CN112349164A - Multifunctional industrial robot fault diagnosis experiment table - Google Patents
Multifunctional industrial robot fault diagnosis experiment table Download PDFInfo
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- CN112349164A CN112349164A CN202011124396.2A CN202011124396A CN112349164A CN 112349164 A CN112349164 A CN 112349164A CN 202011124396 A CN202011124396 A CN 202011124396A CN 112349164 A CN112349164 A CN 112349164A
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Abstract
The invention relates to the technical field of automatic control, and discloses a multifunctional industrial robot fault diagnosis experiment table, which is characterized in that: including braced frame with set up power module, input/output module, trouble setting module, motion control module, servo drive module, industrial robot body, industrial robot demonstrator, robot vision module on the braced frame, each module all corresponds and is provided with binding post to be connected by the wire. The invention has the beneficial effects that: the multifunctional industrial robot fault diagnosis experiment table can manually set fault points by people, carry out fault judgment and maintenance through fault prompt or actual phenomena, and cultivate the post requirement capability of fault diagnosis and maintenance in the student industrial robot technology.
Description
Technical Field
The invention relates to an experiment platform, belongs to the technical field of automatic control, and particularly relates to a multifunctional industrial robot fault diagnosis experiment table.
Background
The industrial robot is a key supporting device in the advanced manufacturing industry, and the research, development and industrial application of the industrial robot are important marks for measuring the state technological innovation and high-end manufacturing development level. The robot industry is vigorously developed, and the robot has important significance for promoting industrial transformation and upgrading, accelerating the construction of strong manufacturing countries and improving the living standard of people. In recent years, the industrial robot industry in China has rapidly developed, and in the field of industrial robot application, the gap of a technical skill talent for working on industrial robot detection and maintenance, and robot workstation debugging and maintenance post is huge.
And (5) developing industrial robot technical specialties in professionalism schools and cultivating corresponding technical skills talents. When developing the real standard room construction of industrial robot technical specialty experiment, general universities use construction industrial robot typical application workstation as the main thing, and the experimental teaching device about industrial robot body fault diagnosis is less, brings the difficulty to the industrial robot fault diagnosis who cultivates the student and the maintenance ability.
Disclosure of Invention
Aiming at the problem that the existing industrial robot experiment platform has no experiment platform aiming at the fault diagnosis of the industrial robot, the invention provides a multifunctional industrial robot fault diagnosis experiment table which can be used for manually setting fault points, carrying out fault judgment and maintenance through fault prompt or actual phenomena and cultivating the post requirement capability of fault diagnosis and maintenance in the student industrial robot technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a multifunctional industrial robot fault diagnosis experiment table comprises a supporting frame, and a power supply module, an input/output module, a fault setting module, a motion control module, a servo driving module, an industrial robot body, an industrial robot demonstrator and a robot vision module which are arranged on the supporting frame, wherein each module is correspondingly provided with a wiring terminal and is connected with the wiring terminal through a lead; the wiring terminal of the equipment is connected to the uniform wiring terminal block, so that wiring is facilitated, and the wiring terminal of the equipment is protected.
The power supply module is used for supplying power to the motion control module, the servo driving module, the industrial robot body, the robot vision module and the fault setting module;
the input and output module is used for an input and output port of the experiment table motion controller to realize the logic control of the motion controller;
the fault setting module is used for setting hardware faults of the experiment table and developing PLC application experiments and touch screen application experiments;
the motion control module is used for being connected with the servo driver through a servo bus interface so as to control the motion of the industrial robot;
the servo driving module is used for connecting a servo motor of the industrial robot body;
the industrial robot demonstrator is used for performing demonstration programming or parameter setting on an industrial robot;
the robot vision module is used for realizing an industrial robot vision detection application experiment and a fault diagnosis experiment with the robot vision detection application experiment.
Furthermore, the power supply module comprises a 380VAC power supply input, a button switch, an isolation transformer, a control loop circuit breaker, a control loop filter, a drive loop circuit breaker, a drive loop filter and a motor band-type brake power supply; 380VAC power input and button switch series connection, button switch's the other end and isolation transformer series connection, isolation transformer and control circuit breaker, drive circuit breaker parallel connection in proper order, drive circuit breaker and drive circuit wave filter and motor band-type brake power parallel connection in proper order, control circuit wave filter and control circuit breaker series connection. The 380VAC power input and the button switch belong to a total power supply of the experiment table, and the power output by the isolation transformer is respectively supplied to the motion control module and the robot vision module in a parallel mode; the control loop filter outputs a power supply to supply power to the fault setting module, and the driving loop filter supplies power to the servo driving module and the industrial robot body in a parallel mode.
Further, the servo driving module comprises at least 4 servo drivers; preferably 6 servo drivers, one servo driver corresponding to one degree of freedom driving the six-degree-of-freedom robot.
Furthermore, the motion control module comprises a motion controller, an input interface board, an output interface board, a communication interface board and an expansion interface board, wherein each interface board is respectively connected to the input interface, the output interface, the communication interface and the expansion interface of the motion controller.
Furthermore, the input/output module comprises a button, a switch, an indicator light and a wiring terminal block, wherein the button, the switch and the indicator light are sequentially connected to the wiring terminal block and then connected to a corresponding interface board of the motion controller and a corresponding terminal of the Programmable Logic Controller (PLC) of the fault setting module from the wiring terminal block.
Further, the fault setting module comprises a Programmable Logic Controller (PLC), a touch screen and at least 1 intermediate relay; the touch screen is connected with the Programmable Logic Controller (PLC) through a communication interface, an input interface of the PLC is connected with a button and a switch of an input-output module through a wiring terminal strip, and an output interface of the PLC is connected with an indicator lamp and a coil of an intermediate relay; in addition, the Programmable Logic Controller (PLC) can carry out independent input and output experiments, the PLC can carry out single-axis motion in cooperation with a single servo, and can carry out multi-axis motion in cooperation with a plurality of servos.
Furthermore, the communication interface board comprises a USB interface for program debugging, an interface for connecting a demonstrator and an interface for connecting a camera; the input interface board is used for connecting input equipment such as buttons, switches and the like; the output interface board is used for connecting output equipment such as an indicator light and the like; the expansion interface board can be used for connecting the input/output expansion module, the analog-to-digital conversion module and the digital-to-analog conversion module.
Furthermore, the motion controller is connected with the servo driver through a servo bus interface, and the industrial robot demonstrator is connected with the motion controller.
Furthermore, the industrial robot body is a six-degree-of-freedom series robot, each shaft of the multi-shaft robot is provided with an RV harmonic speed reducer, and six servo drivers are in walking bus communication.
Further, the robot vision module comprises a camera, a light source and a light source controller, the camera is connected with the light source controller through a serial port connecting wire and is connected with a computer through an RJ45 network port, and the light source controller is connected with the motion controller.
Faults which can be set by the experiment table comprise demonstrator communication line disconnection, demonstrator emergency stop button disconnection, demonstrator power line disconnection, servo driver power supply line disconnection, servo communication disconnection, servo motor power line disconnection, motion controller I/O input/output line disconnection, robot vision module light source controller disconnection, robot vision module focusing failure or lighting failure, servo parameter setting error, camera communication parameter configuration error, industrial robot planning track overrun, encoder parameter setting error and the like.
The fault presenting method can present faults including mechanical faults, electrical faults, servo driving faults and software faults, and specifically comprises industrial robot teaching programming, industrial robot low-voltage electrical principle, wiring and debugging, industrial robot component unit connection, installation and debugging experiments, industrial robot alarm identification and fault diagnosis experiments, industrial robot parameter setting and adjusting experiments, industrial robot PLC instruction, programming and wiring application experiments, industrial robot servo driving connection, parameter setting and adjusting experiments, industrial robot fault setting, diagnosis and elimination experiments and industrial robot maintenance experiments.
Compared with the prior art, the invention provides a multifunctional industrial robot fault diagnosis experiment table, which has the following beneficial effects:
(1) the invention can manually set fault points, judge and maintain faults through fault prompt or actual phenomena, and train the post requirement capability of fault diagnosis and maintenance in the student industrial robot technology.
(2) The electric components, the PLC, the driver and the like are arranged on the open mesh plate on the support frame, the wiring terminals of the equipment are connected to the uniform wiring terminal row, wiring is facilitated, the wiring terminals of the equipment are protected, and corresponding debugging can be performed after wiring is completed and the robot is installed; the invention presents the common faults in the practical use of the industrial robot to students, and the students can repeatedly train own skills in fault diagnosis, equipment maintenance and the like through the practical training platform.
(3) The invention can be directly programmed or parameter set through the demonstrator, can monitor various signals, has the functions of industrial robot fault diagnosis experiment, industrial robot teaching programming experiment, robot vision application function, Programmable Logic Controller (PLC) application experiment and touch screen application experiment, and mainly aims at the presentation of common faults in the practical application of the industrial robot, especially faults in the aspects of an electrical system and a motion controller.
(4) Each axis of the multi-axis robot is provided with an RV harmonic speed reducer, and six servo drivers are in bus communication of walking movement.
(5) The units of the invention can be independently tested and matched with each other: PLC can carry out solitary input/output experiment, and PLC can carry out single-axis motion with single servo cooperation, can carry out the multiaxis motion with a plurality of servo cooperations.
Drawings
FIG. 1 is a schematic structural diagram of a fault diagnosis laboratory bench according to the present invention;
FIG. 2 is a schematic diagram of the communication principle of the present invention;
FIG. 3 is a circuit diagram of the motion controller of the present invention;
fig. 4 is a schematic diagram of a power module according to the present invention.
The reference numerals in the figures have the meaning: 1. the robot comprises a supporting frame, 2 parts of an open mesh plate, 3 parts of a power supply module, 4 parts of an input and output module, 5 parts of a fault setting module, 6 parts of a motion control module, 7 parts of a servo driving module, 8 parts of a robot vision module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the fault diagnosis experiment table of the present invention comprises a supporting frame, and a power module, an input/output module, a fault setting module, a motion control module, a servo drive module, an industrial robot body, an industrial robot demonstrator, and a robot vision module which are arranged on the supporting frame, wherein each module is correspondingly provided with a connection terminal and connected by a wire; the wiring terminal of the equipment is connected to the uniform wiring terminal block, so that wiring is facilitated, and the wiring terminal of the equipment is protected.
The power supply module is used for supplying power to the motion control module, the servo driving module, the industrial robot body, the robot vision module and the fault setting module;
the input and output module is used for an input and output port of the experiment table motion controller to realize the logic control of the motion controller;
the fault setting module is used for setting hardware faults of the experiment table and developing PLC application experiments and touch screen application experiments;
the motion control module is used for connecting the servo driver through a servo bus interface so as to control the motion of the industrial robot;
the servo driving module is used for connecting a servo motor of the industrial robot body, and the industrial robot is a product in the prior art;
the industrial robot demonstrator is used for teaching programming or parameter setting of the industrial robot and is a product in the prior art;
the robot vision module is used for realizing the application experiment of the industrial robot vision detection and the fault diagnosis experiment of the module.
As shown in fig. 4, in a specific implementation manner of this embodiment, the power module includes a 380VAC power input, a push-button switch, an isolation transformer, a control loop circuit breaker, a control loop filter, a drive loop circuit breaker, a drive loop filter, and a motor band-type brake power supply; the 380VAC power input is connected with the button switch in series, the other end of the button switch is connected with the isolation transformer in series, the isolation transformer is sequentially connected with the control loop circuit breaker and the driving loop circuit breaker in parallel, the driving loop circuit breaker is sequentially connected with the driving loop filter and the motor band-type brake power supply in parallel, and the control loop filter is connected with the control loop circuit breaker in series. The 380VAC power input and the button switch belong to a total power supply of the experiment table, and the power output by the isolation transformer is respectively supplied to the motion control module and the robot vision module in a parallel mode; the control loop filter outputs a power supply to supply power to the fault setting module, and the driving loop filter supplies power to the servo driving module and the industrial robot body in a parallel mode.
In an embodiment of this embodiment, the servo driving module includes 6 servo drivers, and one servo driver drives one degree of freedom of the six-degree-of-freedom robot.
In a specific implementation manner of this embodiment, the motion control module includes a motion controller, an input interface board, an output interface board, a communication interface board, and an expansion interface board, where each interface board is respectively connected to the input interface, the output interface, the communication interface, and the expansion interface of the motion controller.
As shown in the loop diagram of the motion controller in fig. 3, one end of the control cabinet power indicator H1 is connected to +24V, and the other end is connected to the output port Y30 of the controller; one end of a control cabinet emergency stop button SB1 is connected with 0V, and the other end is connected with an input port X31 of the controller; one end of a control cabinet knob SA1 is connected with 0V, and the other end of the control cabinet knob SA1 is connected with an input port X32 of the controller; one end of the safety button of the demonstrator is connected with a demonstrator aviation plug pin X1.
In a specific implementation manner of this embodiment, the input/output module includes a button, a switch, an indicator light, and a connection terminal strip, and the button, the switch, and the indicator light are sequentially connected to the connection terminal strip, and then connected to a corresponding interface board of the motion controller and a corresponding terminal of the programmable logic controller PLC of the fault setting module from the connection terminal strip.
In a specific implementation manner of this embodiment, the fault setting module includes a programmable logic controller PLC, a touch screen, and at least 1 intermediate relay; the touch screen is connected with the Programmable Logic Controller (PLC) through a communication interface, an input interface of the PLC is connected with a button and a switch of the input-output module through a wiring terminal row, and an output interface of the PLC is connected with an indicator light and a coil of the intermediate relay; in addition, the Programmable Logic Controller (PLC) can carry out independent input and output experiments, the PLC can carry out single-axis motion in cooperation with a single servo, and can carry out multi-axis motion in cooperation with a plurality of servos.
In a specific implementation manner of this embodiment, the communication interface board includes a USB interface for program debugging, an interface for connecting a demonstrator, and an interface for connecting a camera; the input interface board is used for connecting input equipment such as buttons and switches; the output interface board is used for connecting output equipment such as an indicator light and the like; the expansion interface board can be used for connecting the input/output expansion module, the analog-to-digital conversion module and the digital-to-analog conversion module.
In a specific implementation manner of this embodiment, the motion controller is connected to the servo driver through a servo bus interface, and the industrial robot demonstrator is connected to the motion controller.
In a specific implementation mode of the embodiment, the industrial robot body is a six-degree-of-freedom series robot, each axis of the multi-axis robot is provided with an RV harmonic speed reducer, and six servo drivers are in motion bus communication.
In a specific implementation manner of this embodiment, the robot vision module includes a camera, a light source, and a light source controller, the camera is connected to the light source controller through a serial port connection line, and is connected to the computer through an RJ45 network port, and the light source controller is connected to the motion controller.
The principle of the hardware fault setting of the experiment table is as follows: the method comprises the steps that the contact of an intermediate relay of a fault setting module is connected with a circuit between an industrial robot demonstrator and a motion controller, a servo driver power supply circuit, a servo motor power supply circuit, a camera shooting trigger circuit of a robot vision module, a light source control circuit and the like, a signal is sent to a Programmable Logic Controller (PLC) by operating a relevant fault setting button on a touch screen interface, the Programmable Logic Controller (PLC) executes a program, the contact of the intermediate relay is controlled through an output port of the Programmable Logic Controller (PLC), the control circuit is cut off, and fault setting is completed. Meanwhile, a fault clearing button is arranged on the touch screen interface, and a Programmable Logic Controller (PLC) program is triggered to clear the fault by operating the fault clearing button.
Faults which can be set by the experiment table comprise demonstrator communication line disconnection, demonstrator emergency stop button disconnection, demonstrator power line disconnection, servo driver power supply line disconnection, servo communication disconnection, servo motor power line disconnection, motion controller I/O input/output line disconnection, robot vision module light source controller disconnection, robot vision module focusing failure or lighting failure, servo parameter setting error, camera communication parameter configuration error, industrial robot planning track overrun, encoder parameter setting error and the like.
The fault presenting method can present faults including mechanical faults, electrical faults, servo driving faults and software faults, and specifically comprises industrial robot teaching programming, industrial robot low-voltage electrical principle, wiring and debugging, industrial robot component unit connection, installation and debugging experiments, industrial robot alarm identification and fault diagnosis experiments, industrial robot parameter setting and adjusting experiments, industrial robot PLC instruction, programming and wiring application experiments, industrial robot servo driving connection, parameter setting and adjusting experiments, industrial robot fault setting, diagnosis and elimination experiments and industrial robot maintenance experiments.
1. The common faults caused by the teach pendant are as follows:
1) page button for demonstrator being electrified but not being normally used
The implementation method comprises the following steps: the ON-off setting of the communication port Y10 of the demonstrator of the input-output module is controlled, and the communication port Y10 of the demonstrator is turned ON.
The phenomenon is as follows: failure of demonstrator
Prompting characters: teaching machine communication alarm
2) Demonstrator scram button failure
The implementation method comprises the following steps: the ON-off setting of the demonstrator emergency stop port Y11 is controlled, and the Y11 demonstrator emergency stop port is set to be ON.
The phenomenon is as follows: the robot cannot be enabled
Prompting characters: the system is in an emergency stop state
3) Enable button is useless
The implementation method comprises the following steps: the communication cable of the demonstrator is disconnected by generating alarm, and the servo enabling signal port X1 of the controller is disconnected with the No. 1 port of the demonstrator; or the PLC internal parameter setting does not correspond to the servo driver.
The phenomenon is as follows: the robot cannot move
Prompting characters: the robot system cannot be enabled
4) The demonstrator can not be powered on
The implementation method comprises the following steps: the ON/off setting of the Y12 demonstrator energization port is controlled, and the Y12 demonstrator energization port is set to be ON.
The phenomenon is as follows: can not control the operation of the operation robot
Prompting characters: without prompting
2. Common faults caused by servo drives are as follows:
1) failure of servo driver to power up
The implementation method comprises the following steps: the ON-off of the relay is controlled by controlling the ON-off of the power supply port Y13 of the servo motor No. 1 and the power supply port Y14 of the servo motor No. 3, and then the ON-off of the relay controls the ON-off of the contactor to control whether the driver No. 1 and the driver No. 3 are powered ON or not, and the power supply ports Y13 of the servo motor No. 1 and the power supply port Y143 of the servo motor are turned ON.
The phenomenon is as follows: the robot cannot move
Prompting characters: the robotic system cannot be enabled.
2) Servo communication line break
The implementation method comprises the following steps: the servo communication signal port Y10001 is turned ON by controlling the ON-off of the servo communication signal port Y10001.
The phenomenon is as follows: the robot can not be enabled and operated
Prompting characters: the robot cannot be enabled
3) The servo motor is not operated
The implementation method comprises the following steps: the ON-off of the relay is controlled, and then the ON-off of the relay is controlled to control the ON-off of the contactor, so that the power supply port of the servo motor No. Y143 is turned ON.
The phenomenon is as follows: the robot cannot operate
Prompting characters: the robot system is abnormal.
4) Brake incapable of being clamped by servo motor
The implementation method comprises the following steps: the ON-off control of the enabling port of the Y161 servo motor and the enabling port of the Y173 servo motor is generated, and the enabling port of the No. 1 servo motor Y16 and the enabling port of the No. 3 servo motor Y17 are turned ON.
The phenomenon is as follows: damaged motor
Prompting characters: the servo band-type brake is not arranged.
5) Servo encoder without feedback
The implementation method comprises the following steps: the battery of the encoder is not replaced for a long time or the battery is not in poor contact with the battery seat.
The phenomenon is as follows: the manipulator movement having an influence
Prompting characters: encoder parameter abnormity or no prompt (servo motor chance alarm when no prompt)
3. Common failures of motion controllers are as follows:
1) the motion controller cannot be powered on
The implementation method comprises the following steps: power line break of motion controller
The phenomenon is as follows: the motion controller can not run and the robot can not run normally
Prompting characters: the motion controller indicator light is not on
2) IO Exception of motion controller
The implementation method comprises the following steps: abnormal wiring or damaged IO terminal block IOLINK.
The phenomenon is as follows: the robot can not normally operate
Prompting characters: no hint is given.
4. Common faults caused by servo motors are as follows:
1) failure of servo and programmable controller to communicate or abnormal operation
The implementation method comprises the following steps: servo parameter setting error
The phenomenon is as follows: incapability of robot or abnormal motion
Prompting characters: the robot cannot be enabled
2) Trajectory planning over travel
The implementation method comprises the following steps: during the teaching process of the robot, the planned track overtravel
The phenomenon is as follows: the robot cannot operate
Prompting characters: trajectory planning over travel
3) Error in direction of motion
The implementation method comprises the following steps: the direction of motion logic setting does not conform to the setting
The phenomenon is as follows: the motion direction of the robot is opposite to the set coordinate system
Prompting characters: motion direction logic set error
5) Robot tool calibration failure
The implementation method comprises the following steps: and during the tool calibration process, parameter errors are overlarge. The calibration tool or teach point error is higher than 2 mm.
The phenomenon is as follows: the manipulator operation error is great.
Prompting characters: the calibration error of the manipulator tool is large, and the manipulator tool needs to be calibrated again.
5. Common problems with cameras are as follows:
1) camera unable to trigger shooting signal
The implementation method comprises the following steps: the camera trigger terminal is not the Y36 camera trigger port, and the camera photographing completion signal is not the camera photographing completion port X36
The phenomenon is as follows: can not shoot
Prompting characters: communication abnormality of camera
2) Camera shooting object blur
The implementation method comprises the following steps: adjusting focal length or light source brightness of camera
The phenomenon is as follows: when the robot works, the robot can not work
Prompting characters: without object
3) Power off of light source controller
The implementation method comprises the following steps: the ON-off of the intermediate relay is controlled by controlling the ON-off of a camera light source control port Y10000 in the programmable controller, and then the ON-off of the contactor is controlled by the intermediate relay, so that the Y10000 camera light source control port is turned ON.
The phenomenon is as follows: the light source controller indicator light is not on, and the camera cannot take a picture.
Prompting characters: the light source controller is powered off.
6. The method for fault elimination of the industrial robot software comprises the following steps:
1) common failure of servo drive
The servo and the PLC can not communicate or operate abnormally due to wrong setting of servo parameters
The phenomenon is as follows: incapability of robot or abnormal motion
Prompting characters: the robot cannot be enabled
The reason is as follows: servo parameter setting errors.
2) Common problems caused by visual cameras
The phenomenon is as follows: camera and robot unable to communicate
Prompting characters: camera communication error
The reason is as follows: communication parameter configuration errors.
3) The line number of the encoder is set incorrectly, which results in that the robot cannot be enabled
The phenomenon is as follows: the robot runs abnormally, mainly manifested as abnormal speed and coordinate system
Prompting characters: the robot cannot be enabled
The reason is as follows: encoder line number setting errors.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a multi-functional industrial robot failure diagnosis laboratory bench which characterized in that: the robot comprises a supporting frame, and a power supply module, an input/output module, a fault setting module, a motion control module, a servo drive module, an industrial robot body, an industrial robot demonstrator and a robot vision module which are arranged on the supporting frame, wherein each module is correspondingly provided with a wiring terminal and is connected with the wiring terminal through a lead;
the power supply module is used for supplying power to the motion control module, the servo driving module, the industrial robot body, the robot vision module and the fault setting module;
the input and output module is used for an input and output port of the experiment table motion control module to realize the logic control of the motion control module;
the fault setting module is used for setting hardware faults of the experiment table and developing PLC application experiments and touch screen application experiments;
the motion control module is used for being connected with the servo driver through a servo bus interface so as to control the motion of the industrial robot;
the servo driving module is used for connecting a servo motor of the industrial robot body;
the industrial robot demonstrator is used for demonstrating and programming an industrial robot;
the robot vision module is used for realizing an industrial robot vision detection application experiment and a fault diagnosis experiment with the robot vision detection application experiment.
2. The multifunctional industrial robot fault diagnosis laboratory table according to claim 1, characterized in that: the power supply module comprises a 380VAC power supply input, a button switch, an isolation transformer, a control loop circuit breaker, a control loop filter, a drive loop circuit breaker, a drive loop filter and a motor band-type brake power supply; 380VAC power input and button switch series connection, button switch's the other end and isolation transformer series connection, isolation transformer and control circuit breaker, drive circuit breaker parallel connection in proper order, drive circuit breaker and drive circuit wave filter and motor band-type brake power parallel connection in proper order, control circuit wave filter and control circuit breaker series connection.
3. The multifunctional industrial robot fault diagnosis laboratory table according to claim 1, characterized in that: the servo drive module comprises at least 4 servo drivers.
4. The multifunctional industrial robot fault diagnosis laboratory table according to claim 3, characterized in that: the motion control module comprises a motion controller, an input interface board, an output interface board, a communication interface board and an expansion interface board, wherein each interface board is respectively connected to the input interface, the output interface, the communication interface and the expansion interface of the motion controller.
5. The multifunctional industrial robot fault diagnosis laboratory table according to claim 4, characterized in that: the input and output module comprises a button, a switch, an indicator light and a wiring terminal strip, wherein the button, the switch and the indicator light are sequentially connected to the wiring terminal strip and then connected to a corresponding interface board of the motion controller and a corresponding terminal of the Programmable Logic Controller (PLC) of the fault setting module from the wiring terminal strip.
6. The multifunctional industrial robot fault diagnosis laboratory table according to claim 5, characterized in that: the fault setting module comprises a Programmable Logic Controller (PLC), a touch screen and at least 1 intermediate relay; the touch screen is connected with the Programmable Logic Controller (PLC) through a communication interface, an input interface of the PLC is connected with a button and a switch of the input and output module through a wiring terminal strip, and an output interface of the PLC is connected with an indicator light and a coil of the intermediate relay.
7. The multifunctional industrial robot fault diagnosis laboratory table according to claim 4, characterized in that: the communication interface board comprises a USB interface for program debugging, an interface for connecting the demonstrator and an interface for connecting the camera; the input interface board is used for connecting input equipment buttons and switches; the output interface board is used for connecting an output equipment indicator lamp; the expansion interface board can be used for connecting the input/output expansion module, the analog-to-digital conversion module and the digital-to-analog conversion module.
8. The multifunctional industrial robot fault diagnosis laboratory table according to claim 4, characterized in that: the motion controller is connected with the servo driver through a servo bus interface, and the industrial robot demonstrator is connected with the motion controller.
9. The multifunctional industrial robot fault diagnosis laboratory table according to claim 1, characterized in that: the industrial robot body is a six-freedom-degree series robot.
10. The multifunctional industrial robot fault diagnosis laboratory table according to claim 1, characterized in that: the robot vision module comprises a camera, a light source and a light source controller, wherein the camera is connected with the light source controller through a serial port connecting wire and is connected with a computer through an RJ45 network port, and the light source controller is connected with the motion controller.
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