brief description of the drawings
Fig. 1 is the structural representation of industrial robot Reliability Synthesis detection means in one embodiment of the invention；
Fig. 2 is the module diagram of sensory package in industrial robot Reliability Synthesis detection means shown in Fig. 1.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give preferred embodiment of the invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all of combination of the Listed Items of pass.
Fig. 1 is referred to, the industrial robot Reliability Synthesis detection means 100 in one embodiment of the invention includes track
Follow the trail of component 110, sensory package 120 and processor 130.
Trajectory track component 110 includes target 111 and laser tracker 113.Target 111 is used to be arranged at industrial robot
101 position to be detected.For example, industrial robot can be automatic welding machine, robotic arm, then position to be detected is respectively
The plumb joint of automatic welding machine, and robotic arm front end handgrip.
Laser tracker 113 sends laser signal to target 111, and tracking is realized with to target 111.Specifically, laser with
Track instrument 113 sends laser signal, and laser signal is reflected by target 111, and laser tracker 113 receives the laser of the reflection of target 111
Signal, so as to be tracked to target 111.The positional information of the Real-time Collection target 111 of laser tracker 113.Wherein, position letter
Breath can be the coordinate points in default space coordinates.
In the present embodiment, trajectory track component 110 also includes support 115.Support 115 includes base 1152, rotatable
Be installed on U-shaped frame 1154 on base 1152.Laser tracker 113 is rotatably installed in U-shaped frame 1154, and laser with
The rotating shaft of track instrument 113 is vertical with the rotating shaft of U-shaped frame 1154.
Therefore, by rotating U-shaped frame 1154 and laser tracker 113, laser tracker 113 can be made to realize target 111
The tracking of full angle.It is pointed out that in other embodiments, laser tracker 113 can also be such as universal by other structures
Connector is installed, and need to only meet the tracking to target 111.
In the present embodiment, trajectory track component 110 also includes tracking control unit 117, and laser tracker 113 is by tracking
Controller 117 is connected with the communication of processor 130, and tracking control unit 117 is used for the laser signal sent to laser tracker 113
Wavelength is adjusted.
Further, in the present embodiment, industrial robot Reliability Synthesis detection means 100 also includes and tracing control
The environment measuring element 140 of the communication connection of device 117, environment measuring element 140 is used to obtain ambient parameter, tracking control unit 117
For according to ambient parameter, the wavelength to the laser signal of laser tracker 113 to be adjusted.
The certainty of measurement of laser tracker 113 is related to environmental condition.Therefore, it is the tracking of guarantee laser tracker 113
Precision, when ambient parameter changes, need to accordingly be adjusted to the wavelength of the laser signal of laser tracker 113.
Specifically, after the Real-time Collection ambient parameter of environment measuring element 140, and ambient parameter is fed back into tracking control unit
117.Tracking control unit 117 is adjusted parameter, and further reference adjusting parameter to laser according to default backoff algorithm
Tracker 113 carries out the regulation of wavelength, to ensure the precision of detection.
Specifically in the present embodiment, environment measuring element 140 includes environment temperature sensor (not shown), humidity sensor
(not shown) and baroceptor (not shown).Ambient parameter includes environment temperature, ambient humidity and ambient pressure.Can manage
Solution, according to the difference of influence laser parameter factor, also may be selected different sensors as environment measuring element 140.Wherein, with
Signaling interface is preset on track controller 117, for connecting sensor.
Sensory package 120 is used to be arranged at industrial robot 101.Sensory package 120 is used to obtain industrial robot
Temperature information, vibration information and noise information.
Specifically, temperature information includes temperature curve, temperature information.Vibration signal includes vibration frequency and amplitude.Noise
Information includes the decibel value of noise.It is analyzed by obtaining above parameter, just can determine whether industrial robot 101 with the presence or absence of different
Often.
Also referring to Fig. 2, in the present embodiment, sensory package 120 is adopted including data collecting instrument 121 and respectively with data
Collection instrument 121 communication connection acceleration transducer 123, temperature sensor 125, noise transducer 127, data collecting instrument 121 with
The communication connection of processor 130.
Wherein, acceleration transducer 123, temperature sensor 125, noise transducer 127 may be contained within industrial robot 101
On.Acceleration transducer 123 detects the acceleration change of industrial robot 101, and signal sampler 121 turns the change of acceleration
Become vibration information.The Real-time Collection temperature data of temperature sensor 125, the treatment of signal sampler 121 obtains temperature curve and temperature
The information of liter.The collection of noise transducer 127 industrial robot 101 voice signal in the process of running, signal sampler 121 is processed
Obtain noise decibel value.
Processor 130 is connected with laser tracker 113 and the communication of sensory package 120.Processor 130 is used for positional information
Processed, obtained movement locus, acceleration and the velocity information at the position to be detected of industrial robot 101.
By movement locus, can determine whether whether position to be detected offsets desired guiding trajectory.Additionally, the work of industrial robot 101
Make effect related to working condition.For example, automatic welding machine is in welding process, plumb joint must be moved according to desired guiding trajectory,
And remain a constant speed as far as possible, can just obtain the weld seam being evenly distributed.By acceleration and velocity information, industrial robot is just can determine whether
Whether 101 position to be detected is uniform in moving process medium velocity, if there is the state that jerk suddenly rises.
Processor 130 is additionally operable to according to temperature information, vibration information and noise information generation parameter list.Arranged by parameter
Table, just would know that vibration, the Noise measarement in the process of running of industrial robot 101, and whether temperature change meets requirement.
In the present embodiment, processor 130 is additionally operable to movement locus, acceleration and velocity information and preset standard rail
Mark, normal acceleration and velocity information are compared, and parameter list is compared with preset standard list, are contrasted
As a result.
It is the movement locus designed by its position to be detected when preset standard track is that industrial robot 101 runs.Example
Such as, for automatic welding machine, then preset standard track matches with the shape of weld seam.By to movement locus, acceleration and speed
Degree information is contrasted, so as to can obtain position kinematic accuracy to be detected.And then record industrial robot in preset standard list
Parameters during 101 normal operating conditions, such as temperature, Oscillation Amplitude, vibration frequency and noise.
Further, in the present embodiment, processor 130 also includes display module (not shown), and display module is used for will
Comparing result is shown.Processor 130 can be the computer for being provided with specific program, then display module is display screen.It is logical
Display screen display comparison result is crossed, operating personnel just can clearly observe whether movement locus deviates preset standard track；Or
Parameters in parameter list are enough to meet the parameter request in standard list.
Additionally, presetting external interface on processor 130.By preset interface, can also be by comparing result printing or defeated
Go out and be analyzed to other equipment or shown.
Above-mentioned industrial robot Reliability Synthesis detection means 100, industrial machine can be obtained by trajectory track component 110
The positional information at the position to be detected of people 101, and movement locus and the speed letter for obtaining position to be detected are processed by processor 130
Breath.Further, sensory package 120 obtains temperature information, vibration information and the noise information of industrial robot 101, and passes through
The generation parameter list of processor 130.Therefore, above-mentioned industrial robot Reliability Synthesis detection means can be realized to industrial robot
The many aspects such as 101 movement locus, movement velocity, temperature, vibration and Noise measarement are detected.After the treatment of processor 130
Structure can be read, record and analyze, so as to be estimated to the Reliability Synthesis performance of industrial robot 101.Therefore, with
Traditional to test industrial robot in a certain respect or the device of several respects performance is compared, above-mentioned industrial machine human reliability is comprehensive
Close detection means 100 and be based on multi-sensor information fusion technology, can be to industrial robot 101 including various including reliability
Performance carries out complete detection.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of industrial robot Reliability Synthesis detection means, it is characterised in that including：
Trajectory track component, including target and laser tracker, the target are used to be arranged at the portion to be detected of industrial robot
Position, the laser tracker sends laser signal to the target, to realize tracking, and target described in Real-time Collection to the target
Target positional information；
Sensory package, for being arranged at the industrial robot, the sensory package is used to obtain the industrial robot
Temperature information, vibration information and noise information；And
Processor, is connected with the laser tracker and sensory package communication, and the processor is used to believe the position
Breath is processed, and obtains movement locus, acceleration and the velocity information at the industrial robot position to be detected, is additionally operable to basis
Temperature information, vibration information and noise information generation parameter list.
2. industrial robot Reliability Synthesis detection means according to claim 1, it is characterised in that the trajectory track
Component also includes support, and the support includes base, the U-shaped frame being rotatably installed on the base, the laser tracking
Instrument is rotatably installed in the U-shaped frame, and the rotating shaft of the laser tracker is vertical with the rotating shaft of the U-shaped frame.
3. industrial robot Reliability Synthesis detection means according to claim 1, it is characterised in that the trajectory track
Component also includes tracking control unit, and the laser tracker is communicated with the processor by the tracking control unit and is connected, institute
The wavelength for stating laser signal of the tracking control unit for being sent to the laser tracker is adjusted.
4. industrial robot Reliability Synthesis detection means according to claim 3, it is characterised in that also including with it is described
The environment measuring element of tracking control unit communication connection, the environment measuring element is used to obtain ambient parameter, the tracking control
Device processed is used for according to the ambient parameter, and the wavelength to the laser signal of the laser tracker is adjusted.
5. industrial robot Reliability Synthesis detection means according to claim 4, it is characterised in that the environment measuring
Element includes environment temperature sensor, humidity sensor and baroceptor, and the ambient parameter includes environment temperature, environmental wet
Degree and ambient pressure.
6. industrial robot Reliability Synthesis detection means according to claim 1, it is characterised in that the sensory package
Acceleration transducer, temperature sensor, the noise transducer being connected are communicated including data collecting instrument and respectively with data collecting instrument,
The data collecting instrument is connected with processor communication.
7. industrial robot Reliability Synthesis detection means according to claim 1, it is characterised in that the processor is also
For the movement locus, the acceleration and velocity information and preset standard track, normal acceleration and velocity information to be entered
Row is compared, and the parameter list is compared with preset standard list, obtains comparing result.
8. industrial robot Reliability Synthesis detection means according to claim 7, it is characterised in that the processor is also
Including display module, the display module is used to be shown the comparing result.
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| CN107463163A (en) * | 2017-07-21 | 2017-12-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of Novel industrial robot controller performance test system |
| CN107703917A (en) * | 2017-10-20 | 2018-02-16 | 重庆鲁班机器人技术研究院有限公司 | Controller performance detection method and system |
| CN108106873A (en) * | 2017-12-14 | 2018-06-01 | 中国电子产品可靠性与环境试验研究所 | The method and system of servo-drive system reliability test evaluation |
| WO2018223287A1 (en) * | 2017-06-06 | 2018-12-13 | 深圳市大疆创新科技有限公司 | Mobile robot performance evaluation method and system, and mobile robot |
| CN109682626A (en) * | 2018-12-29 | 2019-04-26 | 上海新时达机器人有限公司 | Robot speed's test method and device |
| CN110281273A (en) * | 2019-06-27 | 2019-09-27 | 上海电器科学研究所（集团）有限公司 | Industrial robot emergency stop dwell time and stop distance test device and test method |
| CN110501179A (en) * | 2019-09-11 | 2019-11-26 | 宝钜(中国)儿童用品有限公司 | It is electronic to pacify chair motion state test device and test method |
| CN111267080A (en) * | 2020-02-18 | 2020-06-12 | 上海柴孚机器人有限公司 | Method for automatically correcting path of industrial robot |
| CN111552248A (en) * | 2020-05-11 | 2020-08-18 | 河南华东工控技术有限公司 | Method for intelligent control system equipment OEE remote operation and maintenance |
| CN111618911A (en) * | 2020-06-11 | 2020-09-04 | 珠海巨枫科技有限公司 | Robot module system and device for performance test |
| CN114074339A (en) * | 2021-11-29 | 2022-02-22 | 合肥欣奕华智能机器有限公司 | Vibration detection device of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018223287A1 (en) * | 2017-06-06 | 2018-12-13 | 深圳市大疆创新科技有限公司 | Mobile robot performance evaluation method and system, and mobile robot |
| CN107463163A (en) * | 2017-07-21 | 2017-12-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of Novel industrial robot controller performance test system |
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| CN108106873B (en) * | 2017-12-14 | 2020-01-31 | 中国电子产品可靠性与环境试验研究所 | Method and system for evaluating reliability test of servo system |
| CN108106873A (en) * | 2017-12-14 | 2018-06-01 | 中国电子产品可靠性与环境试验研究所 | The method and system of servo-drive system reliability test evaluation |
| CN109682626A (en) * | 2018-12-29 | 2019-04-26 | 上海新时达机器人有限公司 | Robot speed's test method and device |
| CN110281273A (en) * | 2019-06-27 | 2019-09-27 | 上海电器科学研究所（集团）有限公司 | Industrial robot emergency stop dwell time and stop distance test device and test method |
| CN110501179A (en) * | 2019-09-11 | 2019-11-26 | 宝钜(中国)儿童用品有限公司 | It is electronic to pacify chair motion state test device and test method |
| CN111267080A (en) * | 2020-02-18 | 2020-06-12 | 上海柴孚机器人有限公司 | Method for automatically correcting path of industrial robot |
| CN111552248A (en) * | 2020-05-11 | 2020-08-18 | 河南华东工控技术有限公司 | Method for intelligent control system equipment OEE remote operation and maintenance |
| CN111618911A (en) * | 2020-06-11 | 2020-09-04 | 珠海巨枫科技有限公司 | Robot module system and device for performance test |
| CN111618911B (en) * | 2020-06-11 | 2022-06-21 | 珠海巨枫科技有限公司 | Robot module system and device for performance test |
| CN114074339A (en) * | 2021-11-29 | 2022-02-22 | 合肥欣奕华智能机器有限公司 | Vibration detection device of robot |
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