CN109000945A - For detecting the detection method and detection device of sorting machine people's job stability - Google Patents
For detecting the detection method and detection device of sorting machine people's job stability Download PDFInfo
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- CN109000945A CN109000945A CN201810467657.7A CN201810467657A CN109000945A CN 109000945 A CN109000945 A CN 109000945A CN 201810467657 A CN201810467657 A CN 201810467657A CN 109000945 A CN109000945 A CN 109000945A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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Abstract
The present invention relates to a kind of for detecting the detection device and detection method of sorting machine people's job stability, the device is made of two sets of sorting machine people of two opposite conveyer belts for transmitting material and its top, material crawl on one conveyer belt is placed on an other conveyer belt by the mechanical arm of every set sorting machine people, which further includes the program for executing following steps: to the stock number by fixed point；The distance of movement origin according to two mechanical arm and the speed of conveyer belt, calculate the Matter Transfer period；Every cycle period section is recorded by and the material number of second point at first point, while recording current time, forms two data files；The line chart of the material number and current time relationship of passing through and second point in a cycle period at first point is drawn according to the data file of record.The present invention can be with the stability of automatic monitoring system, and facilitating staff's progress accident analysis and judgement leakage to grab, a situation arises.
Description
Technical field
The present invention relates to a kind of for detecting the detection method and detection device of sorting machine people's job stability.
Background technique
With aging of population, human cost increases, and replaces artificial duplicate manual labor to become one kind using robot
Trend.In future, the industrial robot that factory uses can be increased considerably, and sorting machine people system is made in the flowing water of industrial circle
It will be widely applied on industry production line.The normal and stable operation of sorting system affects the quality of production and production efficiency of product.
Therefore, sorting system is monitored and is detected, the failure of system is recorded and analyzed, guarantee that the stability of system also rises
Very important effect.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of for detecting the detection side of sorting machine people's job stability
Method and detection device, they can monitor the stability of system, and staff is facilitated to carry out accident analysis, judge that feelings are grabbed in leakage
Condition.
The detection device for being used to detect sorting machine people's job stability of the invention, by the biographies of two opposite transmission materials
Two sets of sorting machine people of band and its top composition is sent, the sorting machine people includes mechanical arm and camera, every set sorter
The mechanical arm of device people will be placed on an other conveyer belt from the material crawl on a conveyer belt, it is characterized in that further including
Execute the program of following steps:
It is numbered respectively to by the material of first point and second point, described first point and second point are located at two conveyer belts
On；
The distance of movement origin according to two mechanical arms and the speed of conveyer belt, calculate Matter Transfer cycle T；
It every period T record by and the material number of second point, while recording current time at first point, forms two data texts
Part；
According to the material number for passing through and second point in the data file of record one cycle period of drafting at described first point and currently
The line chart of time relationship.
Described program further includes following steps:
It is drawn in a cycle period according to the data file of record by described first point and the difference of the material number of second point
With the line chart of current time relationship.
Drafting discount figure refer to the data by the data file imported into Excel carry out analysis obtain.
The detection method for being used to detect sorting machine people's job stability of the invention, it is characterized in that including the following steps:
It is numbered respectively to by the material of first point and second point, described first point and second point are located at two conveyer belts
On；
The distance of movement origin according to two mechanical arms and the speed of conveyer belt, calculate Matter Transfer cycle T；
It every period T record by and the material number of second point, while recording current time at first point, forms two data texts
Part；
According to the material number for passing through and second point in the data file of record one cycle period of drafting at described first point and currently
The line chart of time relationship.
The detection method further includes following steps:
It is drawn in a cycle period according to the data file of record by described first point and the difference of the material number of second point
With the line chart of current time relationship.
Drafting discount figure refer to the data by the data file imported into Excel carry out analysis obtain.
Test method to robot sorting system of the invention is carried out using two sets of conveyor belt motion target tracking systems
Antagonism test is that constant duration is worked at a selected spot detection method, and this method can be monitored in cycle period automatically by fixed point
Material number and corresponding start time point, the number of packages of record two sets of mechanical arm materials crawl, pass through to provide in a cycle period
Cross the material number of and second point and the line chart of current time relationship at first point；Staff is facilitated to carry out failure point accordingly
Analysis judges that material number is grabbed in two systems leakage, and the time point of generation is grabbed in leakage.
Detailed description of the invention
Fig. 1 is the top view of detection device of the invention.
Fig. 2 is the material operation schematic diagram on double conveyor of the invention.
Fig. 3 is the flow chart that detection device is grabbed in material leakage of the invention.
Fig. 4 is material number analysis line chart of the invention.
Fig. 5 is differential analysis line chart of the invention.
Specific embodiment
Now in conjunction with drawings and examples, invention is further described in detail.
Methods and apparatus of the present invention is based on two sets of sorting machine people systems 2, and every set sorting machine people's system itself has
There is the function that material is reckoned by the piece, further include the conveyer belt 1 of two opposite transmission materials, the structural schematic diagram of the device is as shown in Figure 1.
Every set sorting machine people system mainly includes mechanical arm 3 and camera 4, and the material of crawl is placed in separately by two sets of sorting machine people
On an outer conveyer belt.
Using above-mentioned framework, it can be achieved that the automatic test of system, is not necessarily to manual oversight, is automatically performed test.The present invention
Detection method be known as constant duration detection method, the speed of ordinary circumstance lower conveyor belt be it is stable, material is in two phases
To conveyer belt on formed a closed loop moving, as shown in Figure 2.There are two sets of robot systems, test point point on double conveyor
It Wei not P1 and P2.After two sets of sorting machine people's systems enter working condition, due to the speed of two conveyer belts be it is stable, simultaneously
The time that material moves a circle on circulating ring is also fixed.In cycle T, by the object of certain point on Matter Transfer circle
Expect that number is fixed, namely the material number M on current Matter Transfer circle.
If it is T that Matter Transfer one, which encloses the time used, having the length of material on single conveyer belt is L, the i.e. fortune of two mechanical arms
The distance of dynamic origin；The speed of conveyer belt is respectively v1, v2.It is not difficult to calculate time T=2L/(v1+v2).
The flow chart of algorithm is as shown in Figure 3: algorithm is described in detail below:
The first step, stock number；The material of passing point P1 and P2 are numbered respectively, advanced number is small, and laggard number is big；
Second step calculates Matter Transfer cycle T；Circulation is demonstrated in technique in opposite directions on double conveyor, used in target circulation one week
Time, transmission tape speed v1, v2, L are known quantity, can acquire cycle T；
Third step records the data of P1, P2 point into two txt documents P1.txt, P2.txt；The number of record P1, P2 point in real time
According to passing through material number M_p1, M_p2 of P1 and P2 every period T record, while recording the initial time t_ of current slot
P1, t_p2, by the data of P1, i.e. in material number M_p1 and timestamp t_p1 write-in P1.txt document, by the data of P2 point, i.e. object
Expect to analyze in number M_p2 and timestamp t_p2 write-in P2.txt document for subsequent data；
4th step compares and analyzes the data in P1.txt, P2.txt, draws material leakage and grabs situation curve, by P1.txt
It is analyzed into Excel with the data in P2.txt to entering, draws material number as shown in Figure 4 according to the data of record and analyze
The band data markers line chart with data markers line chart and differential analysis as shown in Figure 5；
5th step carries out the stability analysis of system according to the curve graph of drafting, can be found out by analysis and be caught now in chess piece leakage
It is caused by being grabbed due to which mechanical arm leakage in which period.
Stability analysis includes material number analysis graph and differential analysis curve graph, if Fig. 4 is material number analysis chart, cross
Coordinate is the total number of material, and unit is 100, corresponds to the initial time of each period；Ordinate is Matter Transfer one
For circle by first point, the material number of second point, unit is a.As seen from the figure, the material of system circulation crawl is 34 ~ 35 left
It is right.When the total material number of system is 400 ~ 5800, to be grabbed although there is leakage 1000,4000, it is smaller that total body drain of system grabs situation,
Systematic comparison is stablized；When the total material number of system is 5800 ~ 7300, extremely unstable state is presented in system, is in material sum
At 6100, about 7,8 materials are grabbed in system leakage；It is at 6700 in material sum, system, which is about leaked, grabs about 12 materials；In object
Material sum is at 7100, and system leakage grabs about 4.Conclusion, the system system stability that works long hours are poor.
If Fig. 5 is differential analysis figure, abscissa is the total number of material, and unit is 100, corresponds to each period
Initial time.Ordinate is the difference by first point, the material number of second point, and unit is a.As seen from the figure, in material sum
There is biggish fluctuation for material at 400,6100,6700,7200, be -20 at 400, illustrate just to start toward conveyer belt increasing
Add material.6100,6700,7200 all for greater than 0, illustrate that serious leak occur at three grabs phenomenon herein.At 6100, the time
It reduces in T by the material number of second point, is then reduced by first point of material number suddenly, so it is by machinery that this time leakage, which is grabbed,
Caused by arm 1.Similarly, it is known that it is as caused by mechanical arm 1 that leakage, which is grabbed, at 6700, and it is as caused by mechanical arm 2 that leakage, which is grabbed, at 7200.
By differential analysis curve, it is known that it is to facilitate debugging as caused by that mechanical arm that situation is grabbed in leakage.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, in the range of not departing from technical solution of the present invention, when the technology contents using the disclosure above make a little change or repair
Decorations are the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, technology according to the present invention are real
Matter any simple modification, equivalent change and modification to the above embodiments, still fall within the range of technical solution of the present invention
It is interior.
Claims (8)
1. a kind of for detecting the detection device of sorting machine people's job stability, by two opposite transmission materials conveyer belts and
Two sets of sorting machine people composition above it, the sorting machine people includes mechanical arm and camera, every set sorting machine people's
Mechanical arm will be placed on an other conveyer belt from the material crawl on a conveyer belt, it is characterized in that further including executing such as
The program of lower step:
The distance of movement origin according to two mechanical arm and the speed of conveyer belt, calculate the Matter Transfer period；
Every cycle period section is recorded by and the material number of second point at first point, while recording the initial time of current period section,
Form two data files；
According to the material number for passing through and second point in the data file of record one cycle period of drafting at described first point and currently
The line chart of time relationship.
2. it is as described in claim 1 for detecting the detection device of sorting machine people's job stability, it is characterized in that: the journey
Sequence further includes following steps:
It is drawn in a cycle period according to the data file of record by described first point and the difference of the material number of second point
With the line chart of current time relationship.
3. it is as claimed in claim 2 for detecting the detection device of sorting machine people's job stability, it is characterized in that: the journey
Sequence further includes the steps that the stock number by fixed point.
4. it is as claimed in any one of claims 1 to 3 for detecting the detection device of sorting machine people's job stability, it is special
Sign is: the drafting line chart refers to that the data by the data file imported into Excel analyze and obtains.
5. it is a kind of for detecting the detection method of sorting machine people's job stability, it is characterized in that including the following steps:
The distance of movement origin according to two mechanical arms and the speed of conveyer belt, calculate the Matter Transfer period；
Every cycle period is recorded by and the material number of second point at first point, while recording current time, forms two data texts
Part；
According to the material number for passing through and second point in the data file of record one cycle period of drafting at described first point and currently
The line chart of time relationship.
6. it is as claimed in claim 5 for detecting the detection method of sorting machine people's job stability, it is characterized in that: further including
Following steps:
It is drawn in a cycle period according to the data file of record by described first point and the difference of the material number of second point
With the line chart of current time relationship.
7. it is as claimed in claim 6 for detecting the detection method of sorting machine people's job stability, it is characterized in that: further including
The step of to the stock number for passing through fixed point.
8. the detection method for being used to detect sorting machine people's job stability as described in any one of claim 5 ~ 7, special
Sign is: the drafting line chart refers to that the data by the data file imported into Excel analyze and obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810467657.7A CN109000945B (en) | 2018-05-16 | 2018-05-16 | Detection method and detection device for detecting working stability of sorting robot |
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| CN201810467657.7A CN109000945B (en) | 2018-05-16 | 2018-05-16 | Detection method and detection device for detecting working stability of sorting robot |
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| CN109000945A true CN109000945A (en) | 2018-12-14 |
| CN109000945B CN109000945B (en) | 2020-08-11 |
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Address after: 210000 room 220, 2 / F, building 10, Yangtze River new financial demonstration zone, No. 396 Binjiang Avenue, Jiangbei new area, Nanjing, Jiangsu Province Patentee after: Seberi robot technology (Nanjing) Co.,Ltd. Address before: 410000 Room 101, zone E-4, Lugu Yuyuan, No. 27, Wenxuan Road, high tech Development Zone, Changsha County, Changsha City, Hunan Province Patentee before: CYBERATURE ROBOT TECHNOLOGY (CHANGSHA) CO.,LTD. |
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