CN110340939B - Motor load simulation method and device, storage medium and control equipment - Google Patents
Motor load simulation method and device, storage medium and control equipment Download PDFInfo
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- CN110340939B CN110340939B CN201910701750.4A CN201910701750A CN110340939B CN 110340939 B CN110340939 B CN 110340939B CN 201910701750 A CN201910701750 A CN 201910701750A CN 110340939 B CN110340939 B CN 110340939B
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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
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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
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention provides a motor load simulation method, a device, a storage medium and a control device, wherein the motor load simulation device comprises: the load control console is used for configuring body structure parameters matched with the robot model according to the robot model and calculating a first load generated by a body structure corresponding to the robot model on the motor according to the body structure parameters; the robot electric cabinet sends the motion instruction to the load control console, the load control console calculates second loads generated by the robot body structure in the process of executing operation according to the operation parameters in the instruction, and controls the load state of the test motor according to the first loads and the second loads so as to simulate the load motor of the robot under the operation condition through the test motor; and the robot electric cabinet drives the test motor in a load state to move according to the movement instruction, and detects the movement state of the motor. The invention realizes the motor load simulation of the running state of the robot and provides an effective test platform for the robot in each test stage.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a motor load simulation method, a motor load simulation device, a storage medium and control equipment.
Background
Along with the development of automation, industrial robot is by the extensive application in each occasion, welding, transport, polish, vision letter sorting etc.. At present, an industrial robot is an important position in automation, but the industrial robot can carry load to operate in earlier stage research and development and debugging stages, and some problems can occur sometimes, so that the robot is abnormal, the robot is damaged, the test cost is high, the test efficiency is low, the maintenance time is long, and the research and development period is greatly prolonged.
Therefore, how to make the robot under the condition that does not use the body, each motor can obtain the robot load that is equivalent under different gestures, effectively for industrial robot research and development in earlier stage, debugging stage simulation robot actual operating condition test, have important meaning to reducing the test cost, improving efficiency of software testing and quality.
Disclosure of Invention
The present invention is directed to overcoming the above technical problems and providing a motor load simulation method, device, storage medium and control apparatus.
In an aspect of an embodiment of the present invention, a method for simulating a load of a motor is provided, where the method includes:
acquiring a preset robot model, and configuring body structure parameters matched with the robot model according to the robot model;
calculating first loads of the body structure corresponding to the robot model on each motor in the robot according to the body structure parameters;
acquiring operation parameters corresponding to the operation of the robot to be simulated;
calculating second loads generated to each motor by the body structure corresponding to the robot model in the process of executing the operation of the robot according to the operation parameters;
and controlling the load state of the test motor according to the first load and the second load so as to simulate the motor load of the robot under the running condition through the test motor.
Optionally, the bulk structure parameters include a material type parameter and a material density parameter of the bulk structure;
the calculating the first load of the body structure corresponding to the robot model on each motor in the robot according to the body structure parameters comprises:
and calculating weight information of the body structure according to the material type parameter and the material density parameter, and determining a first load generated by the weight information on each motor in the robot.
Optionally, the body structure parameter further comprises a friction coefficient of the body structure;
the method further comprises the following steps:
calculating friction loads on each motor generated by the body structure due to friction in the process of executing the operation of the robot according to the friction coefficient;
and adjusting second loads generated by the motors by the body structure in the process of executing the operation of the robot according to the friction loads.
Optionally, the calculating, according to the operation parameter, a second load generated to each motor by the body structure corresponding to the robot model in the process of executing the operation of the robot includes:
and performing dynamic analysis on the operation parameters by adopting a preset dynamic automatic analysis system to obtain second loads generated by the body structure corresponding to the robot model on each motor in the process of executing the operation of the robot.
In another aspect of the embodiments of the present invention, a motor load simulation apparatus is provided, where the apparatus includes a robot electrical cabinet, a load console, and a test motor;
the load control console is used for acquiring a preset robot model, configuring body structure parameters matched with the robot model according to the robot model, and calculating first loads generated by a body structure corresponding to the robot model on each motor in the robot according to the body structure parameters;
the robot electric cabinet is used for sending a received motion instruction to the load control console, and the motion instruction comprises operation parameters corresponding to the operation of the robot to be simulated;
the load control console is further used for acquiring operation parameters corresponding to the operation of the robot to be simulated, calculating second loads generated by the body structure corresponding to the robot model to the motors in the process of executing the operation of the robot according to the operation parameters, and controlling the load state of the test motor according to the first loads and the second loads so as to simulate the load motor of the robot under the operation condition through the test motor;
the robot electric cabinet is also used for driving the test motor to move under the corresponding load state according to the received movement instruction, and detecting the motor movement state.
Optionally, the motor load simulation device further includes a load fixture table:
the load control platform is further used for determining the number of motors of the body structure corresponding to the robot model according to the type of the robot model and sending a load configuration instruction to the load tooling platform, wherein the load configuration instruction carries the first load and the second load;
and the load tool table is used for assembling the test motors according to the number of the motors and configuring corresponding loads for the assembled test motors according to the load configuration instructions issued by the load control table.
Optionally, the robot electric cabinet comprises a demonstrator, a controller and a servo driver:
the demonstrator is used for generating a motion instruction according to a preset program and sending the motion instruction to the controller;
the controller is used for sending the received motion instruction to the load console and controlling the servo driver to drive the test motor according to the motion instruction;
and the servo driver is used for driving the test motor to move under the corresponding load state and detecting the motor movement state.
Optionally, the bulk structure parameters include a material type parameter and a material density parameter of the bulk structure;
the load control console is specifically used for calculating weight information of the body structure according to the material type parameter and the material density parameter and determining a first load generated by the weight information on each motor in the robot;
the load control console is specifically further configured to perform dynamic analysis on the operation parameters by using a preset dynamic automatic analysis system, so as to obtain second loads generated by the body structure corresponding to the robot model on the motors in the process of executing the operation of the robot.
Furthermore, the invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
The invention also provides a control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
According to the motor load simulation method, the device, the storage medium and the control equipment provided by the embodiment of the invention, under the condition that the robot does not use a body, the load state of the test motor is configured by adopting the body structure parameters matched with the robot model and the operation parameters corresponding to the operation of the robot to be simulated, so that the load condition of each motor in the robot body structure under different motion postures is simulated by the test motor, a test platform is effectively provided for the industrial robot in the early research and development and debugging stages, and the test cost can be effectively reduced and the test efficiency can be improved compared with the test by adopting the robot body.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a block diagram of a motor load simulation apparatus according to an embodiment of the present invention;
fig. 2 is a block diagram of another motor load simulation apparatus according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a motor load simulation method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 schematically shows a structural diagram of a motor load simulation apparatus according to an embodiment of the present invention. Referring to fig. 1, the motor load simulation apparatus according to the embodiment of the present invention specifically includes a robot electrical cabinet 10, a load console 20, and a test motor 30;
the load control console 20 is configured to obtain a preset robot model, configure body structure parameters matched with the robot model according to the robot model, and calculate first loads, generated by a body structure corresponding to the robot model to motors in the robot, according to the body structure parameters;
the robot electric cabinet 10 is used for sending a received motion instruction to the load control console, wherein the motion instruction comprises operation parameters corresponding to the operation of the robot to be simulated;
the load console 20 is further configured to obtain an operation parameter corresponding to a robot operation to be simulated, calculate a second load, which is generated by a body structure corresponding to the robot model during the robot operation according to the operation parameter, for each motor during the execution of the robot operation, and control a load state of the test motor 30 according to the first load and the second load, so as to simulate a load motor of the robot in an operation state through the test motor 30;
the robot electrical cabinet 10 is further configured to drive the test motor 30 in a corresponding load state to move according to the received motion instruction, and detect a motor motion state.
According to the motor load simulation device provided by the embodiment of the invention, when the motor loads of the robot under different running conditions are simulated, the load condition of the body structure on the motor and the load condition of the body structure on the motor in the running operation process are comprehensively considered, and the load state of the tested motor is configured, so that the equivalent load of each motor in the robot body structure under different actual running conditions is simulated through the tested motor, a test platform is effectively provided for the industrial robot in the early research and development and debugging stages, and the test cost can be effectively reduced and the test efficiency can be improved compared with the test by adopting the robot body.
Specifically, the parameters of the body structure in this embodiment include a material type parameter, a material density parameter, and a friction coefficient of the body structure. The load console 20 in this embodiment is specifically configured to calculate weight information of the body structure according to the material type parameter and the material density parameter, and determine a first load generated by the weight information on each motor in the robot. Further, the load console 20 is further configured to calculate a friction load on each motor generated by the body structure due to friction during the operation of the robot according to the friction coefficient.
Specifically, the operation parameters in the present embodiment include operation attitude, operation speed, acceleration, jerk, deceleration, and the like. The load console 20 in this embodiment is further configured to perform a dynamic analysis on the operation parameters by using a preset dynamic automatic analysis system, so as to obtain a second load generated by the body structure corresponding to the robot model on each motor in the process of executing the operation of the robot. Further, after the second load generated by the robot body structure in the process of executing the robot operation is obtained according to the dynamics automatic analysis system, the second load generated by each motor in the process of executing the robot operation by the body structure can be adjusted according to the friction load.
Fig. 2 schematically shows a structural diagram of a motor load simulation apparatus according to another embodiment of the present invention. Referring to fig. 2, the motor load simulation apparatus according to the embodiment of the present invention further includes a load fixture 40.
In this embodiment, the load console 20 is further configured to determine the number of motors of the body structure corresponding to the robot model according to the type of the robot model, and send a load configuration instruction to the load fixture 40, where the load configuration instruction carries the first load and the second load;
and the load tool table 40 is used for assembling the test motors according to the number of the motors and configuring corresponding loads for the assembled test motors according to the load configuration instructions issued by the load control table.
In this embodiment, the load fixture 40 is configured to assemble the motor, and send a load configuration instruction to the corresponding load of the motor according to the load configuration instruction sent by the load console 20. The load control console 20 adjusts the load state of the test motor installed on the load tooling table in real time according to the robot body parameters and the real-time operation parameters corresponding to the operation.
In the embodiment of the present invention, the robot electrical cabinet 10 includes a demonstrator 101, a controller 102 and a servo driver 103, wherein:
the demonstrator 101 is used for generating a motion instruction according to a preset program and sending the motion instruction to the controller;
the controller 102 is configured to send the received motion instruction to the load console 20, and control the servo driver to drive the test motor according to the motion instruction;
and the servo driver 103 is used for driving the test motor to move under the corresponding load state and detecting the motor movement state.
In this embodiment, the controller 102 can receive a motion command transmitted from the teaching machine, and can transmit the motion command to the load console 20 and the servo driver 103, and can communicate with the outside. And the demonstrator is used for demonstrating the action of the robot, issuing a motion instruction, editing and operating program logic and the like. And the servo driver is used for receiving the motion command of the controller 102 and detecting the motion state of the motor.
Specifically, the motor can feed back the current position and speed information to the controller through the encoder, so that the whole motion control system forms a closed loop, and the controller can read the position and speed of the motor in real time.
According to the implementation principle of the motor load simulation device, the load tooling table can be provided with a plurality of motor stations, and is specifically set or customized according to the number of used motors and used for motor assembly. The load console may be imported into a preset robot model through a USB interface, where the model is a three-dimensional robot model, such as a cartesian robot, a multi-joint robot, and the like, and the embodiment of the present invention is not limited in detail. After the robot model is obtained in the importing mode, the body structure parameters matched with the robot model are configured according to the robot model. Specifically, parameters such as the material model of the robot body structure, the density of the material, the friction coefficient and the like can be input in a real-time input mode, and body structure parameters matched with the robot model can be automatically loaded from preset body structure parameter information according to the robot model. The load control console 20 can obtain the weight of the robot body through the material model and the material density parameters, and then converts the weight into the load required by each motor of the robot; the friction coefficient can obtain the load caused by the friction generated by the motor and the speed reducer when the motor runs. The load console 20 communicates with the controller 102 in the robot electrical cabinet 10 through TC/IP, RS232, RS485 and other modes, so as to realize mutual correspondence between the operation states of the robot and the load controller, and the load console 20 obtains the operation parameters of the robot in the controller 102, such as the operation attitude, the operation speed, the acceleration, the deceleration and the like, and calculates the load required by the motor in the operation process. The load control console 20 configures the test motor assembled by the load tool table according to the load state determined by the body structure parameters and the operation parameters, so that the test motor has a corresponding load. When the robot does not operate, the load control console 20 fixes the load value according to the parameters of the robot stopping, and when the robot operates, the load control console changes the load value in real time according to the parameters in operation, so as to effectively simulate that the test motor operates with the load.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Fig. 3 schematically shows a flow chart of a motor load simulation method according to an embodiment of the present invention. Referring to fig. 3, the method for simulating a motor load provided in the embodiment of the present invention specifically includes steps S11 to S15, as follows:
s11, acquiring a preset robot model, and configuring body structure parameters matched with the robot model according to the robot model.
And S12, calculating first loads generated by the body structure corresponding to the robot model to each motor in the robot according to the body structure parameters.
And S13, acquiring operation parameters corresponding to the operation of the robot to be simulated.
And S14, calculating second loads generated by the body structure corresponding to the robot model to each motor in the process of executing the operation of the robot according to the operation parameters.
And S15, controlling the load state of the test motor according to the first load and the second load so as to simulate the motor load of the robot under the running condition through the test motor.
According to the motor load simulation method provided by the embodiment of the invention, when the motor loads of the robot under different running conditions are simulated, the load condition of the body structure on the motor and the load condition of the body structure on the motor in the running operation process are comprehensively considered, and the load state of the tested motor is configured, so that the equivalent load of each motor in the robot body structure under different actual running conditions is simulated through the tested motor, a test platform is effectively provided for the industrial robot in the early research and development and debugging stages, and the test cost can be effectively reduced and the test efficiency can be improved compared with the test by adopting the robot body.
In an embodiment of the invention, the body structure parameters include a material type parameter, a material density parameter and a friction coefficient of the body structure.
The method includes the steps of calculating first loads, generated by the body structure corresponding to the robot model, of each motor in the robot according to the body structure parameters, and specifically includes the following steps: and calculating weight information of the body structure according to the material type parameter and the material density parameter, and determining a first load generated by the weight information on each motor in the robot.
Further, the method further comprises: calculating friction loads on each motor generated by the body structure due to friction in the process of executing the operation of the robot according to the friction coefficient; and adjusting second loads generated by the motors by the body structure in the process of executing the operation of the robot according to the friction loads.
In an embodiment of the present invention, the calculating, according to the operation parameter, a second load generated to each motor by the body structure corresponding to the robot model in the process of executing the operation of the robot specifically includes: and performing dynamic analysis on the operation parameters by adopting a preset dynamic automatic analysis system to obtain second loads generated by the body structure corresponding to the robot model on each motor in the process of executing the operation of the robot.
The operation parameters comprise operation parameters such as robot operation attitude, operation speed, acceleration, deceleration and the like. In practical applications, when the robot runs, the running speed, the acceleration and the deceleration can change the load generated by the motor in the running process. The calculation of the loads generated by different operation parameters in the operation process of the robot can be realized by adopting ADAMS (Automatic Dynamic Analysis of Mechanical Systems).
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
According to the motor load simulation method and device provided by the embodiment of the invention, under the condition that the robot does not use a body, the body structure parameters matched with the robot model and the operation parameters corresponding to the operation of the robot to be simulated are adopted to configure the load state of the test motor, so that the equivalent load of each motor in the robot body structure under different motion postures is simulated through the test motor, a test platform is further effectively provided for the industrial robot in the early research and development and debugging stages, and the test cost can be effectively reduced and the test efficiency can be improved compared with the test performed by adopting the robot body.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as described above.
In this embodiment, the module/unit integrated with the motor load simulation apparatus may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The control device provided by the embodiment of the invention comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps in the motor load simulation method embodiments, such as S11-S15 shown in FIG. 1.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The control device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the control device in this embodiment may include more or fewer components, or combine certain components, or different components, for example, the control device may also include an input-output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the control device, with various interfaces and lines connecting the various parts of the overall control device.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of simulating a load on a motor, the method comprising:
acquiring a preset robot model, and configuring body structure parameters matched with the robot model according to the robot model, wherein the body structure parameters comprise material type parameters and material density parameters of the body structure;
calculating first loads generated by the body structure corresponding to the robot model to each motor in the robot according to the body structure parameters, and specifically comprising the following steps: calculating weight information of the body structure according to the material type parameters and the material density parameters, and determining first loads generated by the weight information on each motor in the robot;
acquiring operation parameters corresponding to the operation of the robot to be simulated;
calculating second loads generated to each motor by the body structure corresponding to the robot model in the process of executing the operation of the robot according to the operation parameters;
controlling the load state of a test motor according to the first load and the second load so as to simulate the motor load of the robot under the running condition through the test motor;
the body structure parameters further include a coefficient of friction of the body structure, the method further comprising:
calculating friction loads on each motor generated by the body structure due to friction in the process of executing the operation of the robot according to the friction coefficient; and adjusting second loads generated by the motors by the body structure in the process of executing the operation of the robot according to the friction loads.
2. The method for simulating motor load according to claim 1, wherein the calculating a second load, which is generated by the body structure corresponding to the robot model during the operation of the robot, according to the operation parameters, includes:
and performing dynamic analysis on the operation parameters by adopting a preset dynamic automatic analysis system to obtain second loads generated by the body structure corresponding to the robot model on each motor in the process of executing the operation of the robot.
3. A motor load simulation device is characterized by comprising a robot electric cabinet, a load control console and a test motor;
the load control console is used for acquiring a preset robot model, configuring body structure parameters matched with the robot model according to the robot model, and calculating first loads generated by a body structure corresponding to the robot model on each motor in the robot according to the body structure parameters; the body structure parameters comprise a material type parameter and a material density parameter of the body structure; the load control console is specifically used for calculating weight information of the body structure according to the material type parameter and the material density parameter and determining a first load generated by the weight information on each motor in the robot;
the robot electric cabinet is used for sending a received motion instruction to the load control console, and the motion instruction comprises operation parameters corresponding to the operation of the robot to be simulated;
the load control console is further used for acquiring operation parameters corresponding to the operation of the robot to be simulated, calculating second loads generated by the body structure corresponding to the robot model to the motors in the process of executing the operation of the robot according to the operation parameters, and controlling the load state of the test motor according to the first loads and the second loads so as to simulate the motor loads of the robot under the operation condition through the test motor; the body structure parameters also comprise the friction coefficient of the body structure, and the load console is also used for calculating the friction load of the body structure on each motor due to the friction action in the process of executing the operation of the robot according to the friction coefficient; adjusting second loads generated by each motor by the body structure in the process of executing the operation of the robot according to the friction loads;
the robot electric cabinet is also used for driving the test motor to move under the corresponding load state according to the received movement instruction, and detecting the motor movement state.
4. The motor load simulation device according to claim 3, further comprising a load tooling table:
the load control platform is further used for determining the number of motors of the body structure corresponding to the robot model according to the type of the robot model and sending a load configuration instruction to the load tooling platform, wherein the load configuration instruction carries the first load and the second load;
and the load tool table is used for assembling the test motors according to the number of the motors and configuring corresponding loads for the assembled test motors according to the load configuration instructions issued by the load control table.
5. The motor load simulation device of claim 3, wherein the robotic electrical cabinet comprises a teach pendant, a controller, and a servo driver:
the demonstrator is used for generating a motion instruction according to a preset program and sending the motion instruction to the controller;
the controller is used for sending the received motion instruction to the load console and controlling the servo driver to drive the test motor according to the motion instruction;
and the servo driver is used for driving the test motor to move under the corresponding load state and detecting the motor movement state.
6. Motor load simulation device according to claim 3,
the load control console is specifically further configured to perform dynamic analysis on the operation parameters by using a preset dynamic automatic analysis system, so as to obtain second loads generated by the body structure corresponding to the robot model on the motors in the process of executing the operation of the robot.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-2.
8. A control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-2 are implemented when the processor executes the program.
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| CN104730460A (en) * | 2015-04-17 | 2015-06-24 | 浙江万冠电机有限公司 | Automatic motor load detector |
| CN105334459B (en) * | 2015-11-24 | 2019-05-28 | 上海翡叶动力科技有限公司 | Industrial robot servo motor test macro |
| CN108132145A (en) * | 2017-12-20 | 2018-06-08 | 成都育芽科技有限公司 | A kind of industrial robot speed reducer fictitious load characteristic prevents true system |
| CN207816593U (en) * | 2018-01-05 | 2018-09-04 | 株洲中达特科电子科技有限公司 | A kind of test system of robot retarder |
| CN108279380B (en) * | 2018-02-13 | 2020-12-22 | 广州视源电子科技股份有限公司 | System and method for simulating working conditions of motor |
| CN108972626A (en) * | 2018-08-22 | 2018-12-11 | 珠海格力电器股份有限公司 | A kind of gravitational compensation method, device, storage medium and robot |
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