CN110340939A - Motor load simulation method, device, storage medium and control equipment - Google Patents
Motor load simulation method, device, storage medium and control equipment Download PDFInfo
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- CN110340939A CN110340939A CN201910701750.4A CN201910701750A CN110340939A CN 110340939 A CN110340939 A CN 110340939A CN 201910701750 A CN201910701750 A CN 201910701750A CN 110340939 A CN110340939 A CN 110340939A
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- load
- motor
- robot
- body construction
- parameter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The present invention provides a kind of motor load simulation method, device, storage medium and control equipment, the motor load simulator includes: load console, according to robot model's configuration and the matched body construction parameter of robot model, the first load that motor is generated according to body construction Parameters Computer device people's model corresponding body construction；Robot electric cabinet, load console is sent by movement instruction, load console, the second load that each motor is generated in executing operation operating process according to operating parameter calculating robot body construction in instruction, according to the load condition of the first load and the second load control test motor, with the load motor by test motor simulation robot under operation conditions；Robot electric cabinet drives the test motor movement under load condition according to movement instruction, detects motor movement state.The present invention realizes the motor load simulation of robot operation conditions, provides an effective test platform in each test phase for robot.
Description
Technical field
The present invention relates to Industrial Robot Technology field, it is specifically related to a kind of motor load simulation method, device, storage
Medium and control equipment.
Background technique
With the development of automation, industrial robot is widely used each occasion, and welding is carried, polishing, vision
Sorting etc..Industrial robot is an important position in automation at present, but industrial robot is in research and development early period, tune
The examination stage can cause robot to occur abnormal with load running, and it sometimes appear that some problems, so that robot is damaged,
Cause testing cost height, testing efficiency low, and maintenance time is long, greatly delays the R&D cycle.
Therefore, how to make robot in the case where not having to ontology, each motor can obtain robot in different postures
Under comparable load, effectively for industrial robot early period research and development, debugging step simulations robot actual operating mode surveyed
Examination is of great significance for reducing testing cost, raising testing efficiency and quality.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical problem, a kind of motor load simulation method is provided, device, storage are situated between
Matter and control equipment.
The one aspect of the embodiment of the present invention provides a kind of motor load simulation method, which comprises
Preset robot model is obtained, according to robot model configuration and the matched ontology of the robot model
Structural parameters；
The corresponding body construction of the robot model is calculated to motor each in robot according to the body construction parameter
The first load generated；
It obtains robot operation to be simulated and operates corresponding operating parameter；
The corresponding body construction of the robot model, which is calculated, according to the operating parameter is executing the robot operation
The second load that each motor is generated in operating process；
According to the load condition of first load and the second load control test motor, to pass through the test motor mould
Quasi- motor load of the robot under operation conditions.
Optionally, the body construction parameter includes the material type parameter and density of material parameter of the body construction；
It is described that the corresponding body construction of the robot model is calculated to each in robot according to the body construction parameter
The first load that motor generates, comprising:
Calculate the weight information of the body construction according to the material type parameter and density of material parameter, determine described in
The first load that weight information generates motor each in robot.
Optionally, the body construction parameter further includes the coefficient of friction of the body construction；
The method also includes:
The body construction is calculated in executing the robot operation operating process due to rubbing according to the coefficient of friction
Wiping acts on the friction load generated to each motor；
The body construction is run in operating process in the execution robot to each motor according to the friction load
The second load generated is adjusted.
Optionally, it is described according to the operating parameter calculate the corresponding body construction of the robot model in execution described in
Robot runs the second load generated in operating process to each motor, comprising:
Dynamic analysis is carried out to the operating parameter using preset dynamics automatic analysis system, to obtain the machine
The second load that the corresponding body construction of device people's model generates each motor in executing the robot operation operating process.
The other side of the embodiment of the present invention, provides a kind of motor load simulator, and described device includes machine
People's electric cabinet, load console and test motor；
Console is loaded, for obtaining preset robot model, according to robot model configuration and the machine
The body construction parameter of people's Model Matching calculates the corresponding body construction of the robot model according to the body construction parameter
The first load that motor each in robot is generated；
Robot electric cabinet, for sending the load console for the movement instruction received, in the movement instruction
Corresponding operating parameter is operated including robot operation to be simulated；
The load console is also used to obtain robot operation to be simulated and operates corresponding operating parameter, according to institute
It states operating parameter and calculates the corresponding body construction of the robot model in executing the robot operation operating process to each
The second load that motor generates, and the load condition that the control test motor is loaded with second according to first load, with
Pass through load motor of the test motor simulation robot under operation conditions；
The robot electric cabinet is also used to drive the survey under corresponding load condition according to the movement instruction received
Motor movement is tried, and detects motor movement state.
Optionally, the motor load simulator further includes load tooling platform:
The load console is also used to determine that the robot model is corresponding according to the type of the robot model
The number of motors of body construction, and load configuration instruction is sent to the load tooling platform, the load configuration instruction carries institute
State the first load and the second load；
The load tooling platform for carrying out test motor assembly according to the number of motors, and is controlled according to the load
The load configuration instruction that platform processed issues, for the corresponding load of test motor configuration of assembly.
Optionally, the robot electric cabinet, including teaching machine, controller and servo-driver:
The teaching machine for generating movement instruction according to pre-set programs, and sends the control for the movement instruction
Device processed；
The controller, for sending the load console for the movement instruction received, and according to the movement
Instruction controls the servo-driver and drives to the test motor；
The servo-driver for driving the test motor movement under corresponding load condition, and detects motor fortune
Dynamic state.
Optionally, the body construction parameter includes the material type parameter and density of material parameter of the body construction；
The load console is specifically used for calculating the ontology according to the material type parameter and density of material parameter
The weight information of structure determines the first load that the weight information generates motor each in robot；
The load console, be specifically also used to using preset dynamics automatic analysis system to the operating parameter into
Action mechanical analysis, to obtain the corresponding body construction of the robot model in executing the robot operation operating process
The second load that each motor is generated.
In addition, it is stored thereon with computer program the present invention also provides a kind of computer readable storage medium, the program
The step of method as described above is realized when being executed by processor.
In addition, the present invention also provides a kind of control equipment, including memory, processor and storage are on a memory and can
The step of computer program run on a processor, the processor realizes method as described above when executing described program.
Motor load simulation method provided in an embodiment of the present invention, device, storage medium and control equipment, robot not
In the case where with ontology, using corresponding with the matched body construction parameter of robot model and robot operation operation to be simulated
Operating parameter configuration test motor load condition, with by test motor simulation robot body structure in each motor exist
Loading condition under different motion posture, and then effectively for industrial robot in research and development early period, provide one in the debugging stage
Test platform can be effectively reduced testing cost, raising testing efficiency relative to test is carried out using robot body.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of structural block diagram of motor load simulator provided in an embodiment of the present invention；
Fig. 2 is the structural block diagram of another motor load simulator provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of motor load simulation method provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Fig. 1 diagrammatically illustrates the structural schematic diagram of the motor load simulator of one embodiment of the invention.Referring to figure
1, the motor load simulator of the embodiment of the present invention specifically includes robot electric cabinet 10, load console 20 and test motor
30；
Console 20 is loaded, for obtaining preset robot model, according to robot model configuration and the machine
The body construction parameter of device people's Model Matching calculates the corresponding bulk junction of the robot model according to the body construction parameter
The first load that structure generates motor each in robot；
Robot electric cabinet 10, for sending the load console, the movement instruction for the movement instruction received
In include that robot operation to be simulated operates corresponding operating parameter；
The load console 20 is also used to obtain robot operation to be simulated and operates corresponding operating parameter, according to
It is right in executing the robot operation operating process that the operating parameter calculates the corresponding body construction of the robot model
The second load that each motor generates, and according to the load shape of first load and the second load control test motor 30
State, with the load motor by test 30 dummy robot of motor under operation conditions；
The robot electric cabinet 10 is also used to be driven under corresponding load condition according to the movement instruction received
It tests motor 30 to move, and detects motor movement state.
Motor load simulator provided in an embodiment of the present invention, negative to motor of the robot under different operation conditions
When being loaded into row simulation, comprehensively considers loading condition that body construction itself generates motor and body construction and operate executing operation
The loading condition that motor is generated in the process, the load condition of configuration test motor, to pass through test motor simulation robot sheet
Each motor comparable load under different actual operating modes in body structure, and then effectively ground for industrial robot in early period
Hair provides a test platform in the debugging stage, relative to using robot body carry out test can be effectively reduced test at
Originally, testing efficiency is improved.
Specifically, the body construction parameter in the present embodiment includes that the material type parameter of the body construction, material are close
Spend parameter and coefficient of friction.Load console 20 in the present embodiment is specifically used for according to the material type parameter and material
Density parameter calculates the weight information of the body construction, and determines the weight information generates motor each in robot the
One load.Further, console 20 is loaded, is also used to calculate the body construction according to coefficient of friction in the execution machine
People runs the friction load generated due to rubbing action to each motor in operating process.
Specifically, the operating parameter in the present embodiment includes operation posture, the speed of service, acceleration plus accelerates, deceleration
Etc. parameters.Load console 20 in the present embodiment is specifically also used to using preset dynamics automatic analysis system to described
Operating parameter carries out dynamic analysis, is executing the robot operation to obtain the corresponding body construction of the robot model
The second load that each motor is generated in operating process.Further, robot is being obtained according to dynamics automatic analysis system
After the second load that body construction generates each motor in executing robot operation operating process, can also basis rub
It wipes load and the body construction carries out the second load that each motor generates in executing the robot operation operating process
Adjustment.
Fig. 2 diagrammatically illustrates the structural schematic diagram of the motor load simulator of another embodiment of the present invention.Reference
Fig. 2, the motor load simulator of the embodiment of the present invention further include load tooling platform 40.
In the present embodiment, console 20 is loaded, is also used to determine the robot according to the type of the robot model
The number of motors of the corresponding body construction of model, and load configuration instruction is sent to the load tooling platform 40, the load is matched
It sets instruction and carries first load and the second load；
The load tooling platform 40, for carrying out test motor assembly according to the number of motors, and according to the load
The load configuration instruction that console issues, for the corresponding load of test motor configuration of assembly.
In the present embodiment, tooling platform 40 is loaded, is assembled for motor, is matched according to the load that the load console 20 issues
Setting instruction gives motor corresponding load.Console 20 is loaded according to robot body parameter and real-time fortune corresponding with operation operation
Row parameter adjusts the load condition for the test motor that load tooling platform is installed in real time.
In the embodiment of the present invention, robot electric cabinet 10, including teaching machine 101, controller 102 and servo-driver 103,
In:
The teaching machine 101 for generating movement instruction according to pre-set programs, and sends the movement instruction to described
Controller；
The controller 102, for sending the load console 20 for the movement instruction received, and according to described
Movement instruction controls the servo-driver and drives to the test motor；
The servo-driver 103 for driving the test motor movement under corresponding load condition, and detects motor
Motion state.
In the present embodiment, controller 102 can receive the movement instruction of teaching machine reception and registration, and send movement instruction to load
Console 20 and servo-driver 103, and can be communicated with outside.Teaching machine acts for teaching robot, assigns movement
Instruction, and logic of editing run program etc..Servo-driver detects motor movement for receiving the movement instruction of controller 102
State.
Specifically, motor can be by encoder feedback current location and velocity information to controller, so that entire movement control
System processed forms closed loop, and controller can read the location of motor and speed in real time.
The present invention implements the realization principle of the motor load simulator provided, loads the settable multiple motor works of tooling platform
Position, is arranged or is customized with specific reference to the number of motors used, assembles for motor.Load console can be led by USB interface
Enter preset robot model, which is three dimensional model for robot, such as Cartesian robot, articulated robot etc.,
This embodiment of the present invention is not specifically limited.After getting robot model by lead-in mode, it is also necessary to according to the machine
The configuration of device people's model and the matched body construction parameter of the robot model.Specifically, can be inputted by real-time input mode
The material model of robot body structure, the density of material, the parameters such as coefficient of friction can also be according to robot model from preparatory
It is loaded and the matched body construction parameter of the robot model automatically in the body construction parameter information of setting.Load console
20 can obtain robot body weight by material model, density of material parameter, then needed for conversion to each motor of robot
The load wanted；Load caused by the friction that motor is generated with speed reducer at runtime can be obtained in coefficient of friction.Load console
20 are communicated with the controller 102 in robot electric cabinet 10 by modes such as TC/IP, RS232, RS485, realize robot and load
The reciprocal correspondence of controller operating status, load console 20 obtain robot operation posture, operation speed in controller 102 in real time
Degree, adds the operating parameters such as acceleration, deceleration at acceleration, the load needed for calculating motor in the process of running.Load console
The 20 test motors for being assembled the load condition configuration load tooling platform determined according to body construction parameter and operating parameter, allow
Test motor has corresponding load.When robot is not run, load console 20 is consolidated according to the parameter that robot stops
Fixed load numerical value, when robot is run, load console can be according to parameter in operation come the numerical value of real-time varying duty, in turn
Effectively simulate test motor be be supported on operation.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Fig. 3 diagrammatically illustrates the flow chart of the motor load simulation method of one embodiment of the invention.Referring to Fig. 3, originally
The motor load simulation method that inventive embodiments propose specifically includes step S11~S15, as follows:
S11, preset robot model is obtained, is configured according to the robot model matched with the robot model
Body construction parameter.
S12, the corresponding body construction of the robot model is calculated according to the body construction parameter to each in robot
The first load that motor generates.
S13, the corresponding operating parameter of robot operation operation to be simulated is obtained.
S14, the corresponding body construction of the robot model is calculated according to the operating parameter in the execution robot
Run the second load generated in operating process to each motor.
S15, the load condition that motor is tested according to first load and the second load control, to pass through the test electricity
Motor load of the machine dummy robot under operation conditions.
Motor load simulation method provided in an embodiment of the present invention, negative to motor of the robot under different operation conditions
When being loaded into row simulation, comprehensively considers loading condition that body construction itself generates motor and body construction and operate executing operation
The loading condition that motor is generated in the process, the load condition of configuration test motor, to pass through test motor simulation robot sheet
Each motor comparable load under different actual operating modes in body structure, and then effectively ground for industrial robot in early period
Hair provides a test platform in the debugging stage, relative to using robot body carry out test can be effectively reduced test at
Originally, testing efficiency is improved.
In embodiments of the present invention, the body construction parameter includes the material type parameter of the body construction, material
Density parameter and coefficient of friction.
Wherein, described that the corresponding body construction of the robot model is calculated to robot according to the body construction parameter
In the first load that generates of each motor, specifically include: calculating described according to the material type parameter and density of material parameter
The weight information of body structure determines the first load that the weight information generates motor each in robot.
Further, the method also includes: the body construction is calculated according to the coefficient of friction and is executing the machine
Device people runs the friction load generated due to rubbing action to each motor in operating process；According to the friction load to described
Body structure is adjusted the second load that each motor generates in executing the robot operation operating process.
In embodiments of the present invention, described that the corresponding body construction of the robot model is calculated according to the operating parameter
The second load generated in executing the robot operation operating process to each motor, specifically includes: using preset power
It learns automatic analysis system and dynamic analysis is carried out to the operating parameter, to obtain the corresponding body construction of the robot model
The second load that each motor is generated in executing the robot operation operating process.
Wherein, operating parameter includes robot operation posture, the speed of service, acceleration, adds the operations such as acceleration, deceleration ginseng
Number.In practical applications, when robot is run, the speed of service, acceleration plus accelerate, deceleration these can change motor and transporting
The load that row generates.ADAMS (Automatic Dynamic Analysis of Mechanical Systems, machine can be used
Tool system dynamics automatically analyzes) it realizes in robot operation operating process in the calculating of the load of different operating parameters generation.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
Motor load simulation method provided in an embodiment of the present invention, device are used in the case where robot does not have to ontology
Operating parameter configuration corresponding with the matched body construction parameter of robot model and robot operation operation to be simulated is tested
The load condition of motor, with suitable under different motion posture by each motor in test motor simulation robot body structure
Load, and then effectively for industrial robot in research and development early period, provide a test platform in the debugging stage, relative to use
Robot body, which carries out test, can be effectively reduced testing cost, improves testing efficiency.
In addition, it is stored thereon with computer program the embodiment of the invention also provides a kind of computer readable storage medium,
The step of program realizes method as described above when being executed by processor.
In the present embodiment, if module/unit that the motor load simulator integrates is with the shape of SFU software functional unit
Formula realize and when sold or used as an independent product, can store in a computer readable storage medium.It is based on
Such understanding, the present invention realize above-described embodiment method in all or part of the process, can also by computer program come
Relevant hardware is instructed to complete, the computer program can be stored in a computer readable storage medium, the computer
Program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes meter
Calculation machine program code, the computer program code can be source code form, object identification code form, executable file or certain
Intermediate form etc..The computer-readable medium may include: can carry the computer program code any entity or
Device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium does not include electric carrier signal and telecommunication signal.
Control equipment provided in an embodiment of the present invention, including memory, processor and storage on a memory and can located
The computer program run on reason device, the processor realize above-mentioned each motor load simulation when executing the computer program
Step in embodiment of the method, such as S11~S15 shown in FIG. 1.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.The control equipment
It may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that the control equipment in the present embodiment can
To include more or fewer components, certain components or different components are perhaps combined, such as the control equipment can be with
Including input-output equipment, network access equipment, bus etc..
The processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
It is the control centre of the control equipment Deng, the processor, entirely controls each of equipment using various interfaces and connection
A part.
It will be appreciated by those of skill in the art that although some embodiments in this include included in other embodiments
Certain features rather than other feature, but the combination of the feature of different embodiments means to be within the scope of the present invention simultaneously
And form different embodiments.For example, in the following claims, the one of any of embodiment claimed all may be used
Come in a manner of in any combination using.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of motor load simulation method, which is characterized in that the described method includes:
Preset robot model is obtained, according to robot model configuration and the matched body construction of the robot model
Parameter；
The corresponding body construction of the robot model is calculated according to the body construction parameter to generate motor each in robot
First load；
It obtains robot operation to be simulated and operates corresponding operating parameter；
The corresponding body construction of the robot model, which is calculated, according to the operating parameter is executing the robot operation operation
The second load that each motor is generated in the process；
According to the load condition of first load and the second load control test motor, to pass through the test motor simulation machine
Motor load of the device people under operation conditions.
2. motor load simulation method according to claim 1, which is characterized in that the body construction parameter includes described
The material type parameter and density of material parameter of body construction；
It is described that the corresponding body construction of the robot model is calculated to motor each in robot according to the body construction parameter
The first load generated, comprising:
The weight information that the body construction is calculated according to the material type parameter and density of material parameter, determines the weight
The first load that information generates motor each in robot.
3. motor load simulation method according to claim 2, which is characterized in that the body construction parameter further includes institute
State the coefficient of friction of body construction；
The method also includes:
The body construction is calculated in executing the robot operation operating process since friction is made according to the coefficient of friction
With the friction load generated to each motor；
The body construction generates each motor in executing the robot operation operating process according to the friction load
Second load be adjusted.
4. motor load simulation method according to claim 1, which is characterized in that described to be calculated according to the operating parameter
The corresponding body construction of the robot model each motor is generated in executing the robot operation operating process second
Load, comprising:
Dynamic analysis is carried out to the operating parameter using preset dynamics automatic analysis system, to obtain the robot
The second load that the corresponding body construction of model generates each motor in executing the robot operation operating process.
5. a kind of motor load simulator, which is characterized in that described device includes robot electric cabinet, load console and test
Motor；
Console is loaded, for obtaining preset robot model, according to robot model configuration and the robot mould
The matched body construction parameter of type calculates the corresponding body construction of the robot model to machine according to the body construction parameter
The first load that each motor generates in device people；
Robot electric cabinet includes in the movement instruction for sending the load console for the movement instruction received
Robot operation to be simulated operates corresponding operating parameter；
The load console is also used to obtain robot operation to be simulated and operates corresponding operating parameter, according to the fortune
Row parameter calculates the corresponding body construction of the robot model in executing the robot operation operating process to each motor
The second load generated, and according to the load condition of first load and the second load control test motor, to pass through
Load motor of the test motor simulation robot under operation conditions；
The robot electric cabinet is also used to drive the test electricity under corresponding load condition according to the movement instruction received
Machine movement, and detect motor movement state.
6. motor load simulator according to claim 5, which is characterized in that the motor load simulator also wraps
Include load tooling platform:
The load console is also used to determine the corresponding ontology of the robot model according to the type of the robot model
The number of motors of structure, and send load configuration instruction to the load tooling platform, load configuration instruction carry described the
One load and the second load；
The load tooling platform, for carrying out test motor assembly according to the number of motors, and according to the load console
The load configuration instruction issued, for the corresponding load of test motor configuration of assembly.
7. motor load simulator according to claim 5, which is characterized in that the robot electric cabinet, including teaching
Device, controller and servo-driver:
The teaching machine for generating movement instruction according to pre-set programs, and sends the controller for the movement instruction；
The controller, for sending the load console for the movement instruction received, and according to the movement instruction
The servo-driver is controlled to drive the test motor；
The servo-driver for driving the test motor movement under corresponding load condition, and detects motor movement shape
State.
8. motor load simulator according to claim 5, which is characterized in that the body construction parameter includes described
The material type parameter and density of material parameter of body construction；
The load console is specifically used for calculating the body construction according to the material type parameter and density of material parameter
Weight information, determine the weight information to motor each in robot generate first load；
The load console is specifically also used to move the operating parameter using preset dynamics automatic analysis system
Mechanical analysis, to obtain the corresponding body construction of the robot model in executing the robot operation operating process to each
The second load that motor generates.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is realized when row such as the step of any one of claim 1-4 the method.
10. a kind of control equipment, which is characterized in that memory, processor and storage can transport on a memory and on a processor
Capable computer program, which is characterized in that the processor is realized as described in claim any one of 1-4 when executing described program
The step of method.
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| CN201910701750.4A CN110340939B (en) | 2019-07-31 | 2019-07-31 | Motor load simulation method and device, storage medium and control equipment |
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| CN201910701750.4A CN110340939B (en) | 2019-07-31 | 2019-07-31 | Motor load simulation method and device, storage medium and control equipment |
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