CN112549073A - Industrial robot performance detection system - Google Patents
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Abstract
The invention discloses an industrial robot performance detection system which comprises a controller, a pose characteristic detection module, a path characteristic detection module, a reliability detection module, a quality analysis module, a detection display module, a safety detection module and a data storage module, wherein the pose characteristic detection module is used for detecting the pose characteristic of an industrial robot; the invention is provided with the pose characteristic detection module, the path characteristic detection module, the reliability monitoring module, the safety monitoring module and the quality analysis module, and the settings can fully automatically detect the performance of the industrial robot without manual participation, thereby reducing the labor cost; the detection display module is arranged, so that the detection result of the performance of the industrial robot can be clearly and directly displayed, and the monitoring and analysis of workers are facilitated; the invention is provided with a data storage module, the data storage module stores the received data in a grading way, and also takes the protection measures of different stations for the important data to prevent the data from being lost due to the emergency.
Description
Technical Field
The invention belongs to the technical field of industrial robot manufacturing, and particularly relates to an industrial robot performance detection system.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the robot.
The application range of the industrial robot is more and more wide, which is a difficult problem for the production and manufacturing of the industrial robot, a large amount of time and manpower and material resources are consumed, and especially, only the detection of a small number of functions in the performance detection process after the production of the industrial robot is completed can be automatically completed, so that a system capable of automatically detecting the performance of the industrial robot is needed.
Disclosure of Invention
In order to solve the problems, the invention provides an industrial robot performance detection system.
The purpose of the invention can be realized by the following technical scheme: a performance detection system of an industrial robot comprises a controller, a pose feature detection module, a path feature detection module, a reliability detection module, a quality analysis module, a detection display module, a safety detection module and a data storage module;
the pose characteristic detection module is used for detecting pose characteristics of the industrial robot, and the specific detection steps are as follows:
z1: the operation speed of the industrial robot is adjusted to 100%, 50% and 10% in sequence through a speed control unit, the pose accuracy and the pose repeatability are detected in sequence for the industrial robots with different operation speeds through a laser tracker, the mean value of the pose accuracy is marked as AP, and the mean value of the pose repeatability is marked as RP;
z2: obtaining distance accuracy and distance repeatability of industrial robots with different running speeds through a laser tracker, marking a distance accuracy mean value as LP, and marking a distance repeatability mean value as LPZ;
z3: detecting position stabilization time and position overshoot of industrial robots with different running speeds through a time analysis unit, marking the position stabilization time mean value as T, and marking the position overshoot mean value as LT;
z4: by the formula
Acquiring a pose characteristic coefficient WZ, wherein alpha and beta are specific proportionality coefficients; pose characteristic coefficient WZ>At L1, the pose feature detection module sends pose feature coefficients to the quality analysis module through the controller, and sends pose feature detection data and pose feature coefficients to the data storage module through the controller, wherein L1 is a preset threshold;
the path characteristic detection module is used for detecting the path characteristics of the industrial robot, and the specific detection steps are as follows:
x1: the operation speed of the industrial robot is adjusted to 100% and 50% in sequence through the speed control unit, track accuracy and track repeatability detection is carried out on the industrial robots with different operation speeds through the track accuracy detection unit, the average value of the track accuracy is marked as BP, and the average value of the track repeatability is marked as RB;
x2: the corner distance deviation value of the industrial robots with different running speeds is obtained through a corner deviation detection unit and is marked as GP;
x3: by the formula
Obtaining a path characteristic coefficient LJ, and obtaining a path characteristic coefficient L2<In LJ, the path characteristic detection module sends a path characteristic coefficient to the quality analysis module through the controller, and simultaneously sends path characteristic data and the path characteristic coefficient to the data storage module through the controller for storage, wherein L2 is a preset threshold;
reliability detection module is used for testing industrial robot's reliability, and concrete test step is:
c1: the industrial robot is under the rated load condition, and only the joint to be measured is in a working state;
c2: quilt of industrial robot by reliability detection moduleMeasuring the maximum speed of the joint in the working range, measuring the maximum speed value in the movement process, repeating the measurement for ten times, taking the average value of the maximum speed values of the ten times as a speed stability coefficient, and marking the average value as SiI ═ 1,2, … …, n; wherein i is the number of the ith joint to be detected, and the reliability detection module sends a speed stability coefficient to the quality analysis module through the controller;
c3: the industrial robot is enabled to continuously run under the condition of rated load through the reliability detection module, the continuous running time is marked as YT, when YT is less than L3, the reliability detection module sends a device disqualification instruction to the detection display module through the controller, and when YT is more than or equal to L3, the reliability detection module sends the continuous running time to the quality analysis module through the controller; meanwhile, sending the speed stability coefficient, the unqualified equipment instruction sending record and the continuous running time to a data storage module through a controller for storage, wherein L3 is a preset threshold value;
the quality analysis module is used for analyzing the quality grade of the tested industrial robot, the quality analysis module comprises a grade judging unit and a counting unit, and the specific analysis steps are as follows:
v1: by the formula
Acquiring a quality evaluation coefficient ZL of the industrial robot, wherein delta is a specific proportionality coefficient;
v2: when ZL is more than or equal to 0.9 and less than 1, the grade judging unit marks the detected industrial robot as a first-class product, and the counting unit counts the total number of the industrial robots of the first-class product and marks the total number as D1; when ZL is more than or equal to 0.7 and is less than 0.9, the grade judging unit marks the tested industrial robot as a second-class product, and the counting unit counts the total number of the industrial robots of the second-class product and marks the total number as D2; when ZL is less than 0.7, the grade judging unit marks the detected industrial robot as a defective product, the quality analysis module sends a device unqualified instruction to the detection display unit, and meanwhile, the counting unit counts the total number of the industrial robots of the defective product and marks the total number as D3;
v3: the quality analysis module sends the quality evaluation coefficient ZL, the total number D1 of first-class products, the total number D2 of second-class products and the total number D3 of defective products to the data storage module through the controller for storage; the total number of first-class products D1, the total number of second-class products D2 and the total number of defective products D3 are sent to the detection display unit through the controller.
Preferably, the safety detection module is used for detecting potential safety hazards under the rated load operation condition of the industrial robot to be detected, and the specific detection steps are as follows:
b1: the leakage current of the tested industrial robot is tested by the leakage current tester and is marked as Ix(ii) a When I isxWhen the current is greater than or equal to L4, the safety monitoring module sends a current alarm instruction to the detection display module through the controller, wherein L4 is a preset threshold value;
b2: testing the radiation value of the tested industrial robot through a radiation detector, and marking the radiation value as R; when R is larger than or equal to L5, the safety detection module sends a radiation alarm instruction to the detection display module through the controller, wherein L5 is a preset threshold;
b3: measuring the noise of the industrial robot to be measured through a sound level meter, and marking the noise value as DB; when DB is larger than or equal to L6, the safety detection module sends a noise alarm instruction to the detection display module through the controller, wherein L6 is a preset threshold;
b4: the safety monitoring module is used for monitoring the leakage current I through the controllerxThe radiation value R, the noise value DB, the current yellow alarm instruction sending record, the radiation yellow alarm instruction sending record and the noise yellow alarm instruction sending record are sent to the data storage module for storage.
Preferably, the detection display module is used for displaying the test result of the industrial robot in real time, and the detection display module displays a pose characteristic coefficient, a path characteristic coefficient and a quality evaluation coefficient respectively through a two-dimensional line graph, wherein a pose characteristic coefficient display area sets a reference line y to be L1, a path characteristic coefficient display area sets a reference line y to be L2, and a quality evaluation coefficient display area sets a reference line y to be 0.7; the analysis result display unit displays the leakage current, the radiation value and the noise value through numbers, when the detection display module receives a current alarm instruction, the display value of the leakage current is set to be in a red flashing state, when the detection display module receives the radiation alarm instruction, the display value of the radiation value is set to be in a blue flashing state, and when the detection display module receives the noise alarm instruction, the display value of the noise is set to be in a yellow display state.
Preferably, the data storage module is configured to store data in a hierarchical manner, and the data storage module stores the pose characteristic data, the path characteristic data, and the reliability data after receiving the pose characteristic data, the path characteristic data, and the reliability data, and performs the protection for different stations, where the pose characteristic data includes a pose accuracy and repeatability mean, a distance accuracy and repeatability mean, a position stability mean, a position overshoot mean, a pose characteristic coefficient, a trajectory accuracy and repeatability mean, a corner distance deviation value, a path characteristic coefficient, a speed stability coefficient, a continuous operation time, and a quality assessment coefficient.
Preferably, the pose feature detection data comprise a pose accuracy mean value, a pose repeatability mean value, a distance accuracy mean value, a distance repeatability mean value, a position stable time mean value and a position overshoot mean value; the path characteristic data comprises a track accuracy mean value and a track repeatability mean value; the corner distance deviation value is the distance between the starting point and the end point of the trajectory speed reduction at the corner.
Preferably, the pose feature detection module comprises a pose accuracy analysis unit, a multi-direction pose accuracy analysis unit, a distance accuracy analysis unit, a position stabilization time analysis unit, a speed control unit, a time analysis unit and a laser tracker; the path characteristic monitoring module comprises a track accuracy detection unit, a corner deviation detection unit and a speed control unit.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is provided with a pose characteristic detection module, a path characteristic detection module, a reliability monitoring module, a safety monitoring module and a quality analysis module, wherein the pose characteristic module is used for detecting the pose accuracy, the repeatability mean value, the distance accuracy and the repeatability mean value of the industrial robot and analyzing to obtain a pose characteristic coefficient; monitoring the track accuracy, the repeatability value and the corner distance deviation value of the robot through a path characteristic detection module, and analyzing to obtain a path characteristic coefficient; detecting a speed stability coefficient and continuous operation time of the industrial robot through a reliability analysis module; detecting leakage current, radiation value and noise of the industrial robot in the operation process through a safety detection module; finally, a quality evaluation coefficient of the tested robot is obtained through the control system and the quality analysis module, and a quality evaluation grade is divided according to the quality evaluation coefficient, so that the performance of the industrial robot can be fully automatically detected without manual participation, and the labor cost is reduced;
2. the invention is provided with a detection display module, the detection display module respectively displays a pose characteristic coefficient, a path characteristic coefficient and a quality evaluation coefficient through a two-dimensional line graph, wherein a pose characteristic coefficient display area is provided with a reference line y which is L1, a path characteristic coefficient display area is provided with a reference line y which is L2, and a quality evaluation coefficient display area is provided with a reference line y which is 0.7; the analysis result display unit displays the leakage current, the radiation value and the noise value through numbers, when the detection display module receives a current alarm instruction, the display value of the leakage current is set to be in a red flashing state, when the detection display module receives the radiation alarm instruction, the display value of the radiation value is set to be in a blue flashing state, and when the detection display module receives the noise alarm instruction, the display value of the noise is set to be in a yellow display state; the device can clearly and directly display the detection result of the performance of the industrial robot, and is convenient for monitoring and analyzing by workers;
3. the invention is provided with a data storage module, the data storage module stores the received data in a grading way, and also adopts the protection measures of different stations for important data, thereby being beneficial to protecting the data and preventing the data from being lost due to emergency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the principle of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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.
Referring to fig. 1, an industrial robot performance detection system includes a controller, a pose feature detection module, a path feature detection module, a reliability detection module, a quality analysis module, a detection display module, a safety detection module, an environment detection adjustment module, and a data storage module;
the pose characteristic detection module is used for detecting pose characteristics of the industrial robot, and the specific detection steps are as follows:
z1: the operation speed of the industrial robot is adjusted to 100%, 50% and 10% in sequence through a speed control unit, the pose accuracy and the pose repeatability are detected in sequence for the industrial robots with different operation speeds through a laser tracker, the mean value of the pose accuracy is marked as AP, and the mean value of the pose repeatability is marked as RP; the pose accuracy represents the deviation between the real pose and the pose average value when the command pose approaches the command pose from the same direction, and the pose repetition degree represents the consistency degree between the real pose and the pose after repeatedly responding the same command pose from the same direction for n times;
z2: obtaining distance accuracy and distance repeatability of industrial robots with different running speeds through a laser tracker, marking a distance accuracy mean value as LP, and marking a distance repeatability mean value as LPZ; the distance accuracy represents the deviation of the position and the attitude between the command distance and the actual distance average value, and the distance repeatability represents the consistency of the actual distance after the same command distance is repeatedly moved for n times in the same direction;
z3: detecting position stabilization time and position overshoot of industrial robots with different running speeds through a time analysis unit, marking the position stabilization time mean value as T, and marking the position overshoot mean value as LT; the position stabilization time is the time from the moment when the industrial robot enters the threshold band for the first time to the moment when the industrial robot does not exceed the threshold band any more, and is used for measuring the performance of the industrial robot from stopping to real to pose speed and speed; when the position is overshot, the maximum distance from the instantaneous position to the real and stable position after the industrial robot enters the threshold band for the first time and then exceeds the threshold band is used for measuring the capability of stably and accurately stopping the industrial robot to the real and stable position;
z4: by the formula
Acquiring a pose characteristic coefficient WZ, wherein alpha and beta are specific proportionality coefficients; pose characteristic coefficient WZ>At L1, the pose feature detection module sends pose feature coefficients to the quality analysis module through the controller, and sends pose feature detection data and pose feature coefficients to the data storage module through the controller, wherein L1 is a preset threshold;
the path characteristic detection module is used for detecting the path characteristic of the industrial robot, and the specific detection steps are as follows:
x1: the operation speed of the industrial robot is adjusted to 100% and 50% in sequence through the speed control unit, track accuracy and track repeatability detection is carried out on the industrial robots with different operation speeds through the track accuracy detection unit, the average value of the track accuracy is marked as BP, and the average value of the track repeatability is marked as RB;
x2: the corner distance deviation value of the industrial robots with different running speeds is obtained through a corner deviation detection unit and is marked as GP;
x3: by the formula
Obtaining a path characteristic coefficient LJ, and obtaining a path characteristic coefficient L2<In LJ, the path characteristic detection module sends the path through the controllerThe path characteristic coefficient is sent to a quality analysis module, and meanwhile, path characteristic data and the path characteristic coefficient are sent to a data storage module through a controller to be stored, wherein L2 is a preset threshold;
the reliability detection module is used for testing the reliability of the industrial robot, and the specific testing steps are as follows:
c1: the industrial robot is under the rated load condition, and only the joint to be measured is in a working state;
c2: the measured joint of the industrial robot moves in the working range of the industrial robot at the maximum speed through the reliability detection module, the maximum speed value in the movement process is measured, the measurement is repeated for ten times, the average value of the ten maximum speed values is taken as a speed stability coefficient, and the speed stability coefficient is marked as SiI ═ 1,2, … …, n; wherein i is the number of the ith joint to be detected, and the reliability detection module sends a speed stability coefficient to the quality analysis module through the controller;
c3: the industrial robot is enabled to continuously run under the condition of rated load through the reliability detection module, the continuous running time is marked as YT, when YT is less than L3, the reliability detection module sends a device disqualification instruction to the detection display module through the controller, and when YT is more than or equal to L3, the reliability detection module sends the continuous running time to the quality analysis module through the controller; meanwhile, sending the speed stability coefficient, the unqualified equipment instruction sending record and the continuous running time to a data storage module through a controller for storage, wherein L3 is a preset threshold value;
the quality analysis module is used for analyzing the quality grade of the tested industrial robot, the quality analysis module comprises a grade judging unit and a counting unit, and the specific analysis steps are as follows:
v1: by the formula
Acquiring a quality evaluation coefficient ZL of the industrial robot, wherein delta is a specific proportionality coefficient;
v2: when ZL is more than or equal to 0.9 and less than 1, the grade judging unit marks the detected industrial robot as a first-class product, and the counting unit counts the total number of the industrial robots of the first-class product and marks the total number as D1; when ZL is more than or equal to 0.7 and is less than 0.9, the grade judging unit marks the tested industrial robot as a second-class product, and the counting unit counts the total number of the industrial robots of the second-class product and marks the total number as D2; when ZL is less than 0.7, the grade judging unit marks the detected industrial robot as a defective product, the quality analysis module sends a device unqualified instruction to the detection display unit, and meanwhile, the counting unit counts the total number of the industrial robots of the defective product and marks the total number as D3;
v3: the quality analysis module sends the quality evaluation coefficient ZL, the total number D1 of first-class products, the total number D2 of second-class products and the total number D3 of defective products to the data storage module through the controller for storage; the total number of first-class products D1, the total number of second-class products D2 and the total number of defective products D3 are sent to the detection display unit through the controller.
The safety detection module is used for detecting potential safety hazards under the rated load operation condition of the industrial robot to be detected, and the specific detection steps are as follows:
b1: the leakage current of the tested industrial robot is tested by the leakage current tester and is marked as Ix(ii) a When I isxWhen the current is greater than or equal to L4, the safety monitoring module sends a current alarm instruction to the detection display module through the controller, wherein L4 is a preset threshold value;
b2: testing the radiation value of the tested industrial robot through a radiation detector, and marking the radiation value as R; when R is larger than or equal to L5, the safety detection module sends a radiation alarm instruction to the detection display module through the controller, wherein L5 is a preset threshold;
b3: measuring the noise of the industrial robot to be measured through a sound level meter, and marking the noise value as DB; when DB is larger than or equal to L6, the safety detection module sends a noise alarm instruction to the detection display module through the controller, wherein L6 is a preset threshold;
b4: the safety monitoring module is used for monitoring the leakage current I through the controllerxThe radiation value R, the noise value DB, the current yellow alarm instruction sending record, the radiation yellow alarm instruction sending record and the noise yellow alarm instruction sending record are sent to the data storage module for storage.
The detection display module is used for displaying a test result of the industrial robot in real time, and respectively displays a pose characteristic coefficient, a path characteristic coefficient and a quality evaluation coefficient through a two-dimensional line graph, wherein a reference line y is set in a pose characteristic coefficient display area as L1, a reference line y is set in a path characteristic coefficient display area as L2, and a reference line y is set in a quality evaluation coefficient display area as 0.7; the analysis result display unit displays the leakage current, the radiation value and the noise value through numbers, when the detection display module receives a current alarm instruction, the display value of the leakage current is set to be in a red flashing state, when the detection display module receives the radiation alarm instruction, the display value of the radiation value is set to be in a blue flashing state, and when the detection display module receives the noise alarm instruction, the display value of the noise is set to be in a yellow display state.
The data storage module is used for storing data in a grading mode, the data storage module stores the pose characteristic data, the path characteristic data and the reliability data after receiving the pose characteristic data, the path characteristic data and the reliability data and performs out-of-station protection, and the pose characteristic data comprise a pose accuracy and repeatability mean value, a distance accuracy and repeatability mean value, a position stability mean value, a position overshoot mean value, a pose characteristic coefficient, a track accuracy and repeatability mean value, a corner distance deviation value, a path characteristic coefficient, a speed stability coefficient, continuous operation time and a quality evaluation coefficient.
The pose characteristic detection data comprise a pose accuracy mean value, a pose repeatability mean value, a distance accuracy mean value, a distance repeatability mean value, a position stable time mean value and a position overshoot mean value; the path characteristic data comprises a track accuracy mean value and a track repeatability mean value; the corner distance deviation value is the distance between the starting point and the end point of the drop of the track speed at the corner.
The pose characteristic detection module comprises a pose accuracy analysis unit, a multi-direction pose accuracy analysis unit, a distance accuracy analysis unit, a position stabilization time analysis unit, a speed control unit, a time analysis unit and a laser tracker; the path characteristic monitoring module comprises a track accuracy detection unit, a corner deviation detection unit and a speed control unit.
The environment detection and regulation module is used for detecting and regulating the working environment of the detection system, the environment detection and regulation module comprises a data acquisition unit and a data analysis and regulation unit, the data acquisition unit comprises a plurality of intelligent temperature detectors and intelligent humidity detectors, and the specific regulation step is as follows:
m1: acquiring temperature values through intelligent temperature detectors uniformly distributed in a workshop, calculating a temperature mean value in the workshop, and marking the temperature mean value as WD; acquiring humidity values through intelligent humidity detectors uniformly distributed in a workshop, calculating a humidity average value in the workshop, and marking the humidity average value as SD; meanwhile, the temperature mean value WD and the humidity mean value SD are sent to a data analysis and adjustment unit;
m2: acquiring an optimal temperature value WD1 and a humidity value SD1 and preset threshold values L7, L8, L9 and L10 of an industrial robot performance test through a data storage module, and when the temperature mean value WD and the humidity mean value SD are inconsistent with the optimal temperature value and the humidity value, adjusting the temperature and the humidity in a workshop until the temperature mean value WD and the humidity mean value SD in the workshop are consistent with the optimal temperature value WD1 and the humidity value SD1, namely L7 is not less than or equal to WD1-WD is not less than or equal to L8, L9 is not less than or equal to SD1-SD is not less than or equal to L10;
m3: the detection display unit displays the temperature mean value WD and the humidity mean value SD in the workshop in real time, when the temperature mean value WD and the humidity mean value SD in the workshop are consistent with the optimal temperature value WD1 and the humidity value SD1, the display background of the temperature mean value WD and the humidity mean value SD is set to be green, and otherwise, the display background of the temperature mean value WD and the humidity mean value SD is set to be yellow.
The above formulas are all quantitative calculation, the formula is a formula obtained by acquiring a large amount of data and performing software simulation to obtain the latest real situation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The working principle of the invention is as follows:
acquiring pose accuracy, pose repeatability, distance accuracy, distance repeatability, position stabilization time and position overshoot of industrial robots with different running speeds through a pose detection module, and acquiring corresponding mean values and pose characteristic coefficients;
acquiring a track accuracy mean value, a track repeatability mean value and a corner distance deviation value of industrial robots with different running speeds through a path characteristic detection module, and acquiring a path characteristic coefficient;
acquiring a speed stability coefficient and continuous operation time of the industrial robot through a reliability detection module, and directly judging whether the industrial robot is qualified or not through the operation time; if the quality evaluation result is qualified, the quality evaluation coefficient is obtained through the quality analysis module to evaluate the quality grade of the industrial robot, and the industrial robot is classified into first-class products, second-class products and defective products according to the quality grade evaluation result;
the detection display module respectively displays a pose characteristic coefficient, a path characteristic coefficient and a quality evaluation coefficient through a two-dimensional line graph, wherein a pose characteristic coefficient display area sets a reference line y to L1, a path characteristic coefficient display area sets a reference line y to L2, and a quality evaluation coefficient display area sets a reference line y to 0.7; the analysis result display unit displays the leakage current, the radiation value and the noise value through numbers, when the detection display module receives a current alarm instruction, the display value of the leakage current is set to be in a red flashing state, when the detection display module receives the radiation alarm instruction, the display value of the radiation value is set to be in a blue flashing state, and when the detection display module receives the noise alarm instruction, the display value of the noise is set to be in a yellow display state; the setting can clearly and directly show the detection result of industrial robot performance, and the monitoring and analysis of workers are facilitated.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (6)
1. A performance detection system of an industrial robot is characterized by comprising a controller, a pose feature detection module, a path feature detection module, a reliability detection module, a quality analysis module, a detection display module, a safety detection module and a data storage module;
the pose characteristic detection module is used for detecting pose characteristics of the industrial robot, and the specific detection steps are as follows:
z1: the operation speed of the industrial robot is adjusted to 100%, 50% and 10% in sequence through a speed control unit, the pose accuracy and the pose repeatability are detected in sequence for the industrial robots with different operation speeds through a laser tracker, the mean value of the pose accuracy is marked as AP, and the mean value of the pose repeatability is marked as RP;
z2: obtaining distance accuracy and distance repeatability of industrial robots with different running speeds through a laser tracker, marking a distance accuracy mean value as LP, and marking a distance repeatability mean value as LPZ;
z3: detecting position stabilization time and position overshoot of industrial robots with different running speeds through a time analysis unit, marking the position stabilization time mean value as T, and marking the position overshoot mean value as LT;
z4: by the formula
Acquiring a pose characteristic coefficient WZ, wherein alpha and beta are specific proportionality coefficients; when the pose characteristic coefficient WZ is larger than L1, the pose characteristic detection module sends the pose characteristic coefficient to the quality analysis module through the controller, and simultaneously sends pose characteristic detection data and the pose characteristic coefficient to the data storage module through the controller, wherein L1 is a preset threshold value;
the path characteristic detection module is used for detecting the path characteristics of the industrial robot, and the specific detection steps are as follows:
x1: the operation speed of the industrial robot is adjusted to 100% and 50% in sequence through the speed control unit, track accuracy and track repeatability detection is carried out on the industrial robots with different operation speeds through the track accuracy detection unit, the average value of the track accuracy is marked as BP, and the average value of the track repeatability is marked as RB;
x2: the corner distance deviation value of the industrial robots with different running speeds is obtained through a corner deviation detection unit and is marked as GP;
x3: through a maleFormula (II)
The method comprises the steps of obtaining a path characteristic coefficient LJ, when the path characteristic coefficient L2 is smaller than the LJ, sending the path characteristic coefficient to a quality analysis module through a controller by a path characteristic detection module, and sending path characteristic data and the path characteristic coefficient to a data storage module through the controller for storage, wherein L2 is a preset threshold value;
reliability detection module is used for testing industrial robot's reliability, and concrete test step is:
c1: the industrial robot is under the rated load condition, and only the joint to be measured is in a working state;
c2: the measured joint of the industrial robot moves in the working range of the industrial robot at the maximum speed through the reliability detection module, the maximum speed value in the movement process is measured, the measurement is repeated for ten times, the average value of the ten maximum speed values is taken as a speed stability coefficient, and the speed stability coefficient is marked as SiI ═ 1,2, … …, n; wherein i is the number of the ith joint to be detected, and the reliability detection module sends a speed stability coefficient to the quality analysis module through the controller;
c3: the industrial robot is enabled to continuously run under the condition of rated load through the reliability detection module, the continuous running time is marked as YT, when YT is less than L3, the reliability detection module sends a device disqualification instruction to the detection display module through the controller, and when YT is more than or equal to L3, the reliability detection module sends the continuous running time to the quality analysis module through the controller; meanwhile, sending the speed stability coefficient, the unqualified equipment instruction sending record and the continuous running time to a data storage module through a controller for storage, wherein L3 is a preset threshold value;
the quality analysis module is used for analyzing the quality grade of the tested industrial robot, the quality analysis module comprises a grade judging unit and a counting unit, and the specific analysis steps are as follows:
v1: by the formula
Acquiring a quality evaluation coefficient ZL of the industrial robot, wherein delta is a specific proportionality coefficient;
v2: when ZL is more than or equal to 0.9 and less than 1, the grade judging unit marks the detected industrial robot as a first-class product, and the counting unit counts the total number of the industrial robots of the first-class product and marks the total number as D1; when ZL is more than or equal to 0.7 and is less than 0.9, the grade judging unit marks the tested industrial robot as a second-class product, and the counting unit counts the total number of the industrial robots of the second-class product and marks the total number as D2; when ZL is less than 0.7, the grade judging unit marks the detected industrial robot as a defective product, the quality analysis module sends a device unqualified instruction to the detection display unit, and meanwhile, the counting unit counts the total number of the industrial robots of the defective product and marks the total number as D3;
v3: the quality analysis module sends the quality evaluation coefficient ZL, the total number D1 of first-class products, the total number D2 of second-class products and the total number D3 of defective products to the data storage module through the controller for storage; the total number of first-class products D1, the total number of second-class products D2 and the total number of defective products D3 are sent to the detection display unit through the controller.
2. The system for detecting the performance of the industrial robot as claimed in claim 1, wherein the safety detection module is used for detecting the potential safety hazard under the rated load operation condition of the industrial robot to be detected, and the specific detection steps are as follows:
b1: the leakage current of the tested industrial robot is tested by the leakage current tester and is marked as Ix(ii) a When I isxWhen the current is greater than or equal to L4, the safety monitoring module sends a current alarm instruction to the detection display module through the controller, wherein L4 is a preset threshold value;
b2: testing the radiation value of the tested industrial robot through a radiation detector, and marking the radiation value as R; when R is larger than or equal to L5, the safety detection module sends a radiation alarm instruction to the detection display module through the controller, wherein L5 is a preset threshold;
b3: measuring the noise of the industrial robot to be measured through a sound level meter, and marking the noise value as DB; when DB is larger than or equal to L6, the safety detection module sends a noise alarm instruction to the detection display module through the controller, wherein L6 is a preset threshold;
b4: the safety monitoring module is used for monitoring the leakage current I through the controllerxThe radiation value R, the noise value DB, the current yellow alarm instruction sending record, the radiation yellow alarm instruction sending record and the noise yellow alarm instruction sending record are sent to the data storage module for storage.
3. The system according to claim 1, wherein the detection display module is configured to display the test results of the industrial robot in real time, and the detection display module displays a pose feature coefficient, a path feature coefficient and a quality assessment coefficient respectively by using a two-dimensional line graph, wherein a pose feature coefficient display area sets a reference line y to L1, a path feature coefficient display area sets a reference line y to L2, and a quality assessment coefficient display area sets a reference line y to 0.7; the analysis result display unit displays the leakage current, the radiation value and the noise value through numbers, when the detection display module receives a current alarm instruction, the display value of the leakage current is set to be in a red flashing state, when the detection display module receives the radiation alarm instruction, the display value of the radiation value is set to be in a blue flashing state, and when the detection display module receives the noise alarm instruction, the display value of the noise is set to be in a yellow display state.
4. The system of claim 1, wherein the data storage module is configured to store data in a hierarchical manner, and the data storage module receives pose feature data, path feature data, and reliability data, stores the data, and performs out-of-site protection on the data, wherein the pose feature data includes a pose accuracy and repeatability mean, a distance accuracy and repeatability mean, a position stability mean, a position overshoot mean, a pose feature coefficient, a trajectory accuracy and repeatability mean, a corner distance deviation value, a path feature coefficient, a velocity stability coefficient, a continuous operation time, and a quality assessment coefficient.
5. An industrial robot performance detection system according to claim 1, characterized in that the pose feature detection data comprises a pose accuracy mean, a pose repetition mean, a distance accuracy mean, a distance repetition mean, a position stabilization time mean and a position overshoot mean; the path characteristic data comprises a track accuracy mean value and a track repeatability mean value; the corner distance deviation value is the distance between the starting point and the end point of the trajectory speed reduction at the corner.
6. The industrial robot performance detection system according to claim 1, wherein the pose feature detection module includes a pose accuracy analysis unit, a multi-directional pose accuracy analysis unit, a distance accuracy analysis unit, a position stabilization time analysis unit, a speed control unit, a time analysis unit, and a laser tracker; the path characteristic monitoring module comprises a track accuracy detection unit, a corner deviation detection unit and a speed control unit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114378835A (en) * | 2022-03-25 | 2022-04-22 | 深圳威洛博机器人有限公司 | Robot control system based on image recognition and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114378835A (en) * | 2022-03-25 | 2022-04-22 | 深圳威洛博机器人有限公司 | Robot control system based on image recognition and control method thereof |
| CN114378835B (en) * | 2022-03-25 | 2022-06-17 | 深圳威洛博机器人有限公司 | Robot control system based on image recognition and control method thereof |
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