CN111390970A - Robot joint electromagnetic interference test system - Google Patents
Robot joint electromagnetic interference test system Download PDFInfo
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- CN111390970A CN111390970A CN202010219257.1A CN202010219257A CN111390970A CN 111390970 A CN111390970 A CN 111390970A CN 202010219257 A CN202010219257 A CN 202010219257A CN 111390970 A CN111390970 A CN 111390970A
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- joint
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- hysteresis brake
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/001—Measuring interference from external sources to, or emission from, the device under test, e.g. EMC, EMI, EMP or ESD testing
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot joint electromagnetic interference test system, which comprises an industrial personal computer, a hysteresis brake and a current generator, wherein the industrial personal computer is connected with the hysteresis brake; the industrial personal computer is used for compiling a test program and controlling the robot test joint, and obtaining an electromagnetic interference result of the robot joint according to communication data fed back by the robot test joint; the hysteresis brake is connected with a motor load end of the robot test joint and provides load for a motor of the robot test joint; the hysteresis brake is connected with the current generator, and the output torque of the hysteresis brake is regulated and controlled through the current generator; for generating a load corresponding to the test joint of the robot; the invention can diagnose the electromagnetic interference of the driver more quickly, accurately and safely, is convenient for testing after the driver is improved, reduces the testing cost and improves the testing efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot joint electromagnetic interference testing system.
Background
The robot consists of a plurality of joints, and the joints comprise motors, drivers, encoders and the like, wherein the motor drivers are core components of the joints. In order to realize the high jump and long jump functions of the high-performance robot, a joint motor driver needs to add large pulse current. The addition of large-amplitude pulse current inevitably increases the electromagnetic interference of the whole system, and the problems of abnormal communication, power failure and the like of a driver can occur in severe cases, so that the joint can not work normally. In order to ensure that each joint of the robot works normally, a test system needs to be set up, before each joint of the whole robot works simultaneously, the electromagnetic interference condition of a single joint under a larger pulse current is tested, whether the single joint can work normally is verified, and the joint is prevented from being damaged.
The conventional test scheme is that the whole system of the robot is used for testing, and the test has the following defects that firstly, all joints are together during the test, and the positions and the number of the joints which make mistakes are difficult to judge; secondly, the potential safety hazard exists, the extreme working state can be tested under many conditions in the test, the equipment is likely to be damaged, and the safety of the tester is affected; thirdly, improvement measures are needed to be taken for the driver, and due to the fact that space is limited on the actual robot, operation is complicated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot joint electromagnetic interference test system which can completely simulate the pulse current (amplitude, pulse width and rising edge) generated when a driver works, can diagnose the electromagnetic interference of the driver more quickly, accurately and safely, is convenient for testing after the driver is improved, reduces the test cost and improves the test efficiency.
The present invention achieves the above-described object by the following technical means.
A robot joint electromagnetic interference test system comprises an industrial personal computer, a hysteresis brake and a current generator;
the industrial personal computer is used for compiling a test program and controlling the robot test joint, and obtaining an electromagnetic interference result of the robot joint according to communication data fed back by the robot test joint;
the hysteresis brake is connected with a motor load end of the robot test joint and provides load for a motor of the robot test joint; the hysteresis brake is connected with the current generator, and the output torque of the hysteresis brake is regulated and controlled through the current generator; for generating a load corresponding to the test joint of the robot; by varying the output current of the current generator, the resistance of the motor driver to interference at different currents can be tested.
Further, the robot testing joint comprises a joint motor controller, a joint motor driver and a joint driving motor; the joint motor controller is in electric signal connection with the industrial personal computer; the joint motor controller and the joint motor driver are in signal connection by EtherCAT network communication; and the joint motor driver is connected with the joint driving motor through an electric signal.
Further, the industrial personal computer monitors communication data between the joint motor controller and the joint motor driver in real time, analyzes errors occurring in the communication data packet, and judges the intensity of the electromagnetic interference according to the number of corresponding errors;
further, the number of errors occurring in the communication process between the joint motor controller and the joint motor driver is n, the total number of communication times is m, and K is the probability of the occurrence of the errors, and then K is n/m; when the value of K is not zero, the interference exists, the larger the value of K is, the larger the interference is, and the smaller the interference is.
Further, regulating and controlling the output torque of the hysteresis brake according to a tau-K-I current generator to obtain the torque matched with the joint driving motor, wherein tau is the torque output by the motor, K is the inherent coefficient of the motor, and I is the current provided for the motor;
furthermore, in order to prevent the hysteresis brake from overheating after long-time operation, the hysteresis brake is provided with an air compressor for air cooling and heat dissipation;
advantageous effects
1. The robot joint electromagnetic interference test system designed by the invention can test each joint of the robot. Therefore, the detection results are not mixed together, and the position and the number of the joints with errors can be clearly judged;
2. the existing testing method is to test on a robot system, and because the length of the joint of the robot is limited, the movement range of the joint is probably beyond the limit of the joint during the test, so that the joint can be damaged; however, the test system only relates to the joint motor controller, the joint motor driver and the joint driving motor of the robot in the test process, and the electromagnetic interference is measured according to the error times of the joint motor controller and the joint motor driver in the communication process, so that the test system is not limited by the length of the joint in the test process, the motor can rotate infinitely, and the problem of collision caused by over-travel is avoided;
if a problem is found in the existing test method, a series of measures such as adding a filter capacitor and changing the position of wiring are needed to solve the problem, but the space of the robot system is limited, the measures cannot be implemented, or joint part equipment needs to be removed and reinstalled after rectification and modification, so that the workload is increased; the invention does not need to add other detecting instruments, the whole detecting system has simple structure, and does not need operators to carry out complicated operation.
3. The robot joint electromagnetic interference test system utilizes the industrial personal computer to monitor the EtherCAT communication data of the controller and the driver, analyzes whether communication errors exist or not to judge whether electromagnetic interference exists or not, and judges the size of the electromagnetic interference according to the number of the communication errors, so that whether the interference exists or not is judged, and the size of the interference can be quantized and is more visual. Drawings
FIG. 1 is a block diagram of a system for testing electromagnetic interference of a robot joint according to the present invention;
fig. 2 is a diagram of a step current signal generated by a robot joint motor driver.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Because the robot joint motor needs a large working current in work, for example, in a high jump and long jump application scenario of a high performance robot, a joint motor driver needs to add a large pulse current, the maximum working current is close to 100A, and the current needs to reach a large peak value in a very short time as shown in fig. 2, which is similar to a step current signal.
From the magnetic effect of the current, according to the formula:
B＝μ*I/(2πr) (1)
wherein mu represents the vacuum permeability, mu is 4 pi x 10-7 T.m/A, I is the conductor current, and r is the distance between the point to be measured and the conductor;
a magnetic field may be generated around the energized straight conductor.
Deriving a formula from the law of electromagnetic induction
Wherein i represents the induced current, n represents the number of turns of the induction coil, delta phi flux variation, and total resistance in the R circuit
It is known that a changing magnetic field can generate an electric current.
According to the formula (1), in the region having the area S, the magnetic flux is Φ -B-S, and since the space does not have a magnetic field, Δ Φ -B-S
Therefore, substituting equation (1) into equation (2) can yield
i＝μ*I*n*S/(2πr*R*Δt) (3)
Because the step pulse current output by the driver when the high-performance robot acts can be known according to the formula (3), the pulse current can generate induced current in the conductor, the induced current is in direct proportion to the magnitude of the pulse current of the driver and is in inverse proportion to the acting time of the pulse current from the absence to the presence, so that the larger the pulse current is, the more violent the pulse current changes, the larger the induced current is, and the induced current can generate great interference on the driver, influence the communication of the driver and even cause the breakdown of the driver;
therefore, when working in an environment with large amplitude pulse current, the anti-electromagnetic interference capability of the driver has to be considered. To verify whether the driver can withstand the electromagnetic interference generated by the large amplitude pulse current, the test system was designed as shown in fig. 1.
The system for testing the electromagnetic interference of the robot joint shown in the figure 1 comprises an industrial personal computer, a hysteresis brake, a current generator and an air compressor;
the industrial personal computer is used for compiling a test program to control the robot test joint and obtaining an electromagnetic interference result of the robot joint according to communication data fed back by the robot test joint;
the hysteresis brake is connected with a load end of a driving motor of the robot testing joint and provides load for the driving motor of the robot testing joint; the hysteresis brake is connected with the current generator, and the output torque of the hysteresis brake is regulated and controlled through the current generator; for generating a load corresponding to the test joint of the robot. Meanwhile, in order to prevent the hysteresis brake from working overheat for a long time, the hysteresis brake is provided with an air compressor for air cooling and heat dissipation.
In the testing process, the industrial personal computer controls the joint motor controller by using a written testing program, the joint motor controller sends a control command to the joint motor driver, the joint motor driver directly controls the joint driving motor, the load end of the joint driving motor is connected with the hysteresis brake through the coupler, the output torque of the hysteresis brake is controlled by the current generator, and the larger the current output by the current generator is, the larger the torque output by the brake is; the hysteresis brake is provided with an air compressor for air cooling and heat dissipation to prevent the hysteresis brake from being overheated due to long-time work; the industrial personal computer monitors communication data between the joint motor controller and the joint motor driver in real time, and judges whether the motor driver works normally or not according to the communication data; the resistance of the motor driver to interference under different currents can be tested by changing the output current of the current generator during testing.
Because the electromagnetic interference of the pulse heavy current to the drive is mainly reflected in the interference to the communication between the joint motor controller and the joint motor driver, the communication between the joint motor controller and the joint motor driver uses EtherCAT network communication, the industrial personal computer can monitor the communication data between the joint motor controller and the joint motor driver in real time, and can judge through analyzing the communication data packet, if the electromagnetic interference communication data packet exists, a corresponding error can occur, and can diagnose whether the communication data packet is a sending error or a receiving error, and can judge the intensity of the existing electromagnetic interference according to the number of the corresponding errors;
if the number of communication errors is n (including transmission errors and reception errors), the total number of communication times is m, and K is the probability of error occurrence, then
K＝n/m (4)
When the value of K is not zero, the interference exists, the larger the value of K is, the larger the interference is, otherwise, the smaller the interference is, and the quantitative expression of the interference is effectively realized.
When the system is used for testing, the joint motor driver outputs different currents to the joint driving motor, the joint driving motor generates different torques, the load torque provided by the hysteresis brake needs to be matched with the joint driving motor, the joint driving motor is out of control possibly caused by too small torque provided by the hysteresis brake, and the joint driving motor is burnt out possibly caused by the fact that the joint driving motor is not rotated due to too small torque. So according to the relation formula of motor torque and current
τ＝K*I (5)
Where τ is the torque output by the motor, K is the motor intrinsic coefficient, and I is the current supplied to the motor. The torque output by the joint driving motor under different currents can be obtained, and the current generator can be adjusted to output corresponding current to the hysteresis brake according to the relationship between the output torque of the hysteresis brake and the current, so that the hysteresis brake can output a load matched with the joint driving driver, and the smooth operation of an experiment is ensured.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (6)
1. A robot joint electromagnetic interference test system is characterized by comprising an industrial personal computer, a hysteresis brake and a current generator;
the industrial personal computer is used for compiling a test program and controlling the robot test joint, and obtaining an electromagnetic interference result of the robot joint according to communication data fed back by the robot test joint;
the hysteresis brake is connected with a motor load end of the robot test joint and provides load for a motor of the robot test joint; the hysteresis brake is connected with the current generator, and the output torque of the hysteresis brake is regulated and controlled through the current generator; for generating a load corresponding to the test joint of the robot; by varying the output current of the current generator, the resistance of the motor driver to interference at different currents can be tested.
2. The system of claim 1, wherein the robot test joint comprises a joint motor controller, a joint motor driver, and a joint drive motor; the joint motor controller is in electric signal connection with the industrial personal computer; the joint motor controller and the joint motor driver are in signal connection by EtherCAT network communication; and the joint motor driver is connected with the joint driving motor through an electric signal.
3. The system for testing the electromagnetic interference of the robot joint according to claim 1 or 2, wherein the industrial personal computer monitors communication data between the joint motor controller and the joint motor driver in real time, analyzes errors occurring in a communication data packet and judges the intensity of the electromagnetic interference according to the number of corresponding errors.
4. The system for testing the electromagnetic interference of the robot joint according to claim 3, wherein the number of errors occurring in the communication process between the joint motor controller and the joint motor driver is n, the total number of communication times is m, and K is the probability of the occurrence of the errors, so that K is n/m; when the value of K is not zero, the interference exists, the larger the value of K is, the larger the interference is, and the smaller the interference is.
5. The system of claim 1, wherein the torque output by the hysteresis brake is controlled by the current generator to obtain a torque matching the joint driving motor, wherein τ is the torque output by the motor, K is a motor inherent coefficient, and I is a current supplied to the motor.
6. The system of claim 1, wherein an air compressor is provided to cool and dissipate heat for the hysteresis brake to prevent the hysteresis brake from overheating during long-term operation.
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| CN202010219257.1A CN111390970A (en) | 2020-03-25 | 2020-03-25 | Robot joint electromagnetic interference test system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104808141A (en) * | 2015-04-27 | 2015-07-29 | 苏州工业园区聚博精密设备有限公司 | Intelligence field abnormal sound vibration performance test system |
| CN105345824A (en) * | 2015-12-21 | 2016-02-24 | 广东工业大学 | Self-adaption hysteresis eliminating device of visual servo mechanical arm |
| CN206804764U (en) * | 2017-05-31 | 2017-12-26 | 安徽江淮汽车集团股份有限公司 | A kind of automobile motor load simulation system and electromagnetic compatibility test system |
| US20180136267A1 (en) * | 2016-11-11 | 2018-05-17 | University Of Tennessee Research Foundation | Magnetic field based wireless gmd/emp-e3 impact monitoring device |
| CN110640791A (en) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | Experimental method for simulating variable load and variable inertia of joint of industrial robot |
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2020
- 2020-03-25 CN CN202010219257.1A patent/CN111390970A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808141A (en) * | 2015-04-27 | 2015-07-29 | 苏州工业园区聚博精密设备有限公司 | Intelligence field abnormal sound vibration performance test system |
| CN105345824A (en) * | 2015-12-21 | 2016-02-24 | 广东工业大学 | Self-adaption hysteresis eliminating device of visual servo mechanical arm |
| US20180136267A1 (en) * | 2016-11-11 | 2018-05-17 | University Of Tennessee Research Foundation | Magnetic field based wireless gmd/emp-e3 impact monitoring device |
| CN206804764U (en) * | 2017-05-31 | 2017-12-26 | 安徽江淮汽车集团股份有限公司 | A kind of automobile motor load simulation system and electromagnetic compatibility test system |
| CN110640791A (en) * | 2019-10-28 | 2020-01-03 | 浙江工业大学 | Experimental method for simulating variable load and variable inertia of joint of industrial robot |
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Application publication date: 20200710 |