CN109960871A - A kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method - Google Patents
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Abstract
The invention discloses a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching methods, which comprises performance test project needed for selecting tested industrial robot precision speed reduction device；It establishes selected item test operation and executes process sequence sets, find out and optimize relationship between projects execution sequence；Test item sequence optimisation matrix is constructed, and degeneracy is carried out to wherein optimization item completely；Test path matrix is constructed, and acquires optimal test path using genetic algorithm, and calculate most short cycle tests and testing time；According to most short cycle tests, successively industrial robot precision speed reduction device is tested.The present invention realizes multitask integration test, greatly saving testing cost, improves testing efficiency by being scheduled to the multiple performance test projects of industrial robot precision speed reduction device under single-station.
Description
Technical field
The invention belongs to retarder technical field of performance test more particularly to a kind of industrial robot precision speed reduction device performances
Single-station test modeling dispatching method.
Background technique
Precision speed reduction device is one of industrial robot core component, quality directly affect the precision of industrial robot with
Service life, how accurately, quickly and reliably to precision speed reduction device performance carry out test be of great significance.Performance test is industry
Most important part in robot retarder quality testing link, according to concerned countries, professional standard, robot precision speed reduction device
Test item mainly include no load test, load test, overloading experiment, transmission efficiency, detent torque, torsion stiffness, idle running with
10 kinds of back clearance, driving error, life experiment etc., projects test condition is different, test step is cumbersome, and test process needs frequent
Switch measured piece and tests environment.Current main-stream test method is, it is believed that after selected test item and testing sequence, is wanted according to project
Testing process is asked to carry out successively clamping, load test to precision speed reduction device, there are a large amount of waiting time, integrated testabilities for test process
Time is longer, and efficiency is lower.
The invention discloses a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method, this method
Retarder test process is modeled, constructs corresponding scheduling model, and using dispatching algorithm under current selected test item
Optimal test path is solved, and then executes test assignment, will be greatly saved the testing time, improves testing efficiency
Above-mentioned specific Patent Reference and pertinent literature are as follows:
1), " a kind of test macro of robot retarder ", number of patent application 201811284065.8.The disclosure of the invention
A kind of test macro of robot retarder, including bottom plate, supporting table, riser, servo motor, rotating bar, retarder when test
It is fixed on riser and is connected with rotating bar.The test macro can only realize the temperature change to retarder, angle value and torsion
Square value integration test can not also be scheduled optimization to test process.
2), the king of North China University of Tech opens, Zhang Xianghui, Wu Zhe, bow space are in the 2nd phase in 2018 " North China University of Tech's journal "
Upper " design of detecting and controlling system of RV retarder comprehensive performance parameter detection ", devise it is a set of can be to the transmission of robot RV reducer
Precision, back clearance, torsion stiffness, hysterisis error, mechanical efficiency, the dynamic measuring control system of start and stop torque, friction torque detection.Hardware
The test components such as industrial personal computer, frequency converter, angle and torque sensor, capture card have been selected in part；Software section is based on LabVIEW
Graphical programming language carries out test interface, can carry out real-time control and monitoring to entire test process.The system can be with
The multinomial test assignment for completing industrial robot RV retarder, compared with legacy test system in terms of measurement accuracy and working efficiency
It increases, but cannot achieve the Optimized Operation to test process, testing efficiency improves limited.
3), Zhou Xin, Ma Yue, Hu Yi of university, the Chinese Academy of Sciences are on the 2nd phase in 2015 " small-sized microcomputer system "
" the blending heredity simulated annealing for solving Job-Shop Scheduling Problem ", this article proposes a kind of blending heredity simulated annealing
Algorithm combines genetic algorithm and simulated annealing advantage, and the Job-Shop Scheduling Problem that can solve makes plant working most
Big completion date is most short.The scheduling model that this article proposes is suitable for the job scheduling of multimachine device, multi-process, but industrial robot
Precision speed reduction device test process belongs to single-station multi-task scheduling, and the foundation of scheduling model and the paper the method are obviously not
Together, method is not suitable for the scheduling of industrial robot precision speed reduction device test assignment.
4), " a kind of test assignment dispatching method ", patent No. ZL201610262281.7, a kind of test of the disclosure of the invention
Method for scheduling task by the way that a certain number of test assignment queues are arranged, and is the specified survey that can fall in lines of each test assignment queue
The priority limit of trial business, when test, are added in the queue of corresponding test assignment according to each test assignment priority.It should
Invention carries out redistributing arrangement according only to the Program Priority in test, can not substantially shorten the testing time, improves test
Efficiency.
5), " the serial scheduling method and device of multitask ", number of patent application 201610130066.1, this application discloses
The serial scheduling method and device of a kind of multitask.Wherein, this method comprises: receiving the serial scheduling request of multitask,
The configuration information that current serial scheduling is determined according to the batch identification that current serial is dispatched, according to belonging to execution serial number and task
The mark of system is scheduled the task in configuration information.This method only ensure that the scheduling and execution when task change, right
In the input of industrial robot precision speed reduction device test assignment, the effect that its optimization executes can not achieve.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide a kind of industrial robot precision speed reduction device performance either simplex
Bit test models dispatching method, which finds out each survey by carrying out serializing decomposition to selected test item
Optimize relationship between examination project, building optimization relational matrix simultaneously carries out respective handling, finally finds out optimal survey using genetic algorithm
Examination path is simultaneously tested, to reduce the testing time, improve testing efficiency.
The purpose of the present invention is realized by technical solution below:
A kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method, comprising the following steps:
Step A, by it is all can test item according to the project implementation operation decompose, establish the cycle tests of all items
Collection；
Step B, the industrial robot precision speed reduction device test item of test needed for selection, and set part of item range estimation
Try sequencing relationship；
Step C, the sequence sets for establishing selected item find out according to sequence sets and optimize relationship between projects, and combine institute
Setting item sequencing relationship fills and determines optimization relational matrix, further cut out according to matrix interior element value to matrix
It cuts；
Step D, according to the optimization relational matrix after cutting, optimal path matrix, and reduction pair are acquired using genetic algorithm
Answer optimal cycle tests；
Step E, according to solved optimal cycle tests, successively industrial robot precision speed reduction device is tested for the property.
Compared with prior art, one or more embodiments of the invention can have following advantage:
It by being scheduled modeling to test process, and is solved to obtain optimal test path using genetic algorithm, most
It is tested afterwards according to the multitask that the cycle tests of gained optimal path carries out single-station, will greatly shorten the testing time, improved and survey
Try efficiency.
Detailed description of the invention
Fig. 1 is industrial robot precision speed reduction device performance single-station test modeling dispatching method flow chart；
Fig. 2 is that industrial robot precision speed reduction device performance single-station test modeling dispatching method realizes process detailed process
Figure.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with examples and drawings to this hair
It is bright to be described in further detail.
As shown in Figure 1, a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method, including it is following
Step:
Step 10, by it is all can test item according to the project implementation operation decompose, establish the test sequence of all items
Column collection；
The industrial robot precision speed reduction device test item tested needed for step 20, selection, and set part of project
Test sequencing relationship；
Step 30, the sequence sets for establishing selected item, find out according to sequence sets and optimize relationship between projects, and combine institute
Setting item sequencing relationship fills and determines optimization relational matrix, further cut out according to matrix interior element value to matrix
It cuts；
Step 40, according to the optimization relational matrix after cutting, acquire optimal path matrix using genetic algorithm, and restore pair
Answer optimal cycle tests；
Step 50, according to solved optimal cycle tests, successively industrial robot precision speed reduction device is tested for the property；
1, in step 10, as shown in Fig. 2, can be considered the execution operation of precision speed reduction device by basic in all test items
Test cell composition, the type of each basic test unit by execution revolving speed, executes steering, execute load, execution 4 portions of time
Divide and determine, if the execution unit collection of all items is combined into X, x in step 10iIndicate that the i-th class in test in m class execution unit is held
Row unit, has:
X={ xi|xi=(xsi,xli,xdi,xti), i ∈ (1, m) }
If Y is all items arrangement set, arbitrary item sequence y in YjIt is made of element in X, t (yj) it is project sequence
Testing time needed for arranging, kiFor sequences yjIn include xiThe quantity of element meets:
2, in step 20, test item is selected according to different testing requirements, and can setting section test item according to demand
Sequencing；
3, in step 30, corresponding item sequence is taken out in Y according to selected item, optimizes relationship calculation formula between project
Are as follows:
cij=r (yi→yj)=t (yj)-t(yi∩yj)
Wherein: cijTo execute yiY afterwardsjThe execution time, r (yi→yj) it is to choose i-th of project yiIt is directed toward j-th of project yj
Optimization after sequential value, if there is the sequence of the setting project implementation in step 20, the operation for being unsatisfactory for execution sequence is considered as it and holds
Row process can not optimize, and correspond to cijValue is+∞, and Matrix C can be obtained after sequential value after all optimizations is found out, and is met:
Supplement start node in Matrix C, i.e. first trip is added to corresponding projects own sequence length value, and fills out at first
Filling 0 element makes it meet square matrix, can obtain selected item optimization relational matrix C', meet:
Optimization Matrix C ' if in there is non-diagonal and first non-element to be 0, leave out element in C' and correspond to test item
Row and column can obtain matrix D after cutting:
Wherein:
dij≠0,i≠j&j≠1
4, in step 40, path matrix R indicates the optimization order of connection in the optimization matrix D after cutting between project,
Meet:
rijIndicate node yjTo node yiConnection relationship, value are as follows:
The testing time should meet following relational expression after the corresponding optimization of different path matrixs:
T=tr (RD)
Using genetic algorithm, path optimizing matrix stack primary is generated at random, is calculated the respectively corresponding testing time, is chosen outstanding
Individual carries out cross and variation, generates filial generation path optimizing collection；Enable filial generation path optimizing collection as genetic algorithm parent of new generation, weight
Above-mentioned arithmetic operation is executed again；After mostly generation development is evolved, take in final filial generation that optimum individual is as globally optimal solution, i.e., most short survey
Try time corresponding path optimizing matrix.
It, can be according to item sequence and interactive computing process in step 10 and step 30 according to optimal path matrix is acquired
Restore optimal cycle tests.
5, in step 50, optimal cycle tests is obtained according to step 40, restores corresponding test operation and test of installing
Complete the Optimized Operation test process of selected item.
Although disclosed herein embodiment it is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (7)
1. a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method, which is characterized in that the method
The following steps are included:
Step A, by it is all can test item according to the project implementation operation decompose, establish the cycle tests collection of all items；
Step B, the industrial robot precision speed reduction device test item of test needed for selection, and it is first to set part of project testing
Ordinal relation afterwards；
Step C, the sequence sets for establishing selected item find out according to sequence sets and optimize relationship between projects, and set by combination
Project sequencing relationship fills and determines optimization relational matrix, further cut according to matrix interior element value to matrix；
Step D, according to the optimization relational matrix after cutting, optimal path matrix is acquired using genetic algorithm, and restores and corresponds to most
Excellent cycle tests；
Step E, according to solved optimal cycle tests, successively industrial robot precision speed reduction device is tested for the property.
2. industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1, special
Sign is that the robot precision speed reduction device refers to robot harmonic speed reducer and RV retarder.
3. industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1, special
Sign is that the single-station test modeling scheduling refers to the scheduling in an only tested industrial robot precision speed reduction device
Optimization.
4. industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1, special
Sign is, in the step B, setting section project precedence relationship refers to, the sequence that some projects execute is by associated test standards
Specification, as the overload test of RV retarder need to carry out after load testing.
5. industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1, special
Sign is, in the step C:
Between project optimize relationship refer to executed an item sequence after execute minimum time required for another item sequence；
Optimization relational matrix refers to start node is added after, the corresponding matrix of relationship two-by-two between stock item；
Cutting process refer to leave out in matrix it is non-first, the ranks of item sequence corresponding to off-diagonal 0 value element.
6. a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1,
It is characterized in that, in the step D:
Path optimizing matrix refers to the matrix for indicating test process sequence, meets following relational expression:
Wherein, rijIndicate node yjTo node yiConnection relationship, yj→yiProject implementation sequence after expression project implementation sequence j
i；
The testing time should meet following relational expression after the corresponding optimization of different path matrixs:
T=tr (RD).
7. a kind of industrial robot precision speed reduction device performance single-station test modeling dispatching method according to claim 1,
It is characterized in that, in the step D: optimal cycle tests, which refers to, solves the shortest testing sequence of out time.
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