CN111290374A - Industrial robot IO function reliability testing device and testing method thereof - Google Patents
Industrial robot IO function reliability testing device and testing method thereof Download PDFInfo
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Abstract
The invention discloses an industrial robot IO functional reliability testing device and a testing method thereof, wherein the testing device comprises a robot IO module, a relay terminal block, a remote IO module and an industrial personal computer, wherein the input end of the robot IO module is connected to the output end of the remote IO module through the relay terminal block, and the output end of the robot IO module is connected to the input end of the remote IO module through the relay terminal block; the industrial computer is also connected in the output of long-range IO module to control the output state of long-range IO module, simultaneously, the industrial computer still realizes testing and judging the reliability of robot IO module function based on its control to long-range IO module output state and its detection to long-range IO module input state. The test device can accurately and efficiently test a plurality of IO functional reliability of the industrial robot, greatly improves the test efficiency and effectively ensures the IO communication quality.
Description
Technical Field
The invention relates to the technical field of IO (input/output) function reliability test systems, and particularly provides an IO function reliability test device and an IO function reliability test method for an industrial robot.
Background
With the continuous and high-speed development of Chinese economy, the labor-intensive manufacturing industry model is increasingly not suitable for the development requirements of the economic society, the high-tech industry is developed, and the automation level of the manufacturing industry is improved. Industrial robots are used as equipment for replacing labor-intensive manpower, and are increasingly widely applied to industrial automation due to the characteristics of high efficiency, adaptability to various production environments, high reliability and the like.
At present, in the industry, the test of the robot IO function is carried out by connecting a PLC (programmable logic controller) with a robot IO module, namely: an operator manually opens an input module of the PLC, checks whether the input of the robot control end IO is displayed and received, then opens the IO output at the robot control end and checks the state of an input point of the PLC. On one hand, however, the above-mentioned testing method is operated manually, which is not only inconvenient to operate, but also takes long time and has low testing efficiency; on the other hand, when several specific functional IOs of the robot are used in cooperation, the testing method cannot effectively test several functional IOs, and therefore, the phenomenon of abnormal communication of the robot IO occurs.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to overcome the defects, the invention provides the device and the method for testing the IO functional reliability of the industrial robot, which can accurately and efficiently test a plurality of IO functional reliabilities of the industrial robot, greatly improve the testing efficiency and effectively ensure the IO communication quality.
The technical scheme adopted by the invention for solving the technical problem is as follows: an industrial robot IO functional reliability testing device comprises a robot IO module, a relay terminal block, a remote IO module and an industrial personal computer, wherein the input end of the robot IO module is connected to the output end of the remote IO module through the relay terminal block, and the output end of the robot IO module is connected to the input end of the remote IO module through the relay terminal block; the industrial computer also connect in the output of long-range IO module is right in order to control the output state of long-range IO module, simultaneously, the industrial computer still is based on it is right the control of long-range IO module output state and it is right the detection of long-range IO module input state realizes right the reliability of robot IO module function is tested and is judged.
As a further improvement of the invention, the industrial personal computer is connected to the output end of the remote IO module through a 485 communication cable.
As a further improvement of the invention, a power supply module is provided, and the power supply module is used for supplying power to the remote IO module.
The invention also provides a testing method of the industrial robot IO function reliability testing device, which is carried out according to the following steps: step 1): firstly connecting the testing device, starting up the testing software in the industrial personal computer, and starting testing work;
step 2): the test software controls the working state of the output point of the remote IO module, detects the state of the corresponding input point of the remote IO module, and judges whether the input end of the robot IO module is abnormal or not according to the detected state condition of the corresponding input point of the remote IO module;
step 3): when the test is passed, the test software accumulates and counts once, and then the steps 1) to 3) are repeated.
As a further improvement of the present invention, the specific test method in the step 2) is as follows: a) firstly, the test software controls the output point output11 of the remote IO module to be opened, and the output point output11 of the remote IO module is correspondingly connected with the 'start' point of the input end of the robot IO module; then, the test software detects the state of the input point input11 of the remote IO module, the input point input11 of the remote IO module is correspondingly connected with the "in-operation" point of the robot IO module output end, and at this time: if the input11 of the remote IO module is detected to have a signal, it indicates that the start point of the input end of the robot IO module is not abnormal, otherwise, it indicates that the start point of the input end of the robot IO module is abnormal;
b) firstly, the test software controls the output point output11 of the remote IO module to close and the output point output13 to open, and the output point output13 of the remote IO module is correspondingly connected with a pause point at the input end of the robot IO module; then, the test software detects the state of the input point input12 of the remote IO module, the input point input12 of the remote IO module is correspondingly connected with the pause point at the output end of the robot IO module, and at this time: if the input12 of the remote IO module is detected to have a signal, the fact that the pause point at the input end of the robot IO module is abnormal is indicated, otherwise, the fact that the pause point at the input end of the robot IO module is abnormal is indicated;
c) firstly, the test software controls the output point output13 of the remote IO module to close and the output point output14 to open, and the output point output14 of the remote IO module is correspondingly connected with the 'continue' point of the input end of the robot IO module; then, the test software detects the input11 state of the input point of the remote IO module, at this time: if the input11 of the remote IO module is detected to have a signal, it indicates that the 'continuation' point at the input end of the robot IO module is not abnormal, otherwise, it indicates that the 'continuation' point at the input end of the robot IO module is abnormal;
d) firstly, the test software controls the output point output14 of the remote IO module to close and the output point output12 to open, and the output point output12 of the remote IO module is correspondingly connected with the stop point at the input end of the robot IO module; then, the test software detects the input12 state of the input point of the remote IO module, at this time: if no signal is detected at the input point 12 of the remote IO module, it indicates that the stop point at the input end of the robot IO module is not abnormal, otherwise, it indicates that the stop point at the input end of the robot IO module is abnormal;
e) firstly, the test software controls the output point output12 of the remote IO module to close and the output point output11 to open, the test software detects the state of the input point input11 of the remote IO module, if the input point input11 of the remote IO module is detected to have a signal, it indicates that the "start" point of the input end of the robot IO module is not abnormal, otherwise, it indicates that the "start" point of the input end of the robot IO module is abnormal;
then, the test software controls the output point output11 of the remote IO module to close and the output point output10 to open, the output point output10 of the remote IO module is correspondingly connected with the "emergency stop" point of the input end of the robot IO module, the test software detects the state of the input point input13 of the remote IO module, the input point input13 of the remote IO module is correspondingly connected with the "emergency stop" point of the output end of the robot IO module, and then: if the input13 of the remote IO module is detected to have a signal, the fact that the 'emergency stop' point at the input end of the robot IO module is abnormal is indicated, otherwise, the fact that the 'emergency stop' point at the input end of the robot IO module is abnormal is indicated;
f) firstly, the test software controls the output point output10 of the remote IO module to close and the output point output15 to open, and the output point output15 of the remote IO module is correspondingly connected with the reset point of the input end of the robot IO module; then, the test software detects the state of the input point input15 of the remote IO module, the input point input15 of the remote IO module is correspondingly connected with the 'wrong' point at the output end of the robot IO module, and at this time: if the input15 of the remote IO module is detected to have a signal, it indicates that the reset point at the input end of the robot IO module is not abnormal, otherwise, it indicates that the reset point at the input end of the robot IO module is abnormal;
g) firstly, the test software controls the output point output15 of the remote IO module to close and the output point output11 to open, then the test software sequentially controls the remaining output general points of the remote IO module to open, and correspondingly sequentially detects whether signals exist at the remaining input general points of the remote IO module, if so, it indicates that there is no abnormality at the plurality of general points at the input end of the robot IO module, otherwise, it indicates that the plurality of general points at the input end of the robot IO module are abnormal.
① the testing device has the advantages that the testing device is high in automation degree, and can accurately and efficiently test the reliability of a plurality of IO functions of the industrial robot, so that the testing efficiency is greatly improved, the IO communication quality is effectively ensured, ② the testing device can realize one-key type detection, the operation is simple, and the professional requirements on operators are reduced.
Drawings
FIG. 1 is a block diagram of the working principle of the IO functional reliability testing device of the industrial robot according to the invention;
FIG. 2 is a schematic diagram of test logic of test software in the industrial personal computer.
The following description is made with reference to the accompanying drawings:
1-robot IO module; 2-relay terminal block; 3-remote IO module; 4, an industrial personal computer; and 5, a power supply module.
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical significance.
Example 1:
fig. 1 is a block diagram illustrating a working principle of an IO functional reliability testing apparatus of an industrial robot according to the present invention.
The industrial robot IO function reliability testing device comprises a robot IO module 1, a relay terminal block 2, a remote IO module 3 and an industrial personal computer 4, wherein the input end of the robot IO module 1 is connected to the output end of the remote IO module 3 through the relay terminal block 2, and the output end of the robot IO module 1 is connected to the input end of the remote IO module 3 through the relay terminal block 2 (namely, the robot IO module 1 is in bidirectional signal transmission connection with the remote IO module 3 through the relay terminal block 2); industrial computer 4 also connect in remote IO module 3's output is right to control remote IO module 3's output state, simultaneously, industrial computer 4 still is right based on it is right the control of remote IO module 3 output state and it is right the detection of remote IO module 3 input state realizes right the reliability of robot IO module 1 function is tested and is judged.
In this embodiment, preferably, the industrial personal computer 4 is connected to the output end of the remote IO module 3 through a 485 communication cable.
In this embodiment, it is preferable that a power module 5 is provided, and the power module 5 is configured to supply power to the remote IO module 3.
Example 2:
please refer to fig. 2, which shows a schematic diagram of a test logic of test software in the industrial personal computer according to the present invention.
The test method of the industrial robot IO function reliability test device is carried out according to the following steps: step 1): the testing device is connected, and then the testing software in the industrial personal computer 4 is started to start testing work; in addition, the test software is also imported into the robot controller;
step 2): the testing software controls the working state of the output point (also called as output port) of the remote IO module 3, detects the state of the corresponding input point of the remote IO module 3, and judges whether the input end of the robot IO module 1 is abnormal or not according to the detected state condition of the corresponding input point of the remote IO module 3;
step 3): when the test is passed, the test software accumulates and counts once, and then the steps 1) to 3) are repeated.
Further preferably, the specific test method in step 2) above is: a) firstly, the test software controls an output point output11 (also referred to as an output port output11) of the remote IO module 3 to be opened, and the output point output11 of the remote IO module 3 is correspondingly connected with a "start" point of the input end of the robot IO module 1; then, the test software detects the state of the input point input11 of the remote IO module 3, and the input point input11 of the remote IO module 3 is correspondingly connected with the "in-operation" point at the output end of the robot IO module 1, at this time: if the input11 of the remote IO module 3 is detected to have a signal, it indicates that the "start" point of the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "start" point of the input end of the robot IO module 1 is abnormal;
b) firstly, the test software controls the output point output11 of the remote IO module 3 to close and the output point output13 to open, and the output point output13 of the remote IO module 3 is correspondingly connected with a pause point at the input end of the robot IO module 1; then, the test software detects the state of the input point input12 of the remote IO module 3, and the input point input12 of the remote IO module 3 is correspondingly connected with the "pause" point at the output end of the robot IO module 1, at this time: if the input12 of the remote IO module 3 is detected to have a signal, it indicates that the "pause" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "pause" point at the input end of the robot IO module 1 is abnormal;
c) firstly, the test software controls the output point output13 of the remote IO module 3 to close and the output point output14 to open, and the output point output14 of the remote IO module 3 is correspondingly connected with the "continue" point of the input end of the robot IO module 1; then, the test software detects the input11 status of the input point of the remote IO module 3, at which time: if the input11 of the remote IO module 3 is detected to have a signal, it indicates that the "continuation" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "continuation" point at the input end of the robot IO module 1 is abnormal;
d) firstly, the test software controls the output point output14 of the remote IO module 3 to close and the output point output12 to open, and the output point output12 of the remote IO module 3 is correspondingly connected with the stop point at the input end of the robot IO module 1; then, the test software detects the input12 status of the input point of the remote IO module 3, at which time: if no signal is detected at the input point 12 of the remote IO module 3, it indicates that the "stop" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "stop" point at the input end of the robot IO module 1 is abnormal;
e) firstly, the test software controls the output point output12 of the remote IO module 3 to close and the output point output11 to open, the test software detects the state of the input point input11 of the remote IO module 3, if the input point input11 of the remote IO module 3 is detected to have a signal, it indicates that the "start" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "start" point at the input end of the robot IO module 1 is abnormal;
then, the test software controls the output point output11 of the remote IO module 3 to close and the output point output10 to open, the output point output10 of the remote IO module 3 is correspondingly connected to the "emergency stop" point at the input end of the robot IO module 1, and the test software detects the state of the input point input13 of the remote IO module 3, the input point input13 of the remote IO module 3 is correspondingly connected to the "emergency stop" point at the output end of the robot IO module 1, at this point: if the input13 of the remote IO module 3 is detected to have a signal, it indicates that the "sudden stop" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "sudden stop" point at the input end of the robot IO module 1 is abnormal;
f) firstly, the test software controls the output point output10 of the remote IO module 3 to close and the output point output15 to open, and the output point output15 of the remote IO module 3 is correspondingly connected with the reset point at the input end of the robot IO module 1; then, the test software detects the state of the input point input15 of the remote IO module 3, and the input point input15 of the remote IO module 3 is correspondingly connected with the "wrong" point at the output end of the robot IO module 1, at this time: if the input15 of the remote IO module 3 is detected to have a signal, it indicates that the "reset" point at the input end of the robot IO module 1 is not abnormal, otherwise, it indicates that the "reset" point at the input end of the robot IO module 1 is abnormal;
g) firstly, the test software controls the output point output15 of the remote IO module 3 to close and the output point output11 to open, and then, the test software sequentially controls the remaining output general points of the remote IO module 3 to open, that is, sequentially opens the output general points 0 to 9 of the remote IO module, and correspondingly sequentially detects whether the remaining input general points of the remote IO module 3 have signals, that is, sequentially detects whether the input general points 0 to 9 of the remote IO module have signals, that is,: when the test software controls the universal point location of No. 0 output of the remote IO module to be opened, the test software correspondingly detects whether the universal point location of No. 0 input of the remote IO module has a signal, and the rest is similar to the above; if the signal exists, it indicates that the plurality of general point locations at the input end of the robot IO module 1 are not abnormal, otherwise, it indicates that the plurality of general point locations at the input end of the robot IO module 1 are abnormal.
In conclusion, the testing device provided by the invention has high automation degree, can accurately and efficiently test the reliability of a plurality of IO functions of the industrial robot, greatly improves the testing efficiency, and effectively ensures the IO communication quality.
The above embodiments are merely illustrative of the efficacy of the present invention and not intended to limit the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be construed as being within the scope of the present invention.
Claims (5)
1. The utility model provides an industrial robot IO functional reliability testing arrangement which characterized in that: the remote IO module comprises a robot IO module (1), a relay terminal block (2), a remote IO module (3) and an industrial personal computer (4), wherein the input end of the robot IO module (1) is connected to the output end of the remote IO module (3) through the relay terminal block (2), and the output end of the robot IO module (1) is connected to the input end of the remote IO module (3) through the relay terminal block (2); industrial computer (4) also connect in the output of long-range IO module (3), in order to right the output state of long-range IO module (3) is controlled, simultaneously, industrial computer (4) still based on it is right the control of long-range IO module (3) output state and it is right the detection of long-range IO module (3) input state realizes right the reliability of robot IO module (1) function is tested and is judged.
2. The industrial robot IO functional reliability testing device according to claim 1, characterized in that: the industrial personal computer (4) is connected with the output end of the remote IO module (3) through a 485 communication cable.
3. The industrial robot IO functional reliability testing device according to claim 1, characterized in that: the remote IO module is provided with a power supply module (5), wherein the power supply module (5) is used for supplying power to the remote IO module (3).
4. A testing method of an industrial robot IO functional reliability testing device according to any one of claims 1-3, characterized by: the method comprises the following steps: step 1): the testing device is connected, and then the testing software in the industrial personal computer (4) is started to start testing work;
step 2): the testing software controls the working state of the output point of the remote IO module (3), detects the state of the corresponding input point of the remote IO module (3), and judges whether the input end of the robot IO module (1) is abnormal or not according to the detected state condition of the corresponding input point of the remote IO module (3);
step 3): when the test is passed, the test software accumulates and counts once, and then the steps 1) to 3) are repeated.
5. The test method of the industrial robot IO functional reliability test device according to claim 4, wherein: the specific test method of the step 2) comprises the following steps: a) firstly, the testing software controls the output point output11 of the remote IO module (3) to be opened, and the output point output11 of the remote IO module (3) is correspondingly connected with the 'start' point of the input end of the robot IO module (1); then, the test software detects the state of the input point input11 of the remote IO module (3), the input point input11 of the remote IO module (3) is correspondingly connected with the running point of the output end of the robot IO module (1), and at this time: if the input point input11 of the remote IO module (3) is detected to have a signal, the fact that the 'start' point at the input end of the robot IO module (1) is abnormal is indicated, otherwise, the fact that the 'start' point at the input end of the robot IO module (1) is abnormal is indicated;
b) firstly, the test software controls the output point output11 of the remote IO module (3) to close and the output point output13 to open, and the output point output13 of the remote IO module (3) is correspondingly connected with a pause point at the input end of the robot IO module (1); then, the test software detects the state of the input point input12 of the remote IO module (3), the input point input12 of the remote IO module (3) is correspondingly connected with the pause point of the output end of the robot IO module (1), and at this time: if the input point input12 of the remote IO module (3) is detected to have a signal, the fact that the pause point at the input end of the robot IO module (1) is abnormal is indicated, otherwise, the fact that the pause point at the input end of the robot IO module (1) is abnormal is indicated;
c) firstly, the test software controls the output point output13 of the remote IO module (3) to close and the output point output14 to open, and the output point output14 of the remote IO module (3) is correspondingly connected with the 'continue' point of the input end of the robot IO module (1); then, the test software detects the input11 status of the input point of the remote IO module (3), at which time: if the input point input11 of the remote IO module (3) is detected to have a signal, it indicates that the 'continuation' point at the input end of the robot IO module (1) is not abnormal, otherwise, it indicates that the 'continuation' point at the input end of the robot IO module (1) is abnormal;
d) firstly, the test software controls the output point output14 of the remote IO module (3) to close and the output point output12 to open, and the output point output12 of the remote IO module (3) is correspondingly connected with the stop point at the input end of the robot IO module (1); then, the test software detects the input12 status of the input point of the remote IO module (3), at which time: if no signal is detected at the input point input12 of the remote IO module (3), the fact that the stop point at the input end of the robot IO module (1) is abnormal is indicated, otherwise, the fact that the stop point at the input end of the robot IO module (1) is abnormal is indicated;
e) firstly, the test software controls the output point output12 of the remote IO module (3) to be closed and the output point output11 to be opened, the test software detects the state of the input point input11 of the remote IO module (3), if the input point input11 of the remote IO module (3) is detected to have a signal, it indicates that the "start" point at the input end of the robot IO module (1) is not abnormal, otherwise, it indicates that the "start" point at the input end of the robot IO module (1) is abnormal;
then, the test software controls the output point output11 of the remote IO module (3) to close and the output point output10 to open again, the output point output10 of the remote IO module (3) is correspondingly connected with the emergency stop point of the input end of the robot IO module (1), the test software detects the state of the input point input13 of the remote IO module (3), and the input point input13 of the remote IO module (3) is correspondingly connected with the emergency stop point of the output end of the robot IO module (1), and then: if the input point input13 of the remote IO module (3) is detected to have a signal, the fact that the 'emergency stop' point at the input end of the robot IO module (1) is abnormal is indicated, otherwise, the fact that the 'emergency stop' point at the input end of the robot IO module (1) is abnormal is indicated;
f) firstly, the test software controls the output point output10 of the remote IO module (3) to close and the output point output15 to open, and the output point output15 of the remote IO module (3) is correspondingly connected with the reset point at the input end of the robot IO module (1); then, the test software detects the state of the input point input15 of the remote IO module (3), the input point input15 of the remote IO module (3) is correspondingly connected with the 'wrong' point at the output end of the robot IO module (1), and at this time: if the input point input15 of the remote IO module (3) is detected to have a signal, it indicates that the reset point at the input end of the robot IO module (1) is not abnormal, otherwise, it indicates that the reset point at the input end of the robot IO module (1) is abnormal;
g) firstly, the test software controls the output point output15 of the remote IO module (3) to be closed and the output point output11 to be opened, then the test software sequentially controls the remaining output general points of the remote IO module (3) to be opened, correspondingly and sequentially detects whether signals exist in the remaining input general points of the remote IO module (3), if the signals exist, it indicates that the general points at the input end of the robot IO module (1) are not abnormal, otherwise, it indicates that the general points at the input end of the robot IO module (1) are abnormal.
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| CN109521711A (en) * | 2018-11-14 | 2019-03-26 | 武汉万安智能技术有限公司 | A kind of instrument and equipment automatically controls and detection system |
| CN110794807A (en) * | 2019-10-18 | 2020-02-14 | 湖南小步科技有限公司 | Performance testing device and method for remote controller |
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