CN111123103A

CN111123103A - Comprehensive testing method and device for complex working conditions of industrial robot servo system

Info

Publication number: CN111123103A
Application number: CN201911414744.7A
Authority: CN
Inventors: 倪敬; 周晶; 蒙臻; 蔡均
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-05-08
Anticipated expiration: 2039-12-31
Also published as: CN111123103B

Abstract

The invention discloses a comprehensive testing method and device for complex working conditions of an industrial robot servo system. The existing servo motor reliability test method cannot simulate the conditions that the servo motor for the industrial robot is stressed changeably and vibrated in the actual working process. The servo driving system testing device for applying multiple simulation loads such as dynamic load moment, tangential and radial disturbance load, torsional shimmy and the like is realized by detecting the acceleration of the servo motor for driving the industrial robot through the acceleration detection servo motor and by vibrating the two voice coil motors. The method can simulate the working condition of sudden rotation and sudden stop of the servo motor caused by the non-optimized motion path of the industrial robot, the working condition of multi-degree-of-freedom impact load at the shaft end of the servo driving system of the industrial robot, the working condition of sudden load inertia and load torque mutation of the servo driving system of the industrial robot and the working condition of performance change of the servo driving system when the robot is overspeed, and meets the actual working requirements of the robot.

Description

Comprehensive testing method and device for complex working conditions of industrial robot servo system

Technical Field

The invention belongs to the field of industrial robot reliability tests, and particularly relates to a method and a device for testing the reliability of a complex working condition of an industrial robot servo system based on complex torsional excitation simulated work load.

Background

The multi-joint industrial robot is widely applied to machining of large components, welding and manufacturing of automobile production lines, carrying and conveying of high-risk articles and the like. The servo motor is a core driving part of the multi-joint industrial robot, the service performance of the servo motor is related to the reliability of the robot in related operating environments, and the servo motor is a complex engineering problem in the field of industrial robots. The complicated working environment and load characteristic of the industrial robot also have great influence on the service performance of the servo motor. Therefore, it is necessary to develop a special test platform for service performance of a servo motor, which can simulate the actual working conditions of an industrial robot.

At present, some mature testing schemes are provided for the service performance of a servo motor, for example, a utility model patent with application patent number CN201821101584.1 discloses a motor testing device capable of adjusting a rotating load, and the motor testing device can correspondingly adjust the size of the load according to actual needs in the using process, so as to meet the needs of various working conditions; the utility model with the application patent number of CN201720819923.9 discloses a servo motor reliability testing device, which can carry out no-load test and load test on a servo motor for an industrial robot and is suitable for the reliability test of various servo motors; the utility model with the application patent number of CN201621226909.X discloses a servo motor reliability testing system which can collect and process parameters of a servo motor for an industrial robot at one time, and has the advantages of simple operation and high working efficiency; the invention patent with the application patent number of CN201810516556.4 discloses a servo motor reliability test loading device and a use method, which can simulate the stress condition and the working environment in the actual processing process of a servo motor, and improve the service performance of the servo motor by testing and analyzing the damage mechanism of the servo motor; the testing device or method that shows in above patent is absorbed in and is studied servo motor's loading device, can not simulate out the variable and condition of receiving the vibration of servo motor for industrial robot's atress in the actual work process, is difficult to guarantee that the servo motor reliability that tests satisfies the robot actual work needs, causes servo motor reliability test for industrial robot inaccurate, brings certain production and economic harm. Therefore, it is necessary to provide a special test platform for service performance of a servo motor, which can simulate the actual vibration condition of an industrial robot, so that the excellent performance of the servo motor is ensured, the reliability detection level of the servo motor is improved, and the actual use environment of the industrial robot is met.

Disclosure of Invention

The invention aims to provide a comprehensive testing method and device for complex working conditions of an industrial robot servo system capable of applying multi-degree-of-freedom and multi-waveform working loads, aiming at the defects of the prior art.

The invention discloses a complex working condition comprehensive testing method of an industrial robot servo system, which comprises the following steps:

step one, no-load benchmark test of service performance of an industrial robot servo system:

1.1, fixing a first base on the top surface of a mounting bottom plate, and fixing a dynamic torque sensor on the mounting bottom plate through the first base; a signal output line of the dynamic torque sensor is connected with the data acquisition instrument through the one-way signal conversion module; the first servo driver and the first programmable controller are arranged on the mounting base plate; the first servo driver is electrically connected with the first programmable controller, and a serial communication port of the first servo driver is connected with a universal serial bus interface of the upper computer.

1.2 the industrial robot to be tested is fixed with the first base by the servo motor, and the output shaft of the servo motor for the industrial robot is horizontally arranged; connecting a servo motor for an industrial robot with an input shaft of a dynamic torque sensor through a first coupling; electrifying an industrial robot servo system, wherein the industrial robot servo system comprises a first programmable controller, a first servo driver and a servo motor for the industrial robot; the upper computer controls the first programmable controller, the first programmable controller controls the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the first servo driver, wherein the acceleration and deceleration time of the forward rotation and the acceleration and deceleration time of the reverse rotation are both the rated acceleration and deceleration time of the servo motor for the industrial robot, and the continuous test is carried out for 24 hours.

1.3 recording the last 20 seconds of working condition data in 24 hours, collecting and processing the working condition data, if the output torque fluctuation rate, the output current fluctuation rate and the final rotating speed fluctuation rate of the servo motor for the industrial robot in the last 20 seconds in 24 hours are more than the factory calibration values, indicating that the servo system of the industrial robot cannot meet the test requirements, powering off the servo system of the industrial robot, replacing a new servo motor for the industrial robot and returning to the step 1.2, otherwise, recording the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20 seconds in 24 hours, using the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot as the no.

Step two, non-vibration load benchmark test of service performance of the industrial robot servo system:

2.1, powering off a servo system of the industrial robot, connecting an output shaft of the dynamic torque sensor with one end of a stepped shaft through a third coupler, and fixing a first gear on the first stepped shaft; the other end of the stepped shaft penetrates through the vibrating disk and is fixed with the vibrating disk; a rotor of the gas-electricity integrated rotating joint is fixed on the vibrating disk and is coaxially arranged with the vibrating disk, and a stator fixing base of the gas-electricity integrated rotating joint is arranged on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotating joint and are fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc through bolts respectively; the first voice coil motor and the second voice coil motor are respectively fixed with the two voice coil motor mounting plates, so that the first voice coil motor and the second voice coil motor are ensured to be symmetrical about the center of the vibration disc; signal control lines of the voice coil motor I and the voice coil motor II are electrically connected with a rotor of the gas-electricity integrated rotating joint, and a stator of the gas-electricity integrated rotating joint is fixed with the base IV; and a voice coil motor driver is arranged in the base IV, the voice coil motor driver is electrically connected with the programmable controller II, the programmable controller II is controlled through an upper computer interface, and the programmable controller II controls the vibration of the voice coil motor I and the voice coil motor II.

2.2 electrifying the servo system of the industrial robot, closing the power supply of the first voice coil motor and the second voice coil motor, controlling the first programmable controller by the upper computer, controlling the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the first servo driver, wherein the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, continuously recording 20s working condition data every 20min, collecting and processing the working condition data, and then carrying out first service performance evaluation, wherein the reference value of the threshold value during the evaluation is the no-load test reference value of the servo system of the industrial robot.

2.3 if a certain evaluation result shows that the measured industrial robot servo system does not meet the non-vibration load test requirement, powering off the industrial robot servo system, detaching the third coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, and jumping to the step 2.2; and otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h as non-vibration load test reference values of the servo system of the industrial robot, and directly executing the step three.

Step three, performing low-frequency vibration load benchmark test on service performance of the industrial robot servo system:

3.1, turning on a power supply of the first voice coil motor and the second voice coil motor, and adjusting the motion periods of the first voice coil motor and the second voice coil motor through an upper computer interface, so that the linear reciprocating vibration frequencies of the mass blocks driven by the first voice coil motor and the second voice coil motor are respectively 10HZ, 20HZ, 30HZ, 40HZ and 50HZ in sequence, and performing five groups of tests; when each group of the industrial robot servo systems are tested, the upper computer controls a first programmable controller, the first programmable controller controls a servo motor for the industrial robot to periodically rotate forwards and backwards through a first servo driver according to a rated rotating speed, the rotating time is 2h, wherein the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, then a first service performance is evaluated, and a reference value of a threshold value during evaluation is a non-vibration load test reference value of the industrial robot servo systems;

3.2 if a certain evaluation result shows that the servo system of the industrial robot to be tested does not meet the low-frequency vibration load test requirement, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing the new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a third coupler, and jumping to the step 2.2; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h of the last group of tests as the low-frequency vibration load test reference value of the servo system of the industrial robot, and directly executing the step four.

Step four, performing high-frequency vibration load benchmark test on service performance of the industrial robot servo system:

4.1, regulating the motion period of the first voice coil motor and the second voice coil motor through an upper computer interface, and enabling the linear reciprocating vibration frequencies of the mass blocks driven by the first voice coil motor and the second voice coil motor to be 100Hz, 200Hz, 300Hz, 400Hz and 500Hz in sequence to perform five groups of tests; when each group of the industrial robot servo system is tested, the upper computer controls a first programmable controller, the first programmable controller controls a servo motor for the industrial robot to periodically rotate forwards and backwards through a first servo driver according to a rated rotating speed, the rotating time is 2h, wherein the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, then a first service performance is evaluated, and a reference value of a threshold value during evaluation is a low-frequency vibration load test reference value of the industrial robot servo system;

4.2 if a certain evaluation result shows that the servo system of the industrial robot to be tested does not meet the high-frequency vibration load test requirement, the servo system of the industrial robot is powered off, the power supply of the first voice coil motor and the second voice coil motor is closed, the new servo motor for the industrial robot is replaced, the step 1.2 and the step 1.3 are repeated once, then the servo system of the industrial robot is powered off, the output shaft of the dynamic torque sensor is connected with one end of the stepped shaft through the third coupler, and then the step 2.2 is skipped; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h of the last group of tests as the high-frequency vibration load test reference value of the servo system of the industrial robot, and directly executing the step five.

Fifthly, testing the service performance of the industrial robot servo system by using an alternating vibration load standard:

5.1, the upper computer interface adjusts the motion period of the first voice coil motor and the second voice coil motor, so that the linear reciprocating vibration frequency of the mass block driven by the first voice coil motor and the second voice coil motor is changed between 10HZ and 300HZ, and the change speed is 10 HZ/min; the upper computer interface controls the voice coil motor I and the voice coil motor II to start frequency sweeping vibration; and simultaneously, the upper computer controls a first programmable controller, the first programmable controller controls a servo motor for the industrial robot to periodically rotate forwards and backwards according to a rated rotating speed through a first servo driver, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min and are acquired and processed, then a first service performance evaluation is carried out by taking a low-frequency vibration load test reference value of the servo system of the industrial robot as a reference value of a threshold value during evaluation, and then a first service performance evaluation is carried out by taking a high-frequency vibration load test reference value of the servo system of the industrial robot as a reference value of the threshold value during evaluation.

5.2 if a certain evaluation result shows that the tested industrial robot servo system does not meet the test requirement of the alternating vibration load, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and jumping to the step 2.2; and otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h as the alternating vibration load test reference values of the servo system of the industrial robot, and directly executing the next step.

And step six, testing the service performance variable load inertia and the load torque of the industrial robot servo system:

6.1, powering off the industrial robot servo system, and closing the power supplies of the first voice coil motor and the second voice coil motor; according to the fixed scales at the edges of the two strip-shaped adjusting grooves of the vibrating disc, the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting grooves of the vibrating disc are adjusted, so that the distance L between the mass centers of the first voice coil motor and the second voice coil motor and the center of the vibrating disc is changed₁And L₂(ii) a After adjustment, the first voice coil motor and the second voice coil motor are still symmetrical about the center of the vibration disk. And 6.1, executing the step each time, wherein the fixed positions of the voice coil motor mounting plate in the strip-shaped adjusting groove of the vibration disc are different.

Calculating load inertia J borne by servo motor for industrial robot_LComprises the following steps:

in the formula (1), M₁Mass of the voice coil motor I or the voice coil motor II, d₁Is the length of the voice coil motor body.

Servo motor load torque T for industrial robot with voice coil motor mounting plates corresponding to different positions_LDirectly by a dynamic torque sensor.

6.2 if the repetition frequency of the step 6.1 reaches five times, executing a step seven, otherwise jumping to the step 2.2, performing second service performance evaluation until the step five is executed, if the evaluation result shows that the tested industrial robot servo system does not meet the variable load inertia and load torque test requirements, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and then jumping to the step 2.2.

Seventhly, simulating the multi-degree-of-freedom impact load test of the shaft end of the industrial robot servo system:

7.1 powering off the industrial robot servo system and closing the power supplies of the first voice coil motor and the second voice coil motor; the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibration disc are adjusted, so that the distance between the center of mass of the first voice coil motor and the center of the second voice coil motor and the center of the vibration disc is adjusted to be the farthest, and the motion direction of the mass block driven by the first voice coil motor and the second voice coil motor is the tangential direction of the vibration disc; electrifying an industrial robot servo system, turning on a power supply of the first voice coil motor and the second voice coil motor, and respectively adjusting the frequency and the amplitude of the first voice coil motor and the second voice coil motor by an upper computer interface to ensure that the frequency and the amplitude of the first voice coil motor and the second voice coil motor are different and randomly changed; meanwhile, the upper computer controls a first programmable controller, the first programmable controller sets a servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through a first servo driver, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are acquired and processed, and then the second service performance is evaluated;

7.2 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a third coupler, and jumping to the step 2.2; otherwise step 7.3 is performed directly.

7.3, powering off the industrial robot servo system, and closing the power supplies of the first voice coil motor and the second voice coil motor; the moving direction of the mass blocks driven by the first voice coil motor and the second voice coil motor is the radial direction of the vibrating disc by adjusting the fixing direction of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibrating disc; electrifying an industrial robot servo system, turning on a power supply of the first voice coil motor and the second voice coil motor, and respectively adjusting the frequency and the amplitude of the first voice coil motor and the second voice coil motor by an upper computer interface to ensure that the frequency and the amplitude of the first voice coil motor and the second voice coil motor are different and randomly changed; meanwhile, the upper computer controls the first programmable controller, the first programmable controller sets the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the first servo driver, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, and then the second service performance is evaluated.

7.4 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of the shaft end multi-degree-of-freedom impact load, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and jumping to the step 2.2; otherwise step 7.5 is performed directly.

7.5 powering off the industrial robot servo system and closing the power supplies of the first voice coil motor and the second voice coil motor; the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibrating disc are adjusted, so that the first voice coil motor and the second voice coil motor are asymmetric about the center of the vibrating disc; then, the industrial robot servo system is electrified, and the power supplies of the voice coil motor I and the voice coil motor II are turned on; setting five groups of motion change rules of a voice coil motor I and a voice coil motor II through an upper computer interface, and carrying out five groups of tests; when each group of test is carried out, the motion of the voice coil motor I and the voice coil motor II is changed according to a change rule, meanwhile, the upper computer controls the programmable controller I, the programmable controller I sets the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the servo driver I, the rotating time is 2 hours, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, and then the second service performance evaluation is carried out;

7.6 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, and jumping to the step 2.2; otherwise, directly executing the next step.

Step eight, simulating a servo motor sharp-turn and sharp-stop test in a non-optimized motion path of the industrial robot:

8.1 powering off the industrial robot servo system; the upper computer controls a programmable controller I, the programmable controller I sets the acceleration and deceleration time of the servo motor for the industrial robot to be 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot through a servo driver I, the servo motor for the industrial robot returns to the step 2.2 to be executed respectively, second service performance evaluation is carried out until the step five is executed, if the evaluation result shows that the measured servo system of the industrial robot does not meet the requirement of the servo motor sudden-turning and sudden-stopping test in the non-optimized motion path of the industrial robot, the servo system of the industrial robot is powered off, the power supplies of a voice coil motor I and a voice coil motor II are shut off, a new servo motor for the industrial robot is replaced, the step 1.2 and the step 1.3 are repeated once, then the servo system of the industrial robot is powered off, the output shaft of a dynamic torque sensor is connected with, then jump to step 2.2;

8.2 powering off the industrial robot servo system; the upper computer controls a programmable controller I, the programmable controller I sets the acceleration time of the servo motor for the industrial robot to be 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot respectively through a servo driver I, but the deceleration time is 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot and is different from the value of the acceleration time, the programmable controller I respectively returns to the step 2.2 to execute until the step five is executed, a second service performance evaluation is carried out, if the evaluation result shows that the tested industrial robot servo system does not meet the requirement of the servo motor sudden-turn and sudden-stop test in the non-optimized motion path of the industrial robot, the industrial robot servo system is powered off, the power supply of a voice coil motor I and a voice coil motor II is closed, the step 1.2 and the step 1.3 are repeated once for replacing a new industrial robot, and then the servo system of the industrial robot is powered off, the output shaft of the dynamic torque sensor is connected with one end of the stepped shaft through the third coupler, and then the step 2.2 is skipped.

Ninthly, testing the overspeed of the industrial robot servo system:

9.1, the servo system of the industrial robot is powered off, and the second base is fixed on the top surface of the mounting bottom plate; the acceleration detection servo motor is fixed on the second base; the second gear is meshed with the first gear, and the transmission ratio of the first gear to the second gear is i ═ Z₂/Z₁＝2；

9.2 the second gear is connected with an output shaft of the acceleration detection servo motor through a second coupler; powering on a servo system of the industrial robot; the upper computer controls the first programmable controller, and the first programmable controller sets the rotating speed of the acceleration detection servo motor through the second servo driver, so that the rotating speed corresponding to the servo motor for the industrial robot is twice of the rated rotating speed; returning to the step 2.2 for execution, and performing second service performance evaluation until the step five is executed;

9.3 if the evaluation result shows that the measured industrial robot servo system does not meet the requirement of overspeed testing, powering off the industrial robot servo system, closing the power supply of the first voice coil motor and the second voice coil motor, disconnecting the second gear from the second coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, jumping to the step 2.2, jumping to the step 9.1 until the step eight is executed, and directly jumping to the step 9.2 to execute;

9.4 the first programmable controller controls the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the first servo driver, wherein the acceleration and deceleration time of the forward rotation and the acceleration and deceleration time of the reverse rotation are both the rated acceleration and deceleration time of the servo motor for the industrial robot, and the servo motor continuously operates for 96 hours; when the last hour is left, continuously recording the working condition data for 20s every 20min, collecting and processing the working condition data, and then evaluating the second service performance;

9.5 if the evaluation result shows that the measured industrial robot servo system does not meet the requirement of overspeed testing, powering off the industrial robot servo system, closing the power supply of the first voice coil motor and the second voice coil motor, disconnecting the second gear from the second coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, jumping to the step 2.2, jumping to the step 9.1 until the step eight is executed, and directly jumping to the step 9.2 to execute.

Further, the working condition data acquisition and processing process comprises the following steps: the working condition data comprises output torque, output current and rotating speed of a servo motor for the industrial robot; the dynamic torque sensor transmits the detected rotating speed and output torque signals of the servo motor for the industrial robot to the single-path signal conversion module, the signals are converted into voltage signals respectively and then transmitted to the data acquisition instrument, the data acquisition instrument transmits the voltage signals to the upper computer, the voltage signals are converted into rotating speed and output torque values of the servo motor for the industrial robot, and meanwhile, the upper computer reads the output current and the rotating speed of the servo motor for the industrial robot through the first servo driver; the upper computer is used as the final rotating speed of the servo motor for the industrial robot after the rotating speed received and converted by the data acquisition instrument and the rotating speed received by the servo driver I are averaged; the upper computer calculates the average value and the standard deviation of the output torque, the output current and the final rotating speed of the servo motor for the industrial robot in the 20s time period, and the average value T of the output torque and the average value n of the final rotating speed are substituted into formula (2) to calculate the output power P of the servo motor for the industrial robot₁(ii) a Then theRespectively calculating the input power P of the servo motor for the industrial robot according to the formula (3) and the formula (4)₂And efficiency η.

P₂＝U*I (3)

In the formula (3), U is an input voltage of the servo motor for the industrial robot, and I is an input current of the servo motor for the industrial robot.

The process of evaluating the service performance for the first time is that the first programmable controller transmits the rotating speed working condition of the servo motor for the industrial robot and the working condition of the servo motor for acceleration detection to the upper computer, the second programmable controller transmits the working condition of the first voice coil motor and the working condition of the second voice coil motor to the upper computer, the first programmable controller respectively transmits the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency setting threshold of the servo motor for the industrial robot to the upper computer, and then when any one of the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency η of the servo motor for the industrial robot in a 20s time period under the current test working condition exceeds the corresponding threshold, the service performance of the servo motor for the industrial robot under the current test working condition is determined to be.

The method further comprises the following steps that a programmable controller I transmits the rotating speed working condition of a servo motor for the industrial robot and the working condition of an acceleration detection servo motor to an upper computer, a programmable controller II transmits the working condition of a voice coil motor I and the working condition of a voice coil motor II to the upper computer, then the steps of ①, taking a no-load test reference value of the servo system of the industrial robot as a reference value of an evaluation time threshold value, respectively setting a threshold value for the output torque mean value, a final rotating speed mean value, an output torque standard deviation, a final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot are sequentially executed, then judging that the working performance of the servo motor for the industrial robot under the current test working condition does not meet requirements when any one of the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot exceeds the corresponding threshold value of the working condition test standard when the efficiency for the industrial robot exceeds the corresponding working condition, the working condition test standard, finally judging that the working condition of the servo motor for the industrial robot does not meet the working condition output torque mean value, the working condition, the average value for the output torque standard, the output torque mean value for the servo motor for the industrial robot under the working condition, the industrial robot under the final rotating speed standard deviation, the working condition, the average value for the industrial robot, the output torque standard, the final rotating speed average value for the industrial robot, the working condition, the average value for the industrial robot, the working condition for the industrial robot, the working condition, the average value for the working condition, the output torque standard deviation, the average value for the industrial robot, the working condition for the industrial robot, the average value for the final rotating speed average value for the working condition for the industrial robot, the working condition for the industrial robot, the output torque standard deviation, the working condition for the industrial robot, the average value for the working condition for the industrial robot, the working condition for the average value for the industrial robot, the working condition for the industrial robot, the working condition for the industrial robot, the industrial robot.

The invention discloses a complex working condition comprehensive testing device of an industrial robot servo system, which comprises an installation bottom plate, a programmable controller I, a servo driver II, a base I, a coupling I, an acceleration detection servo motor, a coupling II, a dynamic torque sensor, a gear II, a coupling III, a gear I, a stepped shaft II, a bearing seat I, a vibration disc, a voice coil motor I, a gas-electricity integrated rotary joint, a voice coil motor II, a bearing seat II, a base II, a data acquisition instrument and a single-path signal conversion module, wherein the installation bottom plate is provided with a plurality of connection holes; the first base is fixed on the mounting base plate, the dynamic torque sensor is fixed on the first base, an input shaft of the dynamic torque sensor is fixed with one end of the first coupler, and the dynamic torque sensor is used for collecting the output torque and the output rotating speed of the servo motor for the industrial robot; an output shaft of the dynamic torque sensor is connected with one end of a stepped shaft through a third coupler, and the first stepped shaft is supported on a first bearing seat through a bearing; a first gear is fixed on the first stepped shaft and meshed with a second gear; the second gear is fixed on the second stepped shaft and is connected with an output shaft of the acceleration detection servo motor through a second coupler; the stepped shaft II is supported on a bearing seat II through a bearing; the acceleration detection servo motor is fixed on a second base, and the second base is fixed on the top surface of the mounting bottom plate; the first bearing seat and the second bearing seat are both fixed on the third base; the third base is fixed on the mounting bottom plate; the other end of the stepped shaft penetrates through the vibrating disk and is fixed with the vibrating disk; a rotor of the gas-electricity integrated rotating joint is fixed on the vibrating disk and is coaxially arranged with the vibrating disk, and a stator of the gas-electricity integrated rotating joint is fixed on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotary joint and fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc through bolts respectively, and fixed scales are fixed on the edges of the two strip-shaped adjusting grooves; the first voice coil motor and the second voice coil motor are respectively fixed with the two voice coil motor mounting plates; signal control lines of the voice coil motor I and the voice coil motor II are electrically connected with a rotor of the gas-electricity integrated rotating joint, and a stator of the gas-electricity integrated rotating joint is electrically connected with a servo driver II arranged beside the base II; the second servo driver is electrically connected with the first programmable controller, and a serial communication port of the second servo driver is connected with a universal serial bus interface of the upper computer; and a signal output line of the dynamic torque sensor is connected with the data acquisition instrument through the one-way signal conversion module.

Further, the transmission ratio of the first gear to the second gear is 2.

Further, the fixing mode of the stepped shaft and the vibrating disk is as follows: the stepped shaft and the convex ring integrally formed at the center of the vibration disc are circumferentially limited through a key, and the stepped shaft and the convex ring of the vibration disc are fixedly connected through a screw.

Furthermore, the second gear, the third coupler, the first gear, the first stepped shaft, the second stepped shaft, the first bearing seat, the vibrating disc, the first voice coil motor, the pneumatic-electric integrated rotary joint, the second voice coil motor and the second bearing seat are all arranged in the safety cover, and the end of the first stepped shaft connected with the first coupler and the end of the second stepped shaft connected with the second coupler extend out of the safety cover.

The invention has the following beneficial effects:

the invention relates to a servo drive system testing device based on multiple simulation loads such as dynamic load moment, axial and radial disturbance load, torsional shimmy and the like applied by a voice coil motor; the method is a test method which can simulate the working condition of sudden stop and sudden turn of a servo motor caused by the non-optimized motion path of the industrial robot; the test method can simulate the working condition of multi-degree-of-freedom impact load of the shaft end of the industrial robot servo system; the test method can simulate the load inertia and the load torque sudden change of the servo system of the industrial robot; the test method can simulate the performance change of the servo drive system when the robot overspeed; the method is a test method for intelligently evaluating the service performance through indexes such as output torque, rotating speed and winding current of the servo motor. The invention can simulate the conditions of variable stress and vibration of the servo motor for the industrial robot in the actual working process, and meets the actual working requirements of the robot.

Drawings

FIG. 1 is a front view of the device of the present invention.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a perspective view of the device of the present invention with the safety cover removed.

FIG. 4 is a schematic diagram of the structure of the single-channel signal conversion module and the data acquisition instrument of the present invention

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1, 2, 3 and 4, the complex working condition comprehensive testing device of the industrial robot servo system comprises: the device comprises a mounting base plate 1, a programmable controller I2 (an optional model of DVP50MC11T-06), a servo driver II 5 (an optional model of ASD-A2-0721-E), a base I6, a coupling I8 (an optional LM-35 model of plum blossom coupling), an acceleration detection servo motor 9 (an optional model of EMCA-C10807 RS), a safety shield 10, a coupling II 11 (an optional LM-35 model of plum blossom coupling), a dynamic torque sensor 12 (an optional model of HCNJ-101, a measuring range of 0-10 N.M, a torque and a rotating speed can be measured), a gear II 13 (a gear two-tooth number Z.M)₂34, pitch circle diameter d of gear two₂240mm), a third coupling 14(LM-35 type plum coupling), and a first gear 15 (tooth number Z)₁17, pitch circle diameter d of gear one₁120mm), a first stepped shaft 16, a second stepped shaft 17, a first bearing seat 18, a vibrating disk 19 (the diameter D of the vibrating disk is 260mm), a first voice coil motor 20 (stroke 9.9mm, peak thrust 33N), an integrated gas-electric rotary joint 21 (optional model MK21S-S12), a second voice coil motor 22 (stroke 9.9mm, peak thrust 33N), a second bearing seat 23, a second base 24, a data acquisition instrument 25 (optional model uT3408FRS-ICP) and a one-way signal conversion moduleBlock 26 (output voltage 0-10V); the base I6 is fixed on the mounting base plate 1, the dynamic torque sensor 12 is fixed on the base I6, an input shaft of the dynamic torque sensor 12 is fixed with one end of the coupler I8, and the dynamic torque sensor 12 is used for acquiring the output torque and the output rotating speed of the servo motor 7 for the industrial robot; an output shaft of the dynamic torque sensor 12 is connected with one end of a first stepped shaft 16 through a third coupling 14, and the first stepped shaft 16 is supported on a first bearing seat 18 through a bearing; a first gear 15 is fixed on the first stepped shaft and used for transmitting the rotating speed to a servo motor 7 for the industrial robot; the first gear 15 is meshed with the second gear 13, and the transmission ratio is i ═ Z₂/Z₁2, namely the rotating speed of the first gear is 2 times of that of the second gear, and the rotating speed of the second gear is controlled, so that the first gear can be adjusted; the second gear is fixed on the second stepped shaft 17, is connected with an output shaft of the acceleration detection servo motor 9 through a second coupler 11 and is used for transmitting the rotating speed; the second stepped shaft 17 is supported on a second bearing seat 23 through a bearing; the acceleration detection servo motor 9 is fixed on a second base 24, and the second base 24 is fixed on the top surface of the mounting bottom plate 1; the first bearing seat 18 and the second bearing seat 23 are fixed on the third base; the third base is fixed on the mounting bottom plate 1; the other end of the first stepped shaft 16 penetrates through the vibration disk 19 and is fixed with the vibration disk 19 in a way that: the stepped shaft 16 and a convex ring integrally formed at the center of the vibration disc are circumferentially limited through a key, and the stepped shaft I16 and the convex ring of the vibration disc are fixedly connected through a screw; the vibration disc is used for transmitting vibration to a servo motor 7 for the industrial robot; a rotor of the gas-electricity integrated rotating joint 21 is fixed on the vibrating disk 19 and is coaxially arranged with the vibrating disk 19, and a stator of the gas-electricity integrated rotating joint 21 is fixed on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotating joint 21 and fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc through bolts respectively, and fixed scales are fixed on the edges of the two strip-shaped adjusting grooves and used for assisting position adjustment of the first voice coil motor 20 and the second voice coil motor 22; the first voice coil motor 20 and the second voice coil motor 22 are respectively fixed with the two voice coil motor mounting plates, the voice coil motor mounting plates can ensure that the voice coil motor cannot shake back and forth in the test process, and the voice coil motor is used for providing the accuracy required by system vibrationThe frequency of (d); signal control lines of the voice coil motor I20 and the voice coil motor II 22 are electrically connected with a rotor of the gas-electricity integrated rotating joint 21, and a stator of the gas-electricity integrated rotating joint 21 is electrically connected with a servo driver II 5 arranged beside the base II 24; the second servo driver 5 is electrically connected with the first programmable controller 2, and a serial communication port of the second servo driver 5 is connected with a universal serial bus interface of the upper computer 3; the programmable controller I2 controls the operation of the acceleration detection servo motor 9 through the servo driver II 5; the signal output line of the dynamic torque sensor is connected with the data acquisition instrument 25 through the one-way signal conversion module 26, and the dynamic torque sensor can measure the output rotating speed and the output torque of the servo motor for the industrial robot. The second gear 13, the third coupler 14, the first gear 15, the first stepped shaft 16, the second stepped shaft 17, the first bearing seat 18, the vibrating disk 19, the first voice coil motor 20, the integrated gas-electricity rotary joint 21, the second voice coil motor 22 and the second bearing seat 23 are all arranged in the safety cover, and the end of the first stepped shaft 16 connected with the first coupler 8 and the end of the second stepped shaft 17 connected with the second coupler 11 extend out of the safety cover.

The comprehensive testing device for the complex working conditions of the industrial robot servo system can simulate the actual working state of a servo motor for an industrial robot under the condition of vibration, can test the sudden-turning and sudden-stopping working condition caused by simulating a non-optimized motion path of the industrial robot, and can test the motion condition of the servo motor under the condition of simulating the overspeed of the industrial robot; the reliable test method is provided for the vibration condition of the servo motor for the existing industrial robot.

The comprehensive test method for the complex working condition of the industrial robot servo system comprises the following specific steps:

1.1, fixing a first base 6 on the top surface of the mounting bottom plate, and fixing a dynamic torque sensor 12 on the mounting bottom plate 1 through the first base 6; the signal output line of the dynamic torque sensor 12 is connected with the data acquisition instrument 25 through a one-way signal conversion module 26; the servo driver I4 and the programmable controller I2 are arranged on the mounting base plate 1; the first servo driver 4 is electrically connected with the first programmable controller 2, and a serial communication port of the first servo driver 4 is connected with a universal serial bus interface of the upper computer 3.

1.2 the industrial robot to be tested is fixed with a first base 6 by a servo motor 7, and an output shaft of the servo motor 7 for the industrial robot is horizontally arranged; connecting a servo motor 7 for the industrial robot with an input shaft of a dynamic torque sensor 12 through a first coupling 8; the industrial robot servo system (the industrial robot servo system comprises a first programmable controller 2, a first servo driver 4 and a servo motor 7 for the industrial robot) is electrified, the upper computer 3 controls the first programmable controller 2, the first programmable controller 2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards according to rated rotating speed through the first servo driver 4, wherein the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, and the continuous test is carried out for 24 hours.

1.3 recording the last 20 seconds of working condition data in 24 hours, collecting and processing the working condition data, if the output torque fluctuation rate, the output current fluctuation rate and the final rotating speed fluctuation rate of the servo motor for the industrial robot in the last 20 seconds in 24 hours are more than factory calibration values, indicating that the servo system of the industrial robot can not meet the test requirements, powering off the servo system of the industrial robot (the servo system of the industrial robot comprises a programmable controller I2, a servo driver I4 and a servo motor 7 for the industrial robot), replacing a new servo motor for the industrial robot, returning to the step 1.2, otherwise, recording the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor 7 for the industrial robot in the last 20 seconds in 24 hours as the no-load test reference value of the servo system of the industrial robot, and the next step is performed.

2.1, powering off a servo system of the industrial robot, connecting an output shaft of the dynamic torque sensor 12 with one end of a first stepped shaft 16 through a third coupler 14, and fixing a first gear 15 on the first stepped shaft 16; the other end of the first stepped shaft 16 penetrates through the vibration disc 19 and is fixed with the vibration disc 19; a rotor of the gas-electricity integrated rotating joint 21 is fixed on the vibrating disk 19 and is coaxially arranged with the vibrating disk 19, and a stator fixing base of the gas-electricity integrated rotating joint 21 is arranged on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotating joint 21 and are fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc 19 through bolts respectively; the first voice coil motor 20 and the second voice coil motor 22 are respectively fixed with the two voice coil motor mounting plates, so that the first voice coil motor 20 and the second voice coil motor 22 are ensured to be symmetrical with respect to the center of the vibration disc 19; signal control lines of the voice coil motor I20 and the voice coil motor II 22 are electrically connected with a rotor of the gas-electricity integrated rotating joint 21, and a stator of the gas-electricity integrated rotating joint 21 is fixed with the base IV; and a voice coil motor driver is arranged in the fourth base, the voice coil motor driver is electrically connected with the second programmable controller, the second programmable controller is controlled through the interface of the upper computer 3, and the second programmable controller controls the vibration of the first voice coil motor 20 and the second voice coil motor 22.

2.2 the industrial robot servo system (the industrial robot servo system comprises a first programmable controller 2, a first servo driver 4 and a servo motor 7 for the industrial robot) is electrified, and the power supply of a first voice coil motor 20 and a second voice coil motor 21 is closed, the upper computer 3 controls the first programmable controller 2, the first programmable controller 2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the first servo driver 4, the rotating time is 2h, wherein the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s of working condition data are continuously recorded every 20min, the working condition data are collected and processed, then a first service performance evaluation is carried out, and the reference value of the threshold value during the evaluation is the no-load test reference value of the industrial robot servo system.

2.3 if a certain evaluation result shows that the servo system of the tested industrial robot does not meet the non-vibration load test requirement, powering off the servo system of the industrial robot, detaching the third coupler 14, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise, taking the average value of the output torque, the average value of the final rotating speed, the standard deviation of the output torque, the standard deviation of the final rotating speed and the efficiency of the servo motor 7 for the industrial robot in the last 20s of working condition data acquisition and processing process within 2h as the non-vibration load test reference value of the servo system of the industrial robot, and directly executing the step three.

3.1, turning on a power supply of the first voice coil motor 20 and the second voice coil motor 22, and adjusting the motion period of the first voice coil motor 20 and the second voice coil motor 22 through an upper computer 3 interface, so that the linear reciprocating vibration frequencies of the mass blocks driven by the first voice coil motor 20 and the second voice coil motor 22 are respectively 10HZ, 20HZ, 30HZ, 40HZ and 50HZ in sequence, and performing five groups of tests; during each group of tests, the upper computer 3 controls the first programmable controller 2, the first programmable controller 2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards through the first servo driver 4 according to the rated rotating speed, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation is the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, then a first service performance is evaluated, and the reference value of the threshold value during the evaluation is the non-vibration load test reference value of the servo system of the industrial robot;

3.2 if a certain evaluation result shows that the servo system of the tested industrial robot does not meet the low-frequency vibration load test requirement, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise, taking the average value of the output torque, the average value of the final rotating speed, the standard deviation of the output torque, the standard deviation of the final rotating speed and the efficiency of the servo motor 7 for the industrial robot in the process of acquiring and processing the last 20s of working condition data within 2h of the last group of tests as the reference value of the low-frequency vibration load test of the servo system of the industrial robot, and directly executing the step four.

4.1, regulating the motion period of the first voice coil motor 20 and the second voice coil motor 22 through the interface of the upper computer 3, so that the linear reciprocating vibration frequencies of the mass blocks driven by the first voice coil motor 20 and the second voice coil motor 22 are 100Hz, 200Hz, 300Hz, 400Hz and 500Hz in sequence, and performing five groups of tests; during each group of tests, the upper computer 3 controls the first programmable controller 2, the first programmable controller 2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards through the first servo driver 4 according to the rated rotating speed, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation is the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, then a first service performance is evaluated, and the reference value of the threshold value during the evaluation is the low-frequency vibration load test reference value of the servo system of the industrial robot;

4.2 if a certain evaluation result shows that the servo system of the tested industrial robot does not meet the high-frequency vibration load test requirement, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor 7 for the industrial robot in the last 20s working condition data acquisition and processing process within 2h of the last group of tests as the high-frequency vibration load test reference value of the servo system of the industrial robot, and directly executing the step five.

5.1 the interface of the upper computer 3 adjusts the motion period of the voice coil motor I20 and the voice coil motor II 22, so that the linear reciprocating vibration frequency of the mass blocks driven by the voice coil motor I20 and the voice coil motor II 22 is changed between 10HZ and 300HZ, and the change speed is 10 HZ/min; controlling a voice coil motor I20 and a voice coil motor II 22 to start frequency sweeping vibration by an upper computer interface; meanwhile, the upper computer 3 controls the programmable controller I2, the programmable controller I2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the servo driver I4, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min and are acquired and processed, then the first service performance evaluation is carried out by taking the low-frequency vibration load test reference value of the servo system of the industrial robot as the reference value of the threshold value during evaluation, and then the first service performance evaluation is carried out by taking the high-frequency vibration load test reference value of the servo system of the industrial robot as the reference value of the threshold value during evaluation.

5.2 if a certain evaluation result shows that the servo system of the tested industrial robot does not meet the test requirement of the alternating vibration load, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise, the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor 7 for the industrial robot in the last 20s working condition data acquisition and processing process within 2h are used as the alternating vibration load test reference values of the servo system of the industrial robot, and the next step is directly executed.

6.1 powering off the industrial robot servo system and closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21; according to the fixed scales at the edges of the two strip-shaped adjusting grooves of the vibration disc, the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting grooves of the vibration disc 19 are adjusted, so that the distance L between the mass centers of the first voice coil motor 20 and the second voice coil motor 22 and the center 19 of the vibration disc is changed₁And L₂(ii) a After adjustment, the voice coil motor one 20 and the voice coil motor two 22 are still symmetrical about the center of the vibration disk. Each time step 6.1 is performed, the fixing positions of the voice coil motor mounting plate in the elongated adjusting grooves of the vibration disc 19 are different.

Due to L₁And L₂Change the load torque T borne by the servo motor for the industrial robot_LAnd load inertia J_LWill change.

The output torque of the servo motor 7 for the industrial robot measured by the dynamic torque sensor 12 is equal to the load torque T borne by the servo motor_LSo that the voice coil motor mounting plate corresponds to T at different positions_LDirectly by the dynamic torque sensor 12.

6.2 if the repetition frequency of the step 6.1 reaches five times, executing a step seven, otherwise jumping to the step 2.2, performing a second service performance evaluation until the step five is executed, if the evaluation result shows that the tested industrial robot servo system does not meet the variable load inertia and load torque test requirements, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I20 and the voice coil motor II 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor 12 with one end of the stepped shaft I16 through the coupler III 14, and then jumping to the step 2.2.

7.1 powering off the industrial robot servo system and closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21; the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibration disc 19 are adjusted, so that the distance between the mass centers of the first voice coil motor 20 and the second voice coil motor 22 and the center of the vibration disc 19 is adjusted to be the farthest, and the motion direction of the mass blocks driven by the first voice coil motor 20 and the second voice coil motor 22 is the tangential direction of the vibration disc 19; electrifying an industrial robot servo system, turning on power supplies of the first voice coil motor 20 and the second voice coil motor 22, and adjusting the frequency and amplitude of the first voice coil motor 20 and the second voice coil motor 22 respectively on the interface of the upper computer 3 to ensure that the frequency and amplitude of the first voice coil motor 20 and the second voice coil motor 22 are different and randomly changed; meanwhile, the upper computer 3 controls a first programmable controller 2, the first programmable controller 2 sets a servo motor 7 for the industrial robot to periodically rotate forwards and backwards at a rated rotating speed through a first servo driver 4, the rotating time is 2 hours, the acceleration and deceleration time of the forward rotation and the acceleration and deceleration time of the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, and then the second service performance is evaluated;

7.2 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise step 7.3 is performed directly.

7.3 powering off the industrial robot servo system and closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21; the moving direction of the mass blocks driven by the voice coil motor I20 and the voice coil motor II 22 is the radial direction of the vibration disc 19 by adjusting the fixing direction of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibration disc 19; electrifying an industrial robot servo system, turning on power supplies of the first voice coil motor 20 and the second voice coil motor 22, and adjusting the frequency and amplitude of the first voice coil motor 20 and the second voice coil motor 22 respectively on the interface of the upper computer 3 to ensure that the frequency and amplitude of the first voice coil motor 20 and the second voice coil motor 22 are different and randomly changed; meanwhile, the upper computer 3 controls the first programmable controller 2, the first programmable controller 2 sets the servo motor 7 for the industrial robot to periodically rotate forwards and backwards at a rated rotating speed through the first servo driver 4, the rotating time is 2 hours, the acceleration and deceleration time of the forward rotation and the acceleration and deceleration time of the reverse rotation are both the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, and then the second service performance is evaluated.

7.4 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of the shaft end multi-degree-of-freedom impact load, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise step 7.5 is performed directly.

7.5 powering off the industrial robot servo system, and closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21; the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibration disc 19 are adjusted, so that the first voice coil motor 20 and the second voice coil motor 22 are asymmetric about the center of the vibration disc 19; then, electrifying the industrial robot servo system, and turning on the power supplies of the first voice coil motor 20 and the second voice coil motor 22; five groups of motion change rules of a voice coil motor I20 and a voice coil motor II 22 are set through an interface of the upper computer 3, and five groups of tests are carried out; when each group of test is carried out, the motion of the voice coil motor I20 and the voice coil motor II 22 changes according to a change rule, meanwhile, the upper computer 3 controls the programmable controller I2, the programmable controller I2 sets the servo motor 7 for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the servo driver I4, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are collected and processed, and then the second service performance is evaluated;

7.6 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, and jumping to the step 2.2; otherwise, directly executing the next step.

8.1 powering off the industrial robot servo system; the upper computer 3 controls a programmable controller I2, the programmable controller I2 sets the acceleration and deceleration time of a servo motor 7 for the industrial robot to be 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot respectively through a servo driver I4, the operation returns to the step 2.2 respectively until the step five is executed, second service performance evaluation is carried out, if the evaluation result shows that the servo system of the industrial robot to be tested does not meet the requirement of the servo motor sudden-turning and sudden-stopping test in the non-optimized motion path of the industrial robot, the servo system of the industrial robot is powered off, the power supplies of a voice coil motor I20 and a voice coil motor II 21 are shut off, the new servo motor for the industrial robot is replaced once, the step 1.2 and the step 1.3 are repeated, then the servo system of the industrial robot is powered off, the output shaft of a dynamic torque sensor 12 is connected with one end of a stepped shaft I16, then jump to step 2.2;

8.2 powering off the industrial robot servo system; the upper computer 3 controls a programmable controller I2, the programmable controller I2 sets the acceleration time of a servo motor 7 for the industrial robot to be 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot respectively through a servo driver I4, but the deceleration time is 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot and is different from the value of the acceleration time, the method respectively returns to the step 2.2 to be executed until the step five is executed, a second service performance evaluation is carried out, if the evaluation result shows that the servo system of the industrial robot does not meet the requirement of the servo motor sudden-turn and sudden-stop test in the non-optimized motion path of the industrial robot, the servo system of the industrial robot is powered off, the power supply of a voice coil motor I20 and a voice coil motor II 21 is closed, a new servo motor for the industrial robot is replaced by repeating the step 1.2 and the step 1.3 once, and then the servo system of the industrial robot is powered off, the output shaft of the dynamic torque sensor 12 is connected with one end of the first stepped shaft 16 through the third coupler 14, and then the step 2.2 is skipped.

Ninthly, testing the overspeed of the industrial robot servo system:

9.1, the servo system of the industrial robot is powered off, and a second base 24 is fixed on the top surface of the mounting bottom plate 1; the acceleration detection servo motor 9 is fixed on the second base 24; the first gear 15 is meshed with the second gear 13, and the transmission ratio of the first gear 15 to the second gear 13 is i-Z₂/Z₁＝2；

9.2 the second gear 13 is connected with the output shaft of the acceleration detection servo motor 9 through a second coupler 11; powering on a servo system of the industrial robot; the upper computer 3 controls the first programmable controller 2, and the first programmable controller 2 sets the rotating speed of the acceleration detection servo motor 9 through the second servo driver 5, so that the rotating speed corresponding to the servo motor 7 for the industrial robot is twice of the rated rotating speed; returning to the step 2.2 for execution, and performing second service performance evaluation until the step five is executed;

9.3 if the evaluation result shows that the measured industrial robot servo system does not meet the requirement of overspeed testing, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, disconnecting the second gear from the second coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, jumping to the step 2.2, jumping to the step 9.1 until the step eight is executed, and directly jumping to the step 9.2 to execute;

9.4 the programmable controller I2 controls the servo motor 7 for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through the servo driver I4, wherein the acceleration and deceleration time of the forward rotation and the reverse rotation is the rated acceleration and deceleration time of the servo motor for the industrial robot, and the continuous operation is carried out for 96 hours; when the last hour is left, continuously recording the working condition data for 20s every 20min, collecting and processing the working condition data, and then evaluating the second service performance;

9.5 if the evaluation result shows that the servo system of the tested industrial robot does not meet the requirement of overspeed testing, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor 20 and the second voice coil motor 21, disconnecting the second gear from the second coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor 12 with one end of the first stepped shaft 16 through the third coupler 14, jumping to the step 2.2, jumping to the step 9.1 until the step eight is executed, and directly jumping to the step 9.2 to execute.

The working condition data acquisition and processing process comprises the following steps: the working condition data comprises output torque, output current and rotating speed of a servo motor for the industrial robot; the dynamic torque sensor 12 transmits the detected rotating speed and output torque signals of the servo motor for the industrial robot to the single-path signal conversion module 26, the signals are converted into voltage signals respectively and then transmitted to the data acquisition instrument 25, the data acquisition instrument 25 transmits the voltage signals to the upper computer 3 to convert the voltage signals into the rotating speed and output torque values of the servo motor for the industrial robot, and meanwhile, the upper computer 3 reads the output current and the rotating speed of the servo motor for the industrial robot through the first servo driver 4; the upper computer 3 is used as the final rotating speed of the servo motor for the industrial robot after the rotating speed received and converted by the data acquisition instrument 25 and the rotating speed received by the servo driver I4 are averaged; the upper computer 3 calculates the average value and the standard deviation of the output torque, the output current and the final rotating speed of the servo motor for the industrial robot within the 20s time period, and substitutes the average value T of the output torque and the average value n of the final rotating speed into the formula (2) to calculate the output power P of the servo motor 7 for the industrial robot₁(ii) a Then, the input power P of the servo motor for the industrial robot is respectively calculated according to the formula (3) and the formula (4)₂And efficiency η.

P₂＝U*I (3)

The process of evaluating the first service performance is specifically that the first programmable controller 2 transmits the rotating speed working condition of the servo motor 7 for the industrial robot and the working condition of the acceleration detection servo motor 9 to the upper computer, the second programmable controller transmits the working condition of the first voice coil motor 20 and the working condition of the second voice coil motor 22 to the upper computer, threshold values are set for the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency η of the servo motor 7 for the industrial robot respectively, and then when any one of the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency η of the servo motor for the industrial robot in the 20s time period under the current test working condition exceeds the corresponding threshold value, the service performance of the servo motor 7 for the industrial robot under the current test working condition is determined to be not met.

The process for evaluating the service performance of the second type of service performance comprises the steps that a first programmable controller 2 transmits the rotating speed working condition of a servo motor 7 for an industrial robot and the working condition of an acceleration detection servo motor 9 to a host computer, a second programmable controller transmits the working condition of a first voice coil motor 20 and the working condition of a second voice coil motor 22 to the host computer, the steps of ① setting thresholds for the output torque mean value, the final rotating speed mean value, the output torque standard deviation and the efficiency of the servo motor 7 for the industrial robot are sequentially executed, when any one of the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor 7 for the industrial robot exceeds the working condition threshold value in the evaluation time period under the current test working condition, the servo motor 7 for the industrial robot is judged to have the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation, the efficiency standard deviation and the efficiency setting threshold value, when any one of the servo motor 20 exceeds the working condition standard threshold value, the output torque mean value, the working condition, the servo motor mean value, the final rotating speed deviation, the output torque standard deviation, the average value, the output torque standard deviation, the final rotating speed standard deviation, the output torque standard deviation, the working condition of the servo motor 7 for the industrial robot under the industrial robot is judged to have the working condition, the standard, the output torque standard deviation, the average value of the output torque standard deviation of the average value, the working condition of the output torque standard deviation, the working condition of the industrial robot under the working condition, the industrial robot under the working condition, the working condition of the industrial robot under the industrial robot, the working condition, the industrial robot under the working condition of the working condition, the working condition of the industrial robot under the working condition, the working condition of the industrial robot under the industrial robot, the industrial robot under the working condition.

Claims

1. The complex working condition comprehensive test method of the industrial robot servo system is characterized by comprising the following steps of: the method comprises the following specific steps:

1.1, fixing a first base on the top surface of a mounting bottom plate, and fixing a dynamic torque sensor on the mounting bottom plate through the first base; a signal output line of the dynamic torque sensor is connected with the data acquisition instrument through the one-way signal conversion module; the first servo driver and the first programmable controller are arranged on the mounting base plate; the first servo driver is electrically connected with the first programmable controller, and a serial communication port of the first servo driver is connected with a universal serial bus interface of an upper computer;

1.2 the industrial robot to be tested is fixed with the first base by the servo motor, and the output shaft of the servo motor for the industrial robot is horizontally arranged; connecting a servo motor for an industrial robot with an input shaft of a dynamic torque sensor through a first coupling; electrifying an industrial robot servo system, wherein the industrial robot servo system comprises a first programmable controller, a first servo driver and a servo motor for the industrial robot; the upper computer controls a first programmable controller, the first programmable controller controls the servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through a first servo driver, wherein the acceleration and deceleration time of the forward rotation and the acceleration and deceleration time of the reverse rotation are both the rated acceleration and deceleration time of the servo motor for the industrial robot, and the continuous test is carried out for 24 hours;

1.3 recording the last 20 seconds of working condition data in 24 hours, collecting and processing the working condition data, if the output torque fluctuation rate, the output current fluctuation rate and the final rotating speed fluctuation rate of the servo motor for the industrial robot in the last 20 seconds in 24 hours are more than factory calibration values, indicating that the servo system of the industrial robot cannot meet the test requirements, powering off the servo system of the industrial robot, replacing a new servo motor for the industrial robot to return to the step 1.2, otherwise, recording the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20 seconds in 24 hours, taking the output torque average value, the final rotating speed average value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot as the no-;

2.1, powering off a servo system of the industrial robot, connecting an output shaft of the dynamic torque sensor with one end of a stepped shaft through a third coupler, and fixing a first gear on the first stepped shaft; the other end of the stepped shaft penetrates through the vibrating disk and is fixed with the vibrating disk; a rotor of the gas-electricity integrated rotating joint is fixed on the vibrating disk and is coaxially arranged with the vibrating disk, and a stator fixing base of the gas-electricity integrated rotating joint is arranged on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotating joint and are fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc through bolts respectively; the first voice coil motor and the second voice coil motor are respectively fixed with the two voice coil motor mounting plates, so that the first voice coil motor and the second voice coil motor are ensured to be symmetrical about the center of the vibration disc; signal control lines of the voice coil motor I and the voice coil motor II are electrically connected with a rotor of the gas-electricity integrated rotating joint, and a stator of the gas-electricity integrated rotating joint is fixed with the base IV; a voice coil motor driver is arranged in the base IV, the voice coil motor driver is electrically connected with the programmable controller II, the programmable controller II is controlled through an upper computer interface, and the programmable controller II controls the vibration of the voice coil motor I and the voice coil motor II;

2.2 electrifying the servo system of the industrial robot, closing a power supply of the first voice coil motor and the second voice coil motor, controlling the first programmable controller by the upper computer, controlling the servo motor for the industrial robot to periodically rotate forwards and backwards according to rated rotating speed by the first programmable controller through the first servo driver, wherein the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, continuously recording 20s of working condition data every 20min, acquiring and processing the working condition data, and then carrying out first service performance evaluation, wherein the reference value of a threshold value during evaluation is the no-load test reference value of the servo system of the industrial robot;

2.3 if a certain evaluation result shows that the measured industrial robot servo system does not meet the non-vibration load test requirement, powering off the industrial robot servo system, detaching the third coupler, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, and jumping to the step 2.2; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h as non-vibration load test reference values of the servo system of the industrial robot, and directly executing the step three;

3.2 if a certain evaluation result shows that the servo system of the industrial robot to be tested does not meet the low-frequency vibration load test requirement, powering off the servo system of the industrial robot, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing the new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the servo system of the industrial robot, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a third coupler, and jumping to the step 2.2; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h of the last group of tests as the low-frequency vibration load test reference value of the servo system of the industrial robot, and directly executing the step four;

4.2 if a certain evaluation result shows that the servo system of the industrial robot to be tested does not meet the high-frequency vibration load test requirement, the servo system of the industrial robot is powered off, the power supply of the first voice coil motor and the second voice coil motor is closed, the new servo motor for the industrial robot is replaced, the step 1.2 and the step 1.3 are repeated once, then the servo system of the industrial robot is powered off, the output shaft of the dynamic torque sensor is connected with one end of the stepped shaft through the third coupler, and then the step 2.2 is skipped; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h of the last group of tests as high-frequency vibration load test reference values of the servo system of the industrial robot, and directly executing the step five;

5.1, the upper computer interface adjusts the motion period of the first voice coil motor and the second voice coil motor, so that the linear reciprocating vibration frequency of the mass block driven by the first voice coil motor and the second voice coil motor is changed between 10HZ and 300HZ, and the change speed is 10 HZ/min; the upper computer interface controls the voice coil motor I and the voice coil motor II to start frequency sweeping vibration; meanwhile, the upper computer controls a programmable logic controller I, the programmable logic controller I controls a servo motor for the industrial robot to periodically rotate forwards and backwards through a servo driver I according to a rated rotating speed, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min and are acquired and processed, then a first service performance evaluation is carried out by taking a low-frequency vibration load test reference value of the industrial robot servo system as a reference value of a threshold value during evaluation, and then a first service performance evaluation is carried out by taking a high-frequency vibration load test reference value of the industrial robot servo system as a reference value of the threshold value during evaluation;

5.2 if a certain evaluation result shows that the tested industrial robot servo system does not meet the test requirement of the alternating vibration load, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and jumping to the step 2.2; otherwise, taking the output torque mean value, the final rotating speed mean value, the output torque standard deviation, the final rotating speed standard deviation and the efficiency of the servo motor for the industrial robot in the last 20s working condition data acquisition and processing process within 2h as the alternating vibration load test reference value of the servo system of the industrial robot, and directly executing the next step;

6.1, powering off the industrial robot servo system, and closing the power supplies of the first voice coil motor and the second voice coil motor; according to the fixed scales at the edges of the two strip-shaped adjusting grooves of the vibrating disc, the fixed positions of the two voice coil motor mounting plates in the strip-shaped adjusting grooves of the vibrating disc are adjusted, so that the distance L between the mass centers of the first voice coil motor and the second voice coil motor and the center of the vibrating disc is changed₁And L₂(ii) a After adjustment, the first voice coil motor and the second voice coil motor are still symmetrical about the center of the vibration disc; step 6.1 is executed each time, the fixed positions of the voice coil motor mounting plate in the strip-shaped adjusting groove of the vibration disc are different;

in the formula (1), M₁Mass of the voice coil motor I or the voice coil motor II, d₁The length of the voice coil motor body;

servo motor load torque T for industrial robot with voice coil motor mounting plates corresponding to different positions_LDirectly measuring through a dynamic torque sensor;

6.2 if the repetition frequency of the step 6.1 reaches five times, executing a step seven, otherwise jumping to the step 2.2, performing second service performance evaluation until the step five is executed, if the evaluation result shows that the tested industrial robot servo system does not meet the variable load inertia and load torque test requirements, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and then jumping to the step 2.2;

7.2 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a third coupler, and jumping to the step 2.2; otherwise, directly executing the step 7.3;

7.3, powering off the industrial robot servo system, and closing the power supplies of the first voice coil motor and the second voice coil motor; the moving direction of the mass blocks driven by the first voice coil motor and the second voice coil motor is the radial direction of the vibrating disc by adjusting the fixing direction of the two voice coil motor mounting plates in the strip-shaped adjusting groove of the vibrating disc; electrifying an industrial robot servo system, turning on a power supply of the first voice coil motor and the second voice coil motor, and respectively adjusting the frequency and the amplitude of the first voice coil motor and the second voice coil motor by an upper computer interface to ensure that the frequency and the amplitude of the first voice coil motor and the second voice coil motor are different and randomly changed; meanwhile, the upper computer controls a first programmable controller, the first programmable controller sets a servo motor for the industrial robot to periodically rotate forwards and backwards according to the rated rotating speed through a first servo driver, the rotating time is 2h, the acceleration and deceleration time of the forward rotation and the reverse rotation are the rated acceleration and deceleration time of the servo motor for the industrial robot, 20s working condition data are continuously recorded every 20min, the working condition data are acquired and processed, and then the second service performance is evaluated;

7.4 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of the shaft end multi-degree-of-freedom impact load, powering off the industrial robot servo system, closing the power supplies of the voice coil motor I and the voice coil motor II, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through a coupler III, and jumping to the step 2.2; otherwise, directly executing the step 7.5;

7.6 if a certain evaluation result shows that the measured industrial robot servo system does not meet the requirement of shaft end multi-degree-of-freedom impact load test, powering off the industrial robot servo system, closing the power supplies of the first voice coil motor and the second voice coil motor, replacing a new servo motor for the industrial robot, repeating the step 1.2 and the step 1.3 once, then powering off the industrial robot servo system, connecting the output shaft of the dynamic torque sensor with one end of the stepped shaft through the third coupler, and jumping to the step 2.2; otherwise, directly executing the next step;

8.2 powering off the industrial robot servo system; the upper computer controls a programmable controller I, the programmable controller I sets the acceleration time of the servo motor for the industrial robot to be 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot respectively through a servo driver I, but the deceleration time is 0.1 time, 0.25 time, 0.5 time and 0.75 time of the rated acceleration and deceleration time of the servo motor for the industrial robot and is different from the value of the acceleration time, the programmable controller I respectively returns to the step 2.2 to execute until the step five is executed, a second service performance evaluation is carried out, if the evaluation result shows that the tested industrial robot servo system does not meet the requirement of the servo motor sudden-turn and sudden-stop test in the non-optimized motion path of the industrial robot, the industrial robot servo system is powered off, the power supply of a voice coil motor I and a voice coil motor II is closed, the step 1.2 and the step 1.3 are repeated once for replacing a new industrial robot, then the servo system of the industrial robot is powered off, the output shaft of the dynamic torque sensor is connected with one end of the stepped shaft through the third coupler, and then the step 2.2 is skipped;

ninthly, testing the overspeed of the industrial robot servo system:

2. The comprehensive test method for complex working conditions of the industrial robot servo system according to claim 1, characterized in that: the working condition data acquisition and processing process comprises the following steps: the working condition data comprises output torque, output current and rotating speed of a servo motor for the industrial robot; the dynamic torque sensor transmits the detected rotating speed and output torque signals of the servo motor for the industrial robot to the single-path signal conversion module, the signals are converted into voltage signals respectively and then transmitted to the data acquisition instrument, the data acquisition instrument transmits the voltage signals to the upper computer, the voltage signals are converted into rotating speed and output torque values of the servo motor for the industrial robot, and meanwhile, the upper computer reads the output current and the rotating speed of the servo motor for the industrial robot through the first servo driver; the upper computer is used as the final rotating speed of the servo motor for the industrial robot after the rotating speed received and converted by the data acquisition instrument and the rotating speed received by the servo driver I are averaged; the upper computer calculates the average value and the standard deviation of the output torque, the output current and the final rotating speed of the servo motor for the industrial robot within the 20s time period, andsubstituting the average value T of the output torque and the average value n of the final rotating speed into formula (2) to calculate the output power P of the servo motor for the industrial robot₁(ii) a Then, the input power P of the servo motor for the industrial robot is respectively calculated according to the formula (3) and the formula (4)₂And efficiency η;

P₂＝U*I (3)

3. The comprehensive test method for the complex working conditions of the industrial robot servo system according to claim 1 is characterized in that the first service performance evaluation process is carried out by the following steps that a first programmable controller transmits the rotating speed working condition of the servo motor for the industrial robot and the working condition of the servo motor for acceleration detection to an upper computer, a second programmable controller transmits the working condition of a first voice coil motor and the working condition of a second voice coil motor to the upper computer, threshold values are respectively set for the average value of output torque, the average value of final rotating speed, the standard deviation of output torque, the standard deviation of final rotating speed and the efficiency η of the servo motor for the industrial robot in a 20s time period under the current test working condition, and the service performance of the servo motor for the industrial robot under the current test working condition is determined to be not met when any one of the average value of output torque, the average value of final rotating speed, the standard deviation of output torque, the standard deviation of final rotating speed and the efficiency η of the.

4. The method for comprehensively testing the complex working conditions of the servo system of the industrial robot according to claim 1 is characterized in that a process of evaluating the service performance of the servo system of the industrial robot is specifically as follows, a programmable controller transmits the rotating speed working condition of the servo motor for the industrial robot and the working condition of an acceleration detection servo motor to an upper computer, a programmable controller transmits the working condition of a voice coil motor and the working condition of a voice coil motor to the upper computer, then the steps of ① setting a threshold value for the efficiency of the servo motor for the industrial robot are performed sequentially by taking a no-load test reference value of the servo system of the industrial robot as a reference value of an evaluation time threshold value, respectively transmitting the output torque mean value, the final rotating speed mean value, the output torque standard difference, the final rotating speed standard difference and the efficiency of the servo motor for the industrial robot to a threshold value for outputting the torque mean value, the final rotating speed mean value, the output torque standard difference, the final rotating speed standard difference and the efficiency of the servo motor for the industrial robot are determined, then the average value for the working condition of the industrial robot is determined, the working condition of the servo motor for the industrial robot, the industrial robot is determined, the average value for the test working condition of the output torque standard, the non-load standard for the industrial robot, the non-test non-vibration test, the non-load test non-load standard for the industrial robot is used servo system, the non-vibration test, the servo motor for the industrial robot is used test, the non-working condition of the servo motor for the servo system, the industrial robot, the servo motor for the industrial robot is used test, the non-test working condition of the industrial robot, the working condition of the industrial robot is used for the industrial robot, the working condition of the industrial robot is determined, the industrial robot, the working condition of the industrial robot is used for the industrial robot, the working condition of the working condition, the working condition of the industrial robot is determined, the working condition of the working condition, the working condition is determined, the working condition is determined, the working condition of the working condition, the working condition is determined, the working condition is determined, the working condition.

5. Comprehensive testing arrangement of industrial robot servo system's complicated operating mode, including mounting plate, programmable controller one, servo driver two, base one, shaft coupling two, dynamic torque sensor, shaft coupling three, gear one, step shaft one, bearing frame one, vibration disc, bearing frame two, base two, data acquisition appearance and one way signal conversion module, its characterized in that: the device also comprises an acceleration detection servo motor, a gear II, a stepped shaft II, a voice coil motor I, a gas-electricity integrated rotary joint and a voice coil motor II; the first base is fixed on the mounting base plate, the dynamic torque sensor is fixed on the first base, an input shaft of the dynamic torque sensor is fixed with one end of the first coupler, and the dynamic torque sensor is used for collecting the output torque and the output rotating speed of the servo motor for the industrial robot; an output shaft of the dynamic torque sensor is connected with one end of a stepped shaft through a third coupler, and the first stepped shaft is supported on a first bearing seat through a bearing; a first gear is fixed on the first stepped shaft and meshed with a second gear; the second gear is fixed on the second stepped shaft and is connected with an output shaft of the acceleration detection servo motor through a second coupler; the stepped shaft II is supported on a bearing seat II through a bearing; the acceleration detection servo motor is fixed on a second base, and the second base is fixed on the top surface of the mounting bottom plate; the first bearing seat and the second bearing seat are both fixed on the third base; the third base is fixed on the mounting bottom plate; the other end of the stepped shaft penetrates through the vibrating disk and is fixed with the vibrating disk; a rotor of the gas-electricity integrated rotating joint is fixed on the vibrating disk and is coaxially arranged with the vibrating disk, and a stator of the gas-electricity integrated rotating joint is fixed on the fourth base; the two voice coil motor mounting plates are symmetrically arranged on two sides of the gas-electricity integrated rotary joint and fixedly connected with two strip-shaped adjusting grooves formed in the vibrating disc through bolts respectively, and fixed scales are fixed on the edges of the two strip-shaped adjusting grooves; the first voice coil motor and the second voice coil motor are respectively fixed with the two voice coil motor mounting plates; signal control lines of the voice coil motor I and the voice coil motor II are electrically connected with a rotor of the gas-electricity integrated rotating joint, and a stator of the gas-electricity integrated rotating joint is electrically connected with a servo driver II arranged beside the base II; the second servo driver is electrically connected with the first programmable controller, and a serial communication port of the second servo driver is connected with a universal serial bus interface of the upper computer; and a signal output line of the dynamic torque sensor is connected with the data acquisition instrument through the one-way signal conversion module.

6. The complex working condition comprehensive test device of the industrial robot servo system according to claim 5, characterized in that: the transmission ratio of the first gear to the second gear is 2.

7. The complex working condition comprehensive test device of the industrial robot servo system according to claim 5, characterized in that: the fixing mode of the stepped shaft and the vibration disc is as follows: the stepped shaft and the convex ring integrally formed at the center of the vibration disc are circumferentially limited through a key, and the stepped shaft and the convex ring of the vibration disc are fixedly connected through a screw.

8. The complex working condition comprehensive test device of the industrial robot servo system according to claim 5, characterized in that: the second gear, the third coupler, the first gear, the first stepped shaft, the second stepped shaft, the first bearing seat, the vibrating disc, the first voice coil motor, the pneumoelectric integrated rotating joint, the second voice coil motor and the second bearing seat are all arranged in the safety cover, and the end of the first stepped shaft connected with the first coupler and the end of the second stepped shaft connected with the second coupler extend out of the safety cover.