CN114139404A - Automatic performance testing method for robot - Google Patents
Automatic performance testing method for robot Download PDFInfo
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- CN114139404A CN114139404A CN202111523779.1A CN202111523779A CN114139404A CN 114139404 A CN114139404 A CN 114139404A CN 202111523779 A CN202111523779 A CN 202111523779A CN 114139404 A CN114139404 A CN 114139404A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
- G06F11/3672—Test management
- G06F11/3688—Test management for test execution, e.g. scheduling of test suites
Abstract
The invention discloses an automatic performance testing method of a robot, which comprises the following operation steps: the method comprises the steps of creating a model tool, a workpiece coordinate system and a target point, saving a project after the construction is finished, modeling and performing performance test on the robot through a virtual workstation, performing off-line programming, creating a Python script program, compiling the Python script program, scheduling model execution tasks such as the robot through a control signal of the industrial control equipment in a Redis database, and performing execution task control on a simulation model of the robot. According to the automatic performance testing method of the Robot, disclosed by the invention, the HB-Robot software can be used for carrying out multi-mode visual modeling operation, the Robot can be subjected to performance testing through visual modeling of the Robot, the contents for testing the automatic performance of the Robot comprise the whole Robot performance testing, the Robot automatic production line design and the Robot online fault diagnosis and health assessment, the testing is more comprehensive, the testing optimization effect is achieved, and the testing performance is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to an automatic performance testing method for a robot.
Background
The automatic performance testing method of the robot is a method for testing the simulation performance of the robot, and during the robot testing, several large application forms such as industrial robot modeling simulation software and technical service, industrial robot application training system, industrial robot application technical training and the like are covered, and along with the continuous development of science and technology, the requirements of people on the automatic performance testing method of the robot are higher and higher.
The existing automatic performance testing method of the robot has certain disadvantages when in use, firstly, in the application field of the robot, a large amount of data calculation is needed aiming at the dynamics and the kinematics simulation of the robot, in the integration scheme of a robot system, a large amount of multi-field models exist, so that the number of equations which are solved simultaneously is increased in a geometric number mode, the robot is tested in a troublesome mode and is not beneficial to the use of people, in addition, the models are complex, the application difficulty is high, certain adverse effects are brought to the use process of people, and therefore, the automatic performance testing method of the robot is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an automatic performance testing method of a Robot, which can perform multi-mode visual modeling operation through HB-Robot software, perform performance testing on the Robot through visual modeling of the Robot, and test the automatic performance of the Robot, wherein the contents of the test comprise the whole Robot performance test, the Robot automatic production line design and the Robot online fault diagnosis and health assessment, so that the test is more comprehensive, the test optimization effect is achieved, the test performance is improved, and the problems in the background technology can be effectively solved.
(II) technical scheme
In order to achieve the purpose, the invention adopts the technical scheme that: an automated performance testing method of a robot includes the following operation steps:
s1: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation;
s2: if no needed model exists in an online library of the HB-Robot, the model can be drawn through SolidWorks, then the model and the model in the online library are led into a workstation and distributed, then a tool, a workpiece coordinate system and a target point of the model are created, and then a project is saved, and after the creation of one virtual workstation is finished, modeling and performance testing are carried out on the Robot through the virtual workstation;
s3: performing off-line programming, creating a Python script program, importing library files such as RoboDK, robolink and Redis in the program, and respectively performing Socket connection, model object acquisition and Redis database connection with a robodK;
s4: compiling a Python script program according to the virtual and real signals in the virtual debugging experiment, and scheduling the robot and other models to execute tasks through the industrial control equipment control signals in the Redis database;
s5: and performing task execution control on the robot simulation model, and simultaneously performing synchronous test on the automation performance of the robot.
As a preferred technical solution of the present application, the contents of the test on the automation performance of the robot in the step S5 include a robot complete machine performance test, a robot automation production line design, a robot online fault diagnosis and a health assessment, and a performance test result is input into a fault information data set and a design navigation test library.
As a preferred technical scheme of the application, the robot complete machine performance test comprises a robot key part performance test, a robot complete machine module performance test and a robot complete machine performance evaluation in typical application.
As a preferred technical solution of the present application, the robot automation line design includes a common key technology design of the robot automation line, and an online design verification of the robot automation line process unit encapsulation and typical operation mode integration application.
As a preferable technical scheme, the robot online fault diagnosis and health assessment comprises the technologies of robot internal and external sensor signal analysis, robot key part online diagnosis and robot health state intelligent identification.
As a preferred technical solution of the present application, a Python script program is created in step S3, two robots read joint data, check whether the unstacking suction cup state is 1, if so, the goods attached to the suction cup are conveyed above the conveyor belt, check whether the unstacking suction cup state is 0, if so, the goods leave the suction cup, are placed on the conveyor belt, check whether the goods are in place, if so, update the in-place variable value in Redis, check whether the palletizing suction cup state is 1, if so, the goods attached to the suction cup are conveyed above the shelf, check whether the unstacking suction cup state is 0, if so, the goods leave the suction cup and are placed on the shelf, check whether the task is completed, if so, the task is completed, and the robot automation work test is completed.
As a preferred technical solution of the present application, in the step S4, a Python script program is written, a main function while True loop is entered, the numerically controlled lathe, the machining center safety door, and the chuck are initialized, a robot motion control subfunction, a safety door, and a chuck state update are called, the numerically controlled lathe and the machining center motion control subfunction are called, the delay is 5 milliseconds, whether a task is completed is detected, and if so, the test is ended.
As a preferable technical scheme of the application, in the step S2, multi-mode visual modeling operation can be performed through HB-Robot software, and the Robot is subjected to performance test through Robot visual modeling.
(III) advantageous effects
Compared with the prior art, the invention provides an automatic performance testing method of a robot, which has the following beneficial effects: the automatic performance testing method of the Robot can carry out multi-mode visual modeling operation through HB-Robot software, carry out performance testing on the Robot through visual modeling of the Robot, carry out testing on the automatic performance of the Robot, the content of the testing on the automatic performance of the Robot comprises the whole machine performance testing of the Robot, the automatic production line design of the Robot, the online fault diagnosis and the health assessment of the Robot, the testing is more comprehensive, the effect of test optimization is achieved, the testing performance is improved, before the simulation is built, the display and CAD parameters are required to be configured, so that a three-dimensional model is smoothly led in and offline simulation is smoothly carried out, if no required model exists in an HB-Robot online library, the model can be drawn through SolidWorks, then the model and the model in the online library are led in a workstation and are laid out, tools, a workpiece coordinate system and a target point of the model are created, and then engineering is saved, after a virtual workstation is established, modeling and performance testing are carried out on the robot through the virtual workstation, offline programming is carried out, a Python script program is established, library files such as RoboDK, robolink and Redis are imported into the program and are respectively used for Socket connection with RoboDK, model object acquisition and Redis database connection, the Python script program is compiled according to virtual and real signals in a virtual debugging experiment, model execution tasks such as the robot and the like are scheduled through a control signal of a industrial control device in the Redis database, execution task control is carried out on a simulation model of the robot, the automation performance of the robot is synchronously tested, the contents for testing the automation performance of the robot comprise the whole performance test of the robot, the design of an automation production line of the robot and the online fault diagnosis and health evaluation of the robot, and a performance test result is input into a fault information data set and a design navigation test library, the automatic performance testing method of the whole robot is simple in structure, convenient to operate and better in using effect compared with the traditional mode.
Drawings
Fig. 1 is a schematic overall structure diagram of an automated performance testing method of a robot according to the present invention.
Fig. 2 is a schematic structural diagram of a Python script program workflow in the method for testing the automation performance of the robot according to the present invention.
Fig. 3 is a schematic structural diagram of a Python program overall flow in the method for testing the automated performance of the robot according to the present invention.
Fig. 4 is a schematic structural diagram of the test contents of the robot in the method for testing the automation performance of the robot according to the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. 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. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows:
as shown in fig. 1 to 4, an automated performance testing method for a robot includes the following steps:
s1: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation;
s2: if no needed model exists in an online library of the HB-Robot, the model can be drawn through SolidWorks, then the model and the model in the online library are led into a workstation and distributed, then a tool, a workpiece coordinate system and a target point of the model are created, and then a project is saved, and after the creation of one virtual workstation is finished, modeling and performance testing are carried out on the Robot through the virtual workstation;
s3: performing off-line programming, creating a Python script program, importing library files such as RoboDK, robolink and Redis in the program, and respectively performing Socket connection, model object acquisition and Redis database connection with a robodK;
s4: compiling a Python script program according to the virtual and real signals in the virtual debugging experiment, and scheduling the robot and other models to execute tasks through the industrial control equipment control signals in the Redis database;
s5: and performing task execution control on the robot simulation model, and simultaneously performing synchronous test on the automation performance of the robot.
Further, the contents of the test on the robot automation performance in the step S5 include a robot complete machine performance test, a robot automation line design, a robot online fault diagnosis and a health assessment, and the performance test result is input into the fault information data set and the design navigation test library.
Further, the robot complete machine performance test comprises a robot key part performance test, a robot complete machine module performance test and a robot complete machine performance evaluation in typical application.
Further, the design of the robot automatic production line comprises the common key technology design of the robot automatic production line and the online design verification of the integration application of the process unit encapsulation and the typical operation mode of the robot automatic production line.
Further, the robot online fault diagnosis and health assessment comprises the technology of robot internal and external sensor signal analysis, robot key part online diagnosis and robot health state intelligent identification.
Further, in the step S2, a multimode visual modeling operation can be performed by using HB-Robot software, and the Robot is subjected to a performance test by using Robot visual modeling.
Example two:
in the first embodiment, as shown in fig. 1 to 4, an automated performance testing method for a robot includes the following steps:
s1: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation;
s2: if no needed model exists in an online library of the HB-Robot, the model can be drawn through SolidWorks, then the model and the model in the online library are led into a workstation and distributed, then a tool, a workpiece coordinate system and a target point of the model are created, and then a project is saved, and after the creation of one virtual workstation is finished, modeling and performance testing are carried out on the Robot through the virtual workstation;
s3: performing off-line programming, creating a Python script program, importing library files such as RoboDK, robolink and Redis in the program, and respectively performing Socket connection, model object acquisition and Redis database connection with a robodK;
s4: compiling a Python script program according to the virtual and real signals in the virtual debugging experiment, and scheduling the robot and other models to execute tasks through the industrial control equipment control signals in the Redis database;
s5: and performing task execution control on the robot simulation model, and simultaneously performing synchronous test on the automation performance of the robot.
Further, a Python script program is created in the step S3, the two robots read joint data, whether the state of a unstacking sucker is 1 or not is checked, if yes, the goods are attached to and conveyed above a conveyor belt through the sucker, whether the state of the unstacking sucker is 0 or not is checked, if yes, the goods leave the sucker and are placed on the conveyor belt, whether the goods are in place or not is checked, if yes, the value of a position variable in Redis is updated, whether the state of the stacking sucker is 1 or not is checked, if yes, the goods are attached to and conveyed above a shelf through the sucker, whether the state of the unstacking sucker is 0 or not is checked, if yes, the goods leave the sucker and are placed on the shelf, whether a task is completed or not is checked, if yes, the task is completed, and the robot automatic work test is completed.
Example three:
on the basis of the first embodiment and the second embodiment, as shown in fig. 1 to 4, an automatic performance testing method for a robot includes the following operation steps:
s1: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation;
s2: if no needed model exists in an online library of the HB-Robot, the model can be drawn through SolidWorks, then the model and the model in the online library are led into a workstation and distributed, then a tool, a workpiece coordinate system and a target point of the model are created, and then a project is saved, and after the creation of one virtual workstation is finished, modeling and performance testing are carried out on the Robot through the virtual workstation;
s3: performing off-line programming, creating a Python script program, importing library files such as RoboDK, robolink and Redis in the program, and respectively performing Socket connection, model object acquisition and Redis database connection with a robodK;
s4: compiling a Python script program according to the virtual and real signals in the virtual debugging experiment, and scheduling the robot and other models to execute tasks through the industrial control equipment control signals in the Redis database;
s5: and performing task execution control on the robot simulation model, and simultaneously performing synchronous test on the automation performance of the robot.
Further, a Python script program is written in the step S4, a main function while True loop is entered, the numerical control lathe, the safety door of the machining center and the chuck are initialized, a robot motion control subfunction, the safety door and the chuck state are called for updating, the numerical control lathe and the motion control subfunction of the machining center are called for delaying 5 milliseconds, whether the task is completed is detected, and if yes, the test is finished.
The working principle is as follows: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation, if an HB-Robot online library does not have a required model, the model can be drawn through SolidWorks, then the model and the model in the online library are imported into a workstation and laid out, tools, a workpiece coordinate system and a target point of the model are created, a project is saved after the completion, a virtual workstation is created, modeling and performance testing are performed on a Robot through the virtual workstation, off-line programming is performed, a Pyrton script program is created, library files such as robond, robolink and Redis are imported into the program and are respectively used for performing Socket connection with a RoboDK, model object acquisition and Redis database connection, the Pyrton script program is compiled according to virtual and real script signals in a virtual debugging experiment, model execution tasks such as the Robot are scheduled through industrial control equipment control signals in the Redis database, the method comprises the steps of performing task control on a robot simulation model, simultaneously performing synchronous testing on the automation performance of the robot, testing the automation performance of the robot, wherein the contents of the testing on the automation performance of the robot comprise robot complete machine performance testing, robot automation production line design and robot online fault diagnosis and health assessment, and inputting a performance testing result into a fault information data set and a design navigation test library.
It is noted that, herein, relational terms such as first and second (a, b, etc.) 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.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (8)
1. An automated performance testing method of a robot is characterized in that: the method comprises the following operation steps:
s1: before modeling simulation, display and CAD parameters need to be configured so as to smoothly import a three-dimensional model and smoothly perform off-line simulation;
s2: if no needed model exists in an online library of the HB-Robot, the model can be drawn through SolidWorks, then the model and the model in the online library are led into a workstation and distributed, then a tool, a workpiece coordinate system and a target point of the model are created, and then a project is saved, and after the creation of one virtual workstation is finished, modeling and performance testing are carried out on the Robot through the virtual workstation;
s3: performing off-line programming, creating a Python script program, importing library files such as RoboDK, robolink and Redis in the program, and respectively performing Socket connection, model object acquisition and Redis database connection with a robodK;
s4: compiling a Python script program according to the virtual and real signals in the virtual debugging experiment, and scheduling the robot and other models to execute tasks through the industrial control equipment control signals in the Redis database;
s5: and performing task execution control on the robot simulation model, and simultaneously performing synchronous test on the automation performance of the robot.
2. The automated performance testing method of a robot according to claim 1, characterized in that: the contents of the test of the robot automation performance in the step S5 include a robot complete machine performance test, a robot automation production line design, a robot online fault diagnosis and a health assessment, and the performance test result is input into a fault information data set and a design navigation test library.
3. The automated performance testing method of a robot according to claim 2, characterized in that: the robot complete machine performance test comprises a robot key part performance test, a robot complete machine module performance test and a robot complete machine performance evaluation in typical application.
4. The automated performance testing method of a robot according to claim 2, characterized in that: the robot automatic production line design comprises the common key technology design of the robot automatic production line and the online design verification of the integration application of the process unit encapsulation and the typical operation mode of the robot automatic production line.
5. The automated performance testing method of a robot according to claim 2, characterized in that: the robot online fault diagnosis and health assessment comprises the technologies of robot internal and external sensor signal analysis, robot key part online diagnosis and robot health state intelligent identification.
6. The automated performance testing method of a robot according to claim 1, characterized in that: creating a Python script program in the step S3, reading joint data by two robots, checking whether the state of a unstacking sucker is 1, if so, carrying the goods above a conveyor belt by attaching the sucker to the conveyor belt, checking whether the state of the unstacking sucker is 0, if so, enabling the goods to leave the sucker, placing the goods on the conveyor belt, checking whether the goods are in place, if so, updating a value of a position variable in Redis, checking whether the state of the stacking sucker is 1, if so, carrying the goods above a goods shelf by attaching the sucker to the goods, checking whether the state of the unstacking sucker is 0, if so, enabling the goods to leave the sucker, placing the goods on the goods shelf, checking whether the task is completed, and if so, completing the task and completing the automatic work test of the robots.
7. The automated performance testing method of a robot according to claim 1, characterized in that: and (8) compiling a Python script program in the step S4, entering a main function while True loop, initializing the numerical control lathe, the machining center safety door and the chuck, calling a robot motion control subfunction, updating the states of the safety door and the chuck, calling the numerical control lathe and the machining center motion control subfunction, delaying for 5 milliseconds, detecting whether a task is completed, and if so, ending the test.
8. The automated performance testing method of a robot according to claim 1, characterized in that: in the step S2, the HB-Robot software can perform multi-mode visual modeling operation, and the Robot is subjected to performance test through visual modeling of the Robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800556A (en) * | 2022-04-26 | 2022-07-29 | 广州东焊智能装备有限公司 | Automatic processing production line based on industrial robot |
| CN114925516A (en) * | 2022-05-16 | 2022-08-19 | 北京世冠金洋科技发展有限公司 | Method and device for automatic modeling and simulation |
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2021
- 2021-12-14 CN CN202111523779.1A patent/CN114139404A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800556A (en) * | 2022-04-26 | 2022-07-29 | 广州东焊智能装备有限公司 | Automatic processing production line based on industrial robot |
| CN114800556B (en) * | 2022-04-26 | 2023-10-24 | 广州东焊智能装备有限公司 | Automatic processing production line based on industrial robot |
| CN114925516A (en) * | 2022-05-16 | 2022-08-19 | 北京世冠金洋科技发展有限公司 | Method and device for automatic modeling and simulation |
| CN114925516B (en) * | 2022-05-16 | 2024-01-26 | 北京世冠金洋科技发展有限公司 | Automatic modeling and simulating method and device |
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