CN109580404A - The abrasion of industrial robot internally-arranged type harness and accelerated wear test test method and device - Google Patents
The abrasion of industrial robot internally-arranged type harness and accelerated wear test test method and device Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 102
- 238000005299 abrasion Methods 0.000 title claims abstract description 62
- 238000010998 test method Methods 0.000 title claims abstract description 16
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/56—Investigating resistance to wear or abrasion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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- G01N3/06—Special adaptations of indicating or recording means
- G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
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- G01N2203/0647—Image analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
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- G01N2203/0682—Spatial dimension, e.g. length, area, angle
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Abstract
The invention discloses the abrasion of industrial robot internally-arranged type harness and accelerated wear test test method and devices.The method and apparatus of wear testing is carried out currently without the built-in harness specifically for industrial robot.The present invention is mainly made of multi-thread beam, camera, analog mechanical arm, harness joint motor, camera space position regulator, multi-thread beam bundling apparatus, oscillating motor, mounting base, anchor ear, Swing Arm, analog board, analog board swing rotating device, analog board mobile platform, industrial personal computer, motor motion control device, oscillating motor driver, stepper motor driver and image pick-up card.Surface wear test or joint constraint wear testing may be selected in the present invention, and according to harness wear pattern or the amplitude of fluctuation and swing period of harness accelerated wear test scheme control oscillating motor, then using image recognition technology, the harness eroded area caused by simulation is identified, the intelligence of harness abrasion and accelerated wear test detection is realized, image processing process is simple, efficient.
Description
Technical field
The invention belongs to industrial robot wear testing technical field, in particular to a kind of industrial robot internally-arranged type harness
Abrasion and accelerated wear test method for testing reliability and device.
Background technique
Industrial robot is one of big mark for contemporary industry automation, he is instead of a large amount of dangerous or exist and pacify
The work of full hidden danger.Industrial robot is widely used among various industries.For the industrial robot of built-in harness type
For, the abrasion of built-in harness is inevitable, while harness abrasion be such industrial robot failure the main reason for it
One.Therefore it is very necessary for carrying out the research invention of industrial robot internally-arranged type harness abrasion test method and device.
Currently, there was only the abrasion of industrial robot internally-arranged type harness and accelerated wear test test method of only a few in related fields
With device, the patent that such as number of applying for a patent is 201610109629.9 discloses a kind of harness abrasion testing device and test side
Method.The device is made of mechanisms such as portraitlandscape guide rail, fixed frame connecting rods.By harness as in designed mechanism, controlling
The movement of equal rule up and down under the action of device processed, and then test out the abrasion of harness.The test device of the invention first, mistake
In huge and the harness within the scope of particular types specific length can only be measured for institute survey line Shu Eryan, harness is not accounted for
Influence of the length to wear testing；Secondly the test method is mainly to carry out the simple past of regularity by upper and lower horizontal guide rail
The test of renaturation matter, there is no the special working environments for the harness installed for built-in harness type industrial robot to carry out line
The wear testing of beam, only a kind of wear testing of the harness of versatility, has ignored the industrial robot joint of built-in harness type
The complicated abrasion condition of harness in position；The mechanical arm of some industrial robot joint head ends and joint tail end is in actual work
It will form an angle constraint in work, at this moment harness can be constrained constantly in this angle in industrial robot working motion
It rubs in structure, this process of friction and wear is different from planar friction abrasion.Then the test method is using test and the X-ray of being powered
Surface sweeping test method needs to take out harness from test device, and can not accomplish preferable integrated, intelligent, integrated.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of abrasion of industrial robot internally-arranged type harness and add
Fast abrasion test method and device, by the actual observation of the use environment to industrial robot harness, to harness actual wear
It is analyzed, it is found that the abrasion of harness is mainly the surface wear of the body construction at harness and industrial robot joint, or
In actual motion process, two section mechanical arm of rotary oscillation joint is formed by between salient point and harness industrial robot
Abrasion.It for this two kinds of abrasive manners, is simulated by specifically emulating mechanical structure, utilizes image recognition technology later
The harness eroded area caused by simulation identifies, thus the degree of wear of intellectual monitoring harness.The present invention is that one kind is based on
Low-frequency high-amplitude swings the built-in harness and body construction fretting wear detection method and device of load；It is a kind of frequency low-amplitude swing
Built-in harness and body construction the friction accelerated wear test detection method and device of load；It is that a kind of built-in harness constrained is adjustable
With the elastic adjustable abrasion of constraint and accelerated wear test test method and device；It is a kind of based on Machine Vision Detection harness surface
Abrasion and accelerated wear test test method and device；It is a kind of collection constrained adjustment, Converting frequency & amplitude weave control and fretting wear
The intelligent test device of vision-based detection and one.
Industrial robot internally-arranged type harness abrasion of the present invention and accelerated wear test test method, the specific steps are as follows:
Step 1: each line of multi-thread beam is bundled by multiple multi-thread beam bundling apparatuses；Multi-thread bunchy top end is logical
It crosses and is welded on the plug of end and is connect with harness joint motor, bottom end is fixed by anchor ear；According to industrial robot to be simulated
Being adjacent between each line in the corresponding tensioning degree and multi-thread beam for adjusting multi-thread beam entirety of harness tensioning situation in mechanical arm
Degree；Analog board is rotated into the joint constraint to vertical state, when carrying out joint constraint wear testing, on the state Imitating plate
The spacing of block and multi-thread beam is set as k1, k1The value in 5~25mm when carrying out surface wear test, does not install pass on analog board
Constraint block is saved, the spacing of the state Imitating plate and multi-thread beam is set as k2, k2The value in 5~25mm；Swing Arm is by swinging electricity
Machine drives to vertical state, and under the state, the spacing of Swing Arm and multi-thread beam is set as k3, k3The value in 10~20mm；It will shake
Swing arm top and the regulating tank of analog mechanical arm bottom end are bolted, and adjust the regulating tank connection position of analog mechanical arm
It sets, the distance of analog mechanical arm top to Swing Arm bottom end is made to be equal to the length of Industrial robots Mechanical's arm to be simulated；Then,
The top of analog mechanical arm and the pedestal of harness joint motor are fixed.Analog mechanical arm, Swing Arm and analog board are simulated jointly
Industrial robots Mechanical's arm or analog mechanical arm, Swing Arm, analog board and joint constraint block simulate the industrial robot jointly
Mechanical arm, oscillating motor simulate the single-DOF-joint of Industrial robots Mechanical's arm tail end, and harness joint motor simulates the work
The single-DOF-joint of industry robotic arm headend.
Step 2: selection harness wear pattern or harness accelerated wear test mode, the pendulum of harness wear pattern lower swing motor
Dynamic amplitude is set asThe amplitude of fluctuation of harness accelerated wear test mode lower swing motor is set asN takes
2,3 or 4,The value within the scope of -60 °~-30 °,The value within the scope of 45 °~75 °；By the rated speed of oscillating motor
It acquires oscillating motor and rotates one week required time t, then the swing period of harness wear pattern lower swing motorThe swing period of harness accelerated wear test mode lower swing motor is set as T2=T1/n。
Step 3: amplitude of fluctuation and swing period that control oscillating motor is arranged according to step 2 are swung, if step
It selects harness wear pattern then to swing 30min in two, swings 30/n min if selection line beam acceleration wear pattern in step 2,
Then analog board is rotated by 90 ° so that analog board is parallel to the horizontal plane, analog board is moved horizontally to far from multi-thread beam later
Space is vacated for camera in position.
It, will by the camera lens of camera successively each abrading section of face Step 4: if finding out multi-thread Shu Shangyou wear trace
The abrasion image of each abrading section is transferred to industrial personal computer after image pick-up card filters, and otherwise will simulate sheet reset, repeats step
Three.
Step 5: the abrasion image of each abrading section is changed into HSV model by RGB model by industrial personal computer, HSV model is obtained
The hue and luminance digital information of image is worn, then by tone distribution and brightness contrast, analysis obtains HSV model wear map
The brightness step of picture, wherein abrasion bosom brightness is minimum, does not wear pixel position brightness highest；Camera is consolidated
Some depth of field is set as L, and the pixel brightness value at a distance from cam lens equal to the depth of field is set as I0, brightness maximum pixel point with
The luminance difference of brightness minimum pixel point is set as I, then wearing depth H=LI/I0。
Step 6: industrial personal computer is by the abrasion image binary conversion treatment of each abrading section, then according to binary conversion treatment after
Abrasion image determines eroded area, and detects eroded area edge according to eroded area, so that it is determined that the wear surface of eroded area
Product testing result.
Step 7: if the wear area testing result of all abrading sections is less than wear area threshold value, and all mills
The wearing depth testing result at damage position is less than wearing depth threshold value, then return step three, and otherwise, industrial personal computer is stored and shown
Show that wear area testing result is more than wear area threshold value or wearing depth testing result is more than each abrasion of wearing depth threshold value
The abrasion at position differentiates as a result, abrasion differentiates that result includes amplitude of fluctuation, swing period and the total duration of oscillation of oscillating motor
And testing result is more than the wearing depth and wear area of each abrading section of threshold value.
It further, further include Step 8: establishing the limit of wear of the multi-thread beam under harness wear pattern and online beam acceleration
Limit of wear N under wear patternmaxBetween relationship it is as follows:
In formula, N0、N1Carried out respectively under harness wear pattern the multi-thread beam limit of wear tested of surface wear and
The multi-thread beam limit of wear that joint constraint wear testing obtains is carried out, value is that corresponding abrasion differentiates swing total in result
Twice of the ratio of time and swing period；α(k1 2, k3 2) it is k1、k3To harness accelerated wear test mould under two variable collective effects
The influence coefficient of the limit of wear under formula；β (Δ k, k2 2, k3 2) it is k2、k3, harness is accelerated to grind under tri- variable collective effects of Δ k
The influence coefficient of the limit of wear under damage mode, wherein Δ k indicates to install the impact factor after joint constraint block on analog board.α
(k1 2, k3 2) and β (Δ k, k2 2, k3 2) value it is as follows: choose ten groups or more k1、k2And k3, every group of k1、k2And k3Lower n successively takes 2,
3 and 4, surface wear is carried out under harness wear pattern respectively tests to obtain multiple N0, carried out under harness wear pattern respectively
Joint constraint wear testing obtains multiple N1, surface wear test and joint constraint are carried out under online beam acceleration wear pattern respectively
Wear testing obtains multiple Nmax；By each N0With corresponding NmaxIt substitutes into formula (1), acquires every group of N0And NmaxCorresponding α (k1 2,
k3 2), by each N1With corresponding NmaxIt substitutes into formula (2), acquires every group of N1And NmaxCorresponding β (Δ k, k2 2, k3 2)；With α (k1 2,
k3 2) it is dependent variable, k1And k3A function is fitted for independent variable, with β (Δ k, k2 2, k3 2) it is dependent variable, k2And k3To become certainly
Amount fits another function, thus according to any k1、k2And k3Value can acquire corresponding α (k1 2, k3 2) and β (Δ k, k2 2,
k3 2), and then need to only test to obtain N0Or N1, so that it may N is acquired by formula (1) or (2)max, or need to only test to obtain NmaxIt can
N is acquired by formula (1)0Or N is acquired by formula (2)1。
Industrial robot internally-arranged type harness of the present invention abrasion and accelerated wear test test device, mainly by multi-thread beam, camera,
Analog mechanical arm, harness joint motor, camera space position regulator, multi-thread beam bundling apparatus, oscillating motor, installation
Seat, anchor ear, Swing Arm, analog board, analog board swing rotating device, analog board mobile platform, industrial personal computer, motor motion control
Device, oscillating motor driver, stepper motor driver and image pick-up card composition.
The analog board swing rotating device includes swing angle electric and connecting plate；The output shaft and mould of the swing angle electric
Quasi- board bottom end is fixed；The pedestal of swing angle electric is fixed on the slide unit of analog board mobile platform by connecting plate；Analog board is mobile
The pedestal of platform is fixed in mounting base；The position of the camera space adjustment device adjustment camera.
The pedestal and mounting base of the oscillating motor are fixed by screw, and the output shaft of oscillating motor and Swing Arm bottom end are solid
It is fixed；Swing Arm top and the regulating tank of analog mechanical arm bottom end are bolted；The top and harness joint of analog mechanical arm
The pedestal of motor is fixed.
Each line of the multi-thread beam is bundled by multiple multi-thread beam bundling apparatuses；Multi-thread bunchy top end passes through welding
Plug in end is connect with harness joint motor, and bottom end is fixed by anchor ear.Analog board and Swing Arm be under vertical state,
The spacing of Swing Arm and multi-thread beam is set as k3, k3The value in 10~20mm, and on analog board install joint constraint block when joint
The spacing of constraint block and multi-thread beam is set as k1, k1The value in 5~25mm, when joint constraint block not being installed on analog board, simulation
The spacing of plate and multi-thread beam is set as k2, k2The value in 5~25mm.
The signal input part of the motor motion control device is connected with industrial personal computer, signal output end and oscillating motor driver
It is connected with stepper motor driver；Oscillating motor driver drives oscillating motor；Two stepper motor drivers respectively drive pendulum
Angle motor and analog board mobile platform；The signal output end of camera is connected with image pick-up card, and the image of image pick-up card is defeated
Outlet is connected with industrial personal computer.
The camera space adjustment device includes adjusting block and two cylindrical slideways；Adjusting block and two guide rails it
Between fixed by screw, two one, guide rail is horizontally disposed, and another is vertically arranged.Upright guide rail bottom end is fixed on mounting base
On；The pedestal of camera is fixed on the horizontal guide rail.
Beneficial effects of the present invention:
1, the present invention is based on the analyses of the characteristics of motion to actual industrial robot arm, propose frequency low-amplitude and low frequency
The movement modeling scheme of high-amplitude, the determination of the movement modeling scheme are the arrangements based on the real work operating condition to industrial robot
Analysis.The workpieces processing of industrial robot can be roughly divided into larger Curvature varying, complicated workpiece and Curvature varying compared with
Small, the simple workpiece two major classes of structure.Corresponding to the biggish workpiece of Curvature varying, industrial robot in process, is closed
The movement of section mechanical arm is mainly made of the swing of high-frequency by a small margin, determines that frequency low-amplitude moves simulation side for this point
Case；Corresponding to the lesser workpiece of Curvature varying, the movement of articulated mechanical arm is mainly significantly swung by low frequency and is formed, needle
Low-frequency high-amplitude, which moves modeling scheme, to be determined to this point；By the industrial personal computer to communicate with oscillating motor (servo motor), pass through
Pulse signal and direction signal realize the control to oscillating motor different motion state, to reach under different motion mode to line
Beam and body construction fretting wear or accelerated wear test detect；It is more effective, trueer for the different joint structure of simulating industry robot
The abrasion of analog detection harness on the spot.
2, the present invention has imitated harness in industrial robot cavity by analog board and has slowly rubbed with the plane of main body mechanism
It wipes, the protrusion injustice of inside cavity where harness at harness and industrial robot joint is simulated by adding for joint constraint block
Abrasion between whole position.
3, the present invention devises swing arm brachium adjustment structure, for adjusting harness constrained and constraint tightness.
4, the present invention realizes the intelligence and high-precision of harness abrasion and accelerated wear test detection by Machine Vision Detection
Change, image processing process is simple, efficient.
5, the present invention need to only test under the limit of wear obtained under harness wear pattern or harness accelerated wear test mode
One in the limit of wear, so that it may acquire another, improve the efficiency of wear testing.
6, the present invention can provide strong data for industrial robot harness life tests, quality safety Monitoring Design
It supports.
Detailed description of the invention
Fig. 1 is a side view of apparatus of the present invention.
Fig. 2 is another side view of apparatus of the present invention.
Fig. 3 is test philosophy schematic diagram of the invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1,2 and 3, the abrasion of industrial robot internally-arranged type harness and accelerated wear test test device, mainly by multi-thread
Beam 1, camera 2, analog mechanical arm 3, harness joint motor 4, camera space position regulator 5, multi-thread beam bundling apparatus
6, oscillating motor 7, mounting base 8, anchor ear 9, Swing Arm 10, analog board 11, analog board swing rotating device 12, analog board are mobile flat
Platform 13, industrial personal computer 15, motor motion control device 16, oscillating motor driver 19, stepper motor driver 18 and image pick-up card
17 compositions.
Analog board swing rotating device 12 includes swing angle electric and connecting plate；The output shaft of swing angle electric and 11 bottom of analog board
End is fixed, if rough inside Industrial robots Mechanical's arm to be simulated, is fixed between two on analog board 11 by screw
Joint constraint block 14 away from arrangement；The pedestal of swing angle electric is fixed on the slide unit of analog board mobile platform 13 by connecting plate；
The slide unit of analog board mobile platform 13 horizontal can be moved along 11 direction of vertical analog plate；The pedestal of analog board mobile platform 13 is fixed
In mounting base 8；It includes adjusting block and two cylindrical slideways that camera space, which adjusts device 5,；Adjusting block and two guide rails it
Between fixed by screw, two one, guide rail is horizontally disposed, and another is vertically arranged.Upright guide rail bottom end is fixed on mounting base
On 8；The pedestal of camera 2 is fixed on the horizontal guide rail, by the adjusting of camera space apparatus for adjusting position 5, reaches and is thought
The spatial position wanted, the image recognition worn.
The pedestal of oscillating motor 7 is fixed with mounting base 8 by screw, the output shaft of oscillating motor 7 and 10 bottom end of Swing Arm
It is fixed；10 top of Swing Arm and the regulating tank of 3 bottom end of analog mechanical arm are bolted, by adjusting analog mechanical arm 3
The height of the adjustable simulated mechanical arm 3 of regulating tank link position；The top of analog mechanical arm 3 and the pedestal of harness joint motor 4
It is fixed.
Each line of multi-thread beam 1 is bundled by multiple multi-thread beam bundling apparatuses 6 (for example using band)；Pass through tune
The different length for saving each line between adjacent multi-thread beam bundling apparatus 6 can simulate tightening degree between each line.Multi-thread beam 1 pushes up
End is connect by being welded on the plug of end with harness joint motor 4, and bottom end is fixed by anchor ear 9, and is adjusted multi-thread beam 1 and embraced
The whole tensioning degree of the adjustable multi-thread beam 1 of length between hoop 9 and harness joint motor 4.Analog board 11 and Swing Arm 10
It is the spacing k of Swing Arm 10 and multi-thread beam 1 under vertical state3=15mm, and on analog board 11 when installation joint constraint block 14
The spacing k of joint constraint block 14 and multi-thread beam 11=10mm, otherwise the spacing k of analog board 11 and multi-thread beam 12=10mm.
The signal input part of motor motion control device 16 is connected with industrial personal computer 15, signal output end and oscillating motor driver
19 are connected with stepper motor driver 18；Oscillating motor driver 19 drives oscillating motor 7；Two stepper motor drivers 18 divide
It Qu Dong not swing angle electric and analog board mobile platform 13；The signal output end of camera 2 is connected with image pick-up card 17, and image is adopted
The output end of image of truck 17 is connected with industrial personal computer 15.
The abrasion of industrial robot internally-arranged type harness and accelerated wear test test method, the specific steps are as follows:
Step 1: each line of multi-thread beam 1 is bundled by multiple multi-thread beam bundling apparatuses 6；Multi-thread 1 top of beam
Plug by being welded on end is connect with harness joint motor 4, and bottom end is fixed by anchor ear 9；According to industrial machine to be simulated
Harness tensioning situation is corresponding in device people's mechanical arm adjusts in multi-thread beam 1 whole tensioning degree and multi-thread beam 1 between each line
Tightening degree；By the rotation of analog board 11 to vertical state, when carrying out joint constraint wear testing, on the state Imitating plate 11
Joint constraint block 14 and multi-thread beam 1 spacing k1=10mm when carrying out surface wear test, does not install joint on analog board 11
Constraint block 14, the spacing k of the state Imitating plate 11 and multi-thread beam 12=10mm carries out surface wear or joint constraint abrasion
Test is selected according to Industrial robots Mechanical's arm interior smooth degree to be simulated；Swing Arm 10 is driven by oscillating motor 7
To vertical state, under the state, the spacing k of Swing Arm 10 and multi-thread beam 13=15mm；By 10 top of Swing Arm and analog mechanical
The regulating tank of 3 bottom end of arm is bolted, and adjusts the regulating tank link position of analog mechanical arm 3, pushes up analog mechanical arm 3
Holding the distance to 10 bottom end of Swing Arm to be equal to Industrial robots Mechanical's arm to be simulated, (present invention is only applicable to joint end to end
The arm configuration of single-degree-of-freedom) length；Then, the top of analog mechanical arm 3 and the pedestal of harness joint motor 4 are fixed.Mould
Quasi- mechanical arm 3, Swing Arm 10 and analog board 11 simulate Industrial robots Mechanical's arm or analog mechanical arm 3, Swing Arm jointly
10, analog board 11 and joint constraint block 14 simulate Industrial robots Mechanical's arm jointly, and oscillating motor 7 simulates the industrial robot
The single-DOF-joint of mechanical arm tail end, the single-degree-of-freedom that harness joint motor 4 simulates Industrial robots Mechanical's arm headend are closed
Section；
Step 2: selection harness wear pattern or harness accelerated wear test mode, carry out harness wear pattern and harness accelerate
It is of different sizes that the reason of two kinds of wear pattern tests, is that workpiece that industrial robot is processed is divided into Curvature varying, and curvature is become
Change biggish workpiece, in process, the movement of mechanical arm is mainly the swing of high-frequency by a small margin to industrial robot, for
The amplitude of fluctuation of this point harness accelerated wear test mode lower swing motor 7 is set asN=2,Workpiece lesser for Curvature varying, the movement of mechanical arm are mainly that low frequency is significantly put
It is dynamic, it is set as the amplitude of fluctuation of this point harness wear pattern lower swing motor 7By the specified of oscillating motor
Revolving speed acquires oscillating motor and rotates one week required time t (t=0.34s in this example), then harness wear pattern lower swing electricity
The swing period of machineThe swing period of harness accelerated wear test mode lower swing motor is set as T2
=T1/n。
Step 3: amplitude of fluctuation and swing period that control oscillating motor 7 is arranged according to step 2 are swung, if step
After selecting harness wear pattern then to swing 30min in two, 30/n is swung if selection line beam acceleration wear pattern in step 2
Then analog board 11 is rotated by 90 ° so that analog board 11 is parallel to the horizontal plane, is later moved horizontally to analog board 11 far by min
Space is vacated for camera 2 in position from multi-thread beam 1.
Step 4: if finding out on multi-thread beam 1 there is wear trace, by the camera lens of camera 2 successively each abrading section of face,
The abrasion image of each abrading section is transferred to industrial personal computer 15 after the filtering of image pick-up card 17, otherwise resets analog board 11,
Repeat step 3.
Step 5: the abrasion image of each abrading section is changed into HSV model by RGB model by industrial personal computer 15, HSV mould is obtained
Type wears the hue and luminance digital information of image, and then by tone distribution and brightness contrast, analysis show that HSV model is worn
The brightness step of image, wherein abrasion bosom brightness is minimum, does not wear pixel position brightness highest；2 institute of camera
The intrinsic depth of field is set as L, and the pixel brightness value at a distance from 2 camera lens of camera equal to the depth of field is set as I0, brightness maximum pixel
The luminance difference of point and brightness minimum pixel point is set as I, then wearing depth H=LI/I0。
Step 6: industrial personal computer 15 is by the abrasion image binary conversion treatment of each abrading section, then according to binary conversion treatment after
Abrasion image determine eroded area, and eroded area edge is detected according to eroded area, so that it is determined that the abrasion of eroded area
Area detecting result.
Step 7: if the wear area testing result of all abrading sections is less than wear area threshold value (the present embodiment
In take 30cm2), and the wearing depth testing result of all abrading sections is less than wearing depth threshold value and (takes in the present embodiment
The 40% of harness radius), then return step three, otherwise, industrial personal computer 15, which stores, simultaneously shows that wear area testing result is more than abrasion
Area threshold or wearing depth testing result are more than that the abrasion of each abrading section of wearing depth threshold value differentiates as a result, abrasion differentiates
As a result amplitude of fluctuation, swing period and the total duration of oscillation including oscillating motor and testing result are more than each abrasion of threshold value
The wearing depth and wear area at position.
Step 8: establishing mill of the multi-thread beam under the limit of wear and online beam acceleration wear pattern under harness wear pattern
Damage limit NmaxBetween relationship it is as follows:
In formula, N0、N1Carried out respectively under harness wear pattern the multi-thread beam limit of wear tested of surface wear and
The multi-thread beam limit of wear that joint constraint wear testing obtains is carried out, value is that corresponding abrasion differentiates swing total in result
Twice (friction number when wear area or wearing depth reach threshold value after test) of the ratio of time and swing period；α
(k1 2, k3 2) it is k1、k3To the influence coefficient of the limit of wear under harness accelerated wear test mode under two variable collective effects；β (Δ k,
k2 2, k3 2) it is k2、k3, under tri- variable collective effects of Δ k to the influence coefficient of the limit of wear under harness accelerated wear test mode,
Middle Δ k indicates to install the impact factor after joint constraint block on analog board.α(k1 2, k3 2) and β (Δ k, k2 2, k3 2) value such as
Under: choose ten groups or more k1、k2And k3, every group of k1、k2And k3Lower n successively takes 2,3 and 4, carries out under harness wear pattern respectively
Surface wear is tested to obtain multiple N0, joint constraint wear testing is carried out under harness wear pattern respectively obtains multiple N1, respectively
Surface wear test is carried out under online beam acceleration wear pattern and joint constraint wear testing obtains multiple Nmax；By each N0With
Corresponding NmaxIt substitutes into formula (1), acquires every group of N0And NmaxCorresponding α (k1 2, k3 2), by each N1With corresponding NmaxIt substitutes into public
Formula (2) acquires every group of N1And NmaxCorresponding β (Δ k, k2 2, k3 2)；With α (k1 2, k3 2) it is dependent variable, k1And k3For independent variable fitting
A function out, with β (Δ k, k2 2, k3 2) it is dependent variable, k2And k3Another function is fitted for independent variable, thus according to any
k1、k2And k3Value can acquire corresponding α (k1 2, k3 2) and β (Δ k, k2 2, k3 2), and then need to only test to obtain N0Or N1, so that it may
N is acquired by formula (1) or (2)max, or need to only test to obtain NmaxN can be acquired by formula (1)0Or N is acquired by formula (2)1。
Claims (4)
1. the abrasion of industrial robot internally-arranged type harness and accelerated wear test test method, it is characterised in that: this method specific steps are such as
Under:
Step 1: each line of multi-thread beam is bundled by multiple multi-thread beam bundling apparatuses；Multi-thread bunchy top end passes through weldering
It connects the plug in end to connect with harness joint motor, bottom end is fixed by anchor ear；According to Industrial robots Mechanical to be simulated
Tightening degree in arm in the corresponding tensioning degree and multi-thread beam for adjusting multi-thread beam entirety of harness tensioning situation between each line；
Analog board is rotated to vertical state, when carrying out joint constraint wear testing, joint constraint block on the state Imitating plate with
The spacing of multi-thread beam is set as k1, k1The value in 5~25mm when carrying out surface wear test, does not install joint about on analog board
The spacing of beam block, the state Imitating plate and multi-thread beam is set as k2, k2The value in 5~25mm；Swing Arm is driven by oscillating motor
It moves to vertical state, under the state, the spacing of Swing Arm and multi-thread beam is set as k3, k3The value in 10~20mm；By Swing Arm
The regulating tank on top and analog mechanical arm bottom end is bolted, and adjusts the regulating tank link position of analog mechanical arm, is made
The distance of analog mechanical arm top to Swing Arm bottom end is equal to the length of Industrial robots Mechanical's arm to be simulated；Then, by mould
The top of quasi- mechanical arm and the pedestal of harness joint motor are fixed；Analog mechanical arm, Swing Arm and analog board simulate the work jointly
Industry robot arm or analog mechanical arm, Swing Arm, analog board and joint constraint block simulate the Industrial robots Mechanical jointly
Arm, oscillating motor simulate the single-DOF-joint of Industrial robots Mechanical's arm tail end, and harness joint motor simulates the industrial machine
The single-DOF-joint of the man-machine tool arm headend of device；
Step 2: selection harness wear pattern or harness accelerated wear test mode, the amplitude of fluctuation of harness wear pattern lower swing motor
Degree is set asThe amplitude of fluctuation of harness accelerated wear test mode lower swing motor is set as N takes 2,3
Or 4,The value within the scope of -60 °~-30 °,The value within the scope of 45 °~75 °；It is acquired by the rated speed of oscillating motor
Oscillating motor rotates one week required time t, then the swing period of harness wear pattern lower swing motorThe swing period of harness accelerated wear test mode lower swing motor is set as T2=T1/n；
Step 3: amplitude of fluctuation and swing period that control oscillating motor is arranged according to step 2 are swung, if in step 2
Selection harness wear pattern then swings 30min, swings 30/n min if selection line beam acceleration wear pattern in step 2, then
Analog board is rotated by 90 ° so that analog board is parallel to the horizontal plane, analog board is moved horizontally to the position far from multi-thread beam later,
Space is vacated for camera；
Step 4: if finding out multi-thread Shu Shangyou wear trace, by the camera lens of camera successively each abrading section of face, Jiang Gemo
The abrasion image at damage position is transferred to industrial personal computer after image pick-up card filters, and otherwise will simulate sheet reset, repeats step 3；
Step 5: the abrasion image of each abrading section is changed into HSV model by RGB model by industrial personal computer, the abrasion of HSV model is obtained
The hue and luminance digital information of image, then by tone distribution and brightness contrast, analysis obtains HSV model abrasion image
Brightness step, wherein abrasion bosom brightness is minimum, does not wear pixel position brightness highest；Camera it is intrinsic
The depth of field is set as L, and the pixel brightness value at a distance from cam lens equal to the depth of field is set as I0, brightness maximum pixel point and brightness
The luminance difference of minimum pixel point is set as I, then wearing depth H=LI/I0；
Step 6: industrial personal computer is by the abrasion image binary conversion treatment of each abrading section, then according to the abrasion after binary conversion treatment
Image determines eroded area, and detects eroded area edge according to eroded area, so that it is determined that the wear area of eroded area is examined
Survey result；
Step 7: if the wear area testing result of all abrading sections is less than wear area threshold value, and all wears
The wearing depth testing result of position is less than wearing depth threshold value, then return step three, and otherwise, industrial personal computer stores and shows mill
Damaging area detecting result is more than each abrading section of wear area threshold value or wearing depth testing result more than wearing depth threshold value
Abrasion differentiate as a result, abrasion differentiate result include oscillating motor amplitude of fluctuation, swing period and total duration of oscillation and
Testing result is more than the wearing depth and wear area of each abrading section of threshold value.
2. industrial robot internally-arranged type harness abrasion according to claim 1 and accelerated wear test test method, feature exist
In: it further include Step 8: establishing multi-thread beam under the limit of wear and online beam acceleration wear pattern under harness wear pattern
Limit of wear NmaxBetween relationship it is as follows:
In formula, N0、N1The multi-thread beam limit of wear and progress that surface wear is tested are carried out respectively under harness wear pattern
The multi-thread beam limit of wear that joint constraint wear testing obtains, value are that corresponding abrasion differentiates duration of oscillation total in result
With twice of the ratio of swing period；α(k1 2, k3 2) it is k1、k3To under harness accelerated wear test mode under two variable collective effects
The influence coefficient of the limit of wear；β (Δ k, k2 2, k3 2) it is k2、k3, under tri- variable collective effects of Δ k to harness accelerated wear test mould
The influence coefficient of the limit of wear under formula, wherein Δ k indicates to install the impact factor after joint constraint block on analog board；α(k1 2,
k3 2) and β (Δ k, k2 2, k3 2) value it is as follows: choose ten groups or more k1、k2And k3, every group of k1、k2And k3Lower n successively takes 2,3 and
4, surface wear is carried out under harness wear pattern respectively tests to obtain multiple N0, joint is carried out under harness wear pattern respectively
Constraint wear testing obtains multiple N1, surface wear test and joint constraint abrasion are carried out under online beam acceleration wear pattern respectively
Test obtains multiple Nmax；By each N0With corresponding NmaxIt substitutes into formula (1), acquires every group of N0And NmaxCorresponding α (k1 2, k3 2),
By each N1With corresponding NmaxIt substitutes into formula (2), acquires every group of N1And NmaxCorresponding β (Δ k, k2 2, k3 2)；With α (k1 2, k3 2)
For dependent variable, k1And k3A function is fitted for independent variable, with β (Δ k, k2 2, k3 2) it is dependent variable, k2And k3It is quasi- for independent variable
Another function is closed out, thus according to any k1、k2And k3Value can acquire corresponding α (k1 2, k3 2) and β (Δ k, k2 2, k3 2),
And then it only need to test to obtain N0Or N1, so that it may N is acquired by formula (1) or (2)max, or need to only test to obtain NmaxIt can be by formula
(1) N is acquired0Or N is acquired by formula (2)1。
3. the abrasion of industrial robot internally-arranged type harness and accelerated wear test test device, mainly by multi-thread beam, camera, analog mechanical
Arm, camera space position regulator, multi-thread beam bundling apparatus, oscillating motor, mounting base, anchor ear, shakes harness joint motor
Swing arm, analog board, analog board swing rotating device, analog board mobile platform, industrial personal computer, motor motion control device, oscillating motor
Driver, stepper motor driver and image pick-up card composition, it is characterised in that:
The analog board swing rotating device includes swing angle electric and connecting plate；The output shaft and analog board of the swing angle electric
Bottom end is fixed；The pedestal of swing angle electric is fixed on the slide unit of analog board mobile platform by connecting plate；Analog board mobile platform
Pedestal be fixed in mounting base；The position of the camera space adjustment device adjustment camera；
The pedestal and mounting base of the oscillating motor are fixed by screw, and output shaft and the Swing Arm bottom end of oscillating motor are fixed；
Swing Arm top and the regulating tank of analog mechanical arm bottom end are bolted；The top of analog mechanical arm and harness joint motor
Pedestal fix；
Each line of the multi-thread beam is bundled by multiple multi-thread beam bundling apparatuses；Multi-thread bunchy top end is by being welded on end
The plug in portion is connect with harness joint motor, and bottom end is fixed by anchor ear；Analog board and Swing Arm are to wave under vertical state
The spacing of arm and multi-thread beam is set as k3, k3The value in 10~20mm, and on analog board install joint constraint block when joint constraint
The spacing of block and multi-thread beam is set as k1, k1The value in 5~25mm, when joint constraint block not being installed on analog board, analog board with
The spacing of multi-thread beam is set as k2, k2The value in 5~25mm；
The signal input part of the motor motion control device is connected with industrial personal computer, signal output end and oscillating motor driver and step
It is connected into motor driver；Oscillating motor driver drives oscillating motor；Two stepper motor drivers respectively drive pivot angle electricity
Machine and analog board mobile platform；The signal output end of camera is connected with image pick-up card, the output end of image of image pick-up card
It is connected with industrial personal computer.
4. industrial robot internally-arranged type harness abrasion according to claim 3 and accelerated wear test test device, feature exist
In: the camera space adjustment device includes adjusting block and two cylindrical slideways；Between adjusting block and two guide rails
It is fixed by screw, two one, guide rail horizontally disposed, and another is vertically arranged；Upright guide rail bottom end is fixed in mounting base；
The pedestal of camera is fixed on the horizontal guide rail.
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