CN110653850B - Method and device for testing manipulator, storage medium and processor - Google Patents
Method and device for testing manipulator, storage medium and processor Download PDFInfo
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- CN110653850B CN110653850B CN201911084132.6A CN201911084132A CN110653850B CN 110653850 B CN110653850 B CN 110653850B CN 201911084132 A CN201911084132 A CN 201911084132A CN 110653850 B CN110653850 B CN 110653850B
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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
Abstract
The invention discloses a method and a device for testing a manipulator, a storage medium and a processor. The invention comprises the following steps: a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; and controlling the manipulator to test by the manipulator controller based on the simulated die opening completion signal. According to the invention, the technical problem of low manipulator testing efficiency caused by the fact that the manipulator can not be circularly tested under the condition of no injection molding machine or simulator after the traditional injection molding manipulator is installed in the related art is solved.
Description
Technical Field
The invention relates to the field of machine production, in particular to a method and a device for testing a manipulator, a storage medium and a processor.
Background
In the related art, in the production work of the traditional injection molding manipulator, when the installation and debugging of the manipulator are completed, the manipulator signal and the signal butt joint interaction action debugging work of the injection molding machine need to be carried out by matching with the injection molding machine. Not all plants are equipped with injection molding machines specifically for commissioning of injection molding robots. Some companies also use small simulators to simulate the signals of the injection molding machine and perform signal interfacing with the injection molding robot. However, if the injection molding machine is not provided, and the simulator is not provided, the debugging work of the injection molding robot cannot be completed.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The invention mainly aims to provide a method and a device for testing a manipulator, a storage medium and a processor, so as to solve the technical problem that in the related art, after the traditional injection molding manipulator is installed, the manipulator cannot be tested circularly under the condition of no injection molding machine or simulator, and the testing efficiency of the manipulator is low.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method of testing a manipulator. The invention comprises the following steps: a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; and controlling the manipulator to test by the manipulator controller based on the simulated die opening completion signal.
Further, before the robot controller controls the robot to perform the cycle test based on the simulated mold opening completion signal, the method further includes: writing contents of the test handler into a handler controller, wherein the contents of the test handler include at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
Further, the operation axis of manipulator includes the Y axle, and based on the die sinking completion signal of simulation, manipulator controller control manipulator carries out the cycle test and includes: controlling the Y axis of the manipulator to run at a first preset speed; under the condition that the Y axis runs to a first preset position, triggering a first feedback signal to a manipulator controller; and controlling the Y axis to stop running by the manipulator controller according to the first feedback signal.
Further, after the robot controller controls the Y-axis to stop operating according to the first feedback signal, the method further includes: and controlling a front end clamp of the manipulator to clamp the material.
Further, after the manipulator controller controls the manipulator to perform the test based on the simulated mold opening completion signal, the method further includes: controlling the manipulator to send a preset signal; and controlling the control coil of the intermediate relay to be electrified according to a preset signal.
Further, after controlling the control coil of the intermediate relay to be electrified according to a preset signal, the method further comprises the following steps: and controlling each running shaft of the manipulator to run to the zero position so as to start the next test process.
In order to achieve the above object, according to another aspect of the present invention, there is provided an apparatus for testing a robot. The device includes: the first control unit is used for controlling a preset input end of the manipulator to simulate a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; and the second control unit is used for controlling the manipulator to test based on the simulated die opening completion signal.
Further, the apparatus further includes a writing unit configured to write contents of the test handler into the handler controller before the handler controller controls the handler to perform the cyclic test based on the simulated mold opening completion signal, where the contents of the test handler include at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
In order to achieve the above object, according to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes a method of testing a manipulator of any one of the above.
In order to achieve the above object, according to another aspect of the present application, there is provided a processor, a storage medium including a stored program, wherein the program performs a method of testing a manipulator of any one of the above.
The invention adopts the following steps: a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; the manipulator controller controls the manipulator to test based on the simulated mold opening completion signal, so that the technical problem that the manipulator testing efficiency is low due to the fact that the manipulator cannot be circularly tested under the condition that an injection molding machine or a simulator does not exist after the traditional injection molding manipulator is installed in the related technology is solved, and the effect of reducing the input cost of a factory is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a method of testing a manipulator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the connection between the terminal of the "die-on" output port of the robot control board and the intermediate relay according to the embodiment of the present application;
fig. 3 is a schematic diagram of a terminal of a "jack-in" output port of the robot control board card connected to a control coil of the intermediate relay according to the embodiment of the present application; and
fig. 4 is a schematic diagram of an apparatus for testing a manipulator according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, a method of testing a manipulator is provided.
Fig. 1 is a flowchart of a method for testing a manipulator according to an embodiment of the present invention. As shown in fig. 1, the present invention comprises the steps of:
and S101, controlling a preset input end of the manipulator to simulate a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay.
Specifically, the application provides a method for debugging a manipulator only through a controllable program of the manipulator without an injection molding machine and a simulator.
In the above way, the signal requirement of the manipulator equipment can be met by using the control system of the manipulator of the injection molding machine and controlling the input and the output of the controller.
Specifically, before debugging the manipulator, if the manipulator receives a mold opening completion signal of the injection molding machine, the manipulator can start a cycle test of the manipulator. In the embodiment of the application, the connecting terminal of the input end of the manipulator is connected to the intermediate relay, so that the manipulator can receive the simulated die sinking completion signal.
In the above, one connection terminal of the "mold opening completed" input terminal on the control card of the manipulator is connected to 0V voltage, and the other connection terminal is connected to the 24V terminal through the normally closed contact of the intermediate relay, so that a voltage difference of 24V is provided at the mold opening completed terminal of the injection molding manipulator, and the connection schematic diagram is shown in fig. 2.
And S102, controlling the manipulator to test by the manipulator controller based on the simulated die opening completion signal.
In the above, after the manipulator receives the 'mold opening completion' signal simulated by the self control board card, the manipulator is controlled by the manipulator controller to perform testing.
Optionally, before the robot controller controls the robot to perform the cycle test based on the simulated mold opening completion signal, the method further includes: writing contents of the test handler into a handler controller, wherein the contents of the test handler include at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
In the above, the present embodiment provides a method for testing a manipulator according to the controller of the manipulator itself. Therefore, the program for controlling the test of the manipulator needs to be written into the manipulator controller, so that the requirement of the injection molding manipulator for the injection molding machine signal or the simulator signal can be fulfilled.
Specifically, when the manipulator performs a test, each motion axis, the fixture, and the like of the manipulator need to be tested, wherein writing the content of the controlled manipulator into the manipulator controller includes writing all motion test requirements, such as a start position of each motion axis, an operation stop position of each motion axis, an operation speed of each operation axis, and whether or not the motion of each motion axis needs to be delayed, into the manipulator controller.
It should be noted that, how to test the manipulator by the injection molding machine, the control content is all written into the manipulator controller, so that the manipulator controller completes the testing process of the manipulator.
Optionally, the operation axis of the manipulator includes a Y axis, and based on the simulated mold opening completion signal, the manipulator controller controls the manipulator to perform a cycle test including: controlling the Y axis of the manipulator to run at a first preset speed; under the condition that the Y axis runs to a first preset position, triggering a first feedback signal to a manipulator controller; and controlling the Y axis to stop running by the manipulator controller according to the first feedback signal.
Specifically, the testing of the robot according to the contents written in the robot controller includes: to begin with, we need to perform origin return on each motion axis, and the function of the origin return is to zero out the electrical position of each operation axis so as to return the operation axis to the original position. Thus, if the moving shaft is operated by the command of the control, the position and speed of the movement of the moving shaft can be calculated by the encoder of the motor.
As described above, for example, upon detecting receipt of a "mold open complete" signal, i.e., the sensor of the analog injection molding machine feeds back that the grinder has been opened in place, the Y motion axis is tested, including controlling the Y1 axis to travel at 80% of the set speed to a position having coordinates 1502.04. When the controller receives the position feedback that the Y1 shaft motor encoder has run to 1502.04, the controller stops the transmission of the Y shaft run command. And then the manipulator controller controls the X-axis test operation, and after the X-axis test operation is finished, the Z-axis test operation and the fixture test operation are also carried out, namely, a step-by-step test process of the manipulator test is executed. The above testing process of the manipulator is a testing process in the prior art, and is not described in detail herein.
Optionally, after the robot controller controls the Y-axis to stop running according to the first feedback signal, the method further includes: and controlling a front end clamp of the manipulator to clamp the material.
Specifically, as described above, in the process of performing test operation on the manipulator, the test on the Y motion axis further includes a test on the clamp, that is, the front end clamp of the manipulator is controlled to clamp the material, so as to test whether the clamp is qualified.
It should be noted that after each step of testing is completed, the encoder sends a position feedback instruction to enable the controller to control the next testing process, if the controller does not receive a feedback signal after the step of running is completed, the controller outputs an alarm signal, at this time, an operator is required to confirm the alarm caused by what reason, and after the alarm is processed, the program step is continuously run.
Optionally, after the robot controller controls the robot to perform the test based on the simulated mold opening completion signal, the method further includes: controlling the manipulator to send a preset signal; and controlling the control coil of the intermediate relay to be electrified according to a preset signal.
In the above manner, since the robot needs to be put into use without error for 72 hours after the robot is assembled, the test of the movement axes and the like of the robot is resumed after the completion of one test process.
Because there is no injection molding machine to send a signal to the robot to let the robot know that a test procedure has been completed, it is necessary for the robot to determine whether a test procedure has been completed based on the contents written in the controller. After the controller detects that a test process is finished, the controller triggers the control manipulator to send out a preset signal, the preset signal triggers a control coil of the intermediate relay to be electrified, the control coil is electrified, and a normally closed contact of the intermediate relay is disconnected to indicate that the test process is finished.
Fig. 3 is a schematic diagram of a terminal of the "push-in" output port of the robot control board card connected to the control coil of the intermediate relay according to the embodiment of the present application.
It should be noted that, on the output end of the manipulator control board card, an output port is arbitrarily selected to be connected to the control line ring of the intermediate relay, and the function of the output port is to control the on and off of the normally closed contact of the relay so as to simulate that after a test process is completed, the injection molding machine sends a completion signal to the manipulator.
Optionally, after controlling the control coil of the intermediate relay to be electrified according to a preset signal, the method further comprises: and controlling each running shaft of the manipulator to run to the zero position so as to start the next test process.
After the normally closed contact of the intermediate relay is disconnected, the controller can know that a test process is completed according to the simulated signal, and then continuously operates a cyclic test process, so that the controller can control test components such as various operating shafts and clamps of the manipulator to operate to an initial position (zero position) to start the next test process.
Further, after waiting for the two-step or three-step procedure, the output signal is prohibited, the control coil of the intermediate relay is out of point, and the normally closed coil of the intermediate relay is closed again and conducted.
By the method, after the injection molding manipulator is assembled and debugged in a production field, the injection molding manipulator needs to be subjected to signal interaction butt joint test with the injection molding machine. Under the condition of no injection molding machine or injection molding machine signal simulator, field personnel carry out simulation test of interactive signals by using input and output end signals of a control system of an injection molding manipulator. When the manipulator automatic signal is required to perform the action test, the wiring interaction can be completed only by wiring the input end point position and the output end point position on the input module and the output module of the controller.
Furthermore, the method changes the requirement of the manipulator production field on the test signal, and reduces the investment cost and maintenance cost of a factory. The working efficiency is improved, the operation can be finished through simple wiring and program compiling, and excessive manpower and material resources do not need to be input. Meanwhile, the method has the advantages of simplicity, convenience and capability of flexibly coping with factory production plan arrangement.
According to the method for testing the manipulator, the die opening completion signal is simulated by controlling the preset input end of the manipulator, wherein the preset input end is the die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; the manipulator controller controls the manipulator to test based on the simulated mold opening completion signal, so that the technical problem that the manipulator testing efficiency is low due to the fact that the manipulator cannot be circularly tested under the condition that an injection molding machine or a simulator does not exist after the traditional injection molding manipulator is installed in the related technology is solved, and the effect of reducing the input cost of a factory is achieved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present invention further provides a device for testing a manipulator, and it should be noted that the device for testing a manipulator according to the embodiment of the present invention may be used to execute the method for testing a manipulator provided by the embodiment of the present invention. The following describes an apparatus for testing a manipulator according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an apparatus for testing a manipulator according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: the first control unit 401 is configured to control a preset input end of the manipulator to simulate a die opening completion signal, where the preset input end is a die opening completion input end, and two connection terminals of the die opening completion input end are connected to two terminals of an intermediate relay; and a second control unit 402, configured to control the manipulator to perform a test based on the simulated mold opening completion signal.
According to the device for testing the manipulator, provided by the embodiment of the invention, the preset input end of the manipulator is controlled to simulate a die opening completion signal through the first control unit 401, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; the second control unit 402 controls the manipulator to test based on the simulated mold opening completion signal, so that the technical problem that the manipulator testing efficiency is low due to the fact that the manipulator cannot be circularly tested under the condition that no injection molding machine or simulator exists after the traditional injection molding manipulator is installed in the related art is solved, and the effect of reducing the input cost of a factory is achieved.
Optionally, the apparatus further includes a writing unit, configured to write contents of the test manipulator into the manipulator controller before the manipulator controller controls the manipulator to perform the cyclic test based on the simulated mold opening completion signal, where the contents of the test manipulator at least include the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
Alternatively, the operation axis of the robot arm includes a Y axis, and the second control unit 402 includes: the first control module is used for controlling the Y axis of the manipulator to run at a first preset speed; the trigger module is used for triggering a first feedback signal to the manipulator controller under the condition that the Y axis runs to a first preset position; and the second control module is used for controlling the Y axis to stop running through the manipulator controller according to the first feedback signal.
Optionally, the apparatus further comprises: and the third control unit is used for controlling the front end clamp of the manipulator to clamp the material after the manipulator controller controls the Y axis to stop running according to the first feedback signal.
Optionally, the apparatus further comprises: the fourth control unit is used for controlling the manipulator to send out a preset signal after the manipulator controller controls the manipulator to test based on the simulated die opening completion signal; and the fifth control unit is used for controlling the control coil of the intermediate relay to be electrified according to the preset signal.
Optionally, the apparatus further comprises: and the sixth control unit is used for controlling each operation shaft of the manipulator to run to a zero position to start the next test process after controlling the control coil of the intermediate relay to be electrified according to the preset signal.
An apparatus for testing a manipulator includes a processor and a memory, the first control unit 401401, the second control unit 402402, etc. are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the technical problem that in the related technology, after the traditional injection molding manipulator is installed, the manipulator cannot be circularly tested under the condition that no injection molding machine or simulator exists, so that the manipulator testing efficiency is low is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing a method of testing a manipulator when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute a method for testing a manipulator.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; and controlling the manipulator to test by the manipulator controller based on the simulated die opening completion signal.
Optionally, before the robot controller controls the robot to perform the cycle test based on the simulated mold opening completion signal, the method further includes: writing contents of the test handler into a handler controller, wherein the contents of the test handler include at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
Optionally, the operation axis of the manipulator includes a Y axis, and based on the simulated mold opening completion signal, the manipulator controller controls the manipulator to perform a cycle test including: controlling the Y axis of the manipulator to run at a first preset speed; under the condition that the Y axis runs to a first preset position, triggering a first feedback signal to a manipulator controller; and controlling the Y axis to stop running by the manipulator controller according to the first feedback signal.
Optionally, after the robot controller controls the Y-axis to stop running according to the first feedback signal, the method further includes: and controlling a front end clamp of the manipulator to clamp the material.
Optionally, after the robot controller controls the robot to perform the test based on the simulated mold opening completion signal, the method further includes: controlling the manipulator to send a preset signal; and controlling the control coil of the intermediate relay to be electrified according to a preset signal.
Optionally, after controlling the control coil of the intermediate relay to be electrified according to a preset signal, the method further comprises: and controlling each running shaft of the manipulator to run to the zero position so as to start the next test process. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay; and controlling the manipulator to test by the manipulator controller based on the simulated die opening completion signal.
Optionally, before the robot controller controls the robot to perform the cycle test based on the simulated mold opening completion signal, the method further includes: writing contents of the test handler into a handler controller, wherein the contents of the test handler include at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator and whether all the operation shafts of the manipulator need delay action or not.
Optionally, the operation axis of the manipulator includes a Y axis, and based on the simulated mold opening completion signal, the manipulator controller controls the manipulator to perform a cycle test including: controlling the Y axis of the manipulator to run at a first preset speed; under the condition that the Y axis runs to a first preset position, triggering a first feedback signal to a manipulator controller; and controlling the Y axis to stop running by the manipulator controller according to the first feedback signal.
Optionally, after the robot controller controls the Y-axis to stop running according to the first feedback signal, the method further includes: and controlling a front end clamp of the manipulator to clamp the material.
Optionally, after the robot controller controls the robot to perform the test based on the simulated mold opening completion signal, the method further includes: controlling the manipulator to send a preset signal; and controlling the control coil of the intermediate relay to be electrified according to a preset signal.
Optionally, after controlling the control coil of the intermediate relay to be electrified according to a preset signal, the method further comprises: and controlling each running shaft of the manipulator to run to the zero position so as to start the next test process.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A method of testing a manipulator, comprising:
a preset input end of the control manipulator simulates a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay;
based on the simulated die opening completion signal, the manipulator controller controls the manipulator to test,
the operation axis of manipulator includes the Y axle, based on the simulation the die sinking is accomplished the signal, and the manipulator controller control the manipulator carries out the cycle test and includes:
controlling the Y axis of the manipulator to run at a first preset speed;
under the condition that the Y axis runs to a first preset position, triggering a first feedback signal to the manipulator controller;
and controlling the Y axis to stop running by the manipulator controller according to the first feedback signal.
2. The method of claim 1, wherein prior to the robot controller controlling the robot to perform the cycle test based on the simulated mold-open completion signal, the method further comprises:
writing contents of testing the manipulator into the manipulator controller, wherein testing the contents of the manipulator comprises at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator, and whether all the operation shafts of the manipulator need delay action.
3. The method of claim 1, wherein after the robot controller controls the Y-axis to stop operating in accordance with the first feedback signal, the method further comprises: and controlling a front end clamp of the manipulator to clamp the material.
4. The method of claim 1, wherein after the robot controller controls the robot to perform a test based on the simulated mold-open completion signal, the method further comprises:
controlling the manipulator to send a preset signal;
and controlling the control coil of the intermediate relay to be electrified according to the preset signal.
5. The method of claim 4, wherein after controlling the control coil of the intermediate relay to be energized in accordance with the preset signal, the method further comprises:
and controlling each running shaft of the manipulator to run to a zero position so as to start the next test process.
6. An apparatus for testing a manipulator, comprising:
the first control unit is used for controlling a preset input end of the manipulator to simulate a die opening completion signal, wherein the preset input end is a die opening completion input end, and two wiring terminals of the die opening completion input end are connected with two terminals of an intermediate relay;
a second control unit for controlling the manipulator to perform a test based on the simulated mold opening completion signal,
the operation axis of the manipulator includes a Y-axis, and the second control unit includes: the first control module is used for controlling the Y axis of the manipulator to run at a first preset speed; the trigger module is used for triggering a first feedback signal to the manipulator controller under the condition that the Y axis runs to a first preset position; and the second control module is used for controlling the Y axis to stop running through the manipulator controller according to the first feedback signal.
7. The apparatus of claim 6, further comprising a writing unit configured to write contents of testing the robot into the robot controller before the robot controller controls the robot to perform a cyclic test based on the simulated mold opening completion signal, wherein the testing the contents of the robot comprises at least the following: starting positions of all the operation shafts of the manipulator, operation stopping positions of all the operation shafts of the manipulator, operation speeds of all the operation shafts of the manipulator, and whether all the operation shafts of the manipulator need delay action.
8. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program executes a method of testing a manipulator according to any one of claims 1 to 5.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform a method of testing a manipulator according to any of claims 1-5 when running.
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| CN100445073C (en) * | 2006-08-02 | 2008-12-24 | 浙江大学 | Device for alarming and testing adhesion of contacts of mould closing signal for manipulator of injection machine |
| CN101559601A (en) * | 2009-04-28 | 2009-10-21 | 广州亚陆控制系统有限公司 | Method and system for controlling manipulator |
| FR2994485B1 (en) * | 2012-08-09 | 2014-09-05 | Airbus Operations Sas | METHOD FOR TESTING EQUIPMENT, TESTING TOOL AND TESTING SYSTEM THEREFOR |
| CN106514649B (en) * | 2015-09-09 | 2019-03-12 | 宁波弘讯科技股份有限公司 | Manipulator of injection machine control system and control method |
| CN106198072A (en) * | 2016-06-30 | 2016-12-07 | 东莞信易电热机械有限公司 | A kind of method of testing of the five axis robot control systems for injection machine |
| CN109483601B (en) * | 2018-12-24 | 2023-11-28 | 合肥欣奕华智能机器股份有限公司 | Industrial robot function test system and test method |
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