CN114407080A - Industrial robot jitter testing method and system - Google Patents
Industrial robot jitter testing method and system Download PDFInfo
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- CN114407080A CN114407080A CN202210108167.4A CN202210108167A CN114407080A CN 114407080 A CN114407080 A CN 114407080A CN 202210108167 A CN202210108167 A CN 202210108167A CN 114407080 A CN114407080 A CN 114407080A
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- 238000003466 welding Methods 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a method and a system for testing industrial robot jitter, wherein the method comprises the following steps: formulating a test track, and setting a threshold range of the robot in a first three-dimensional coordinate system; controlling the robot to move along the test track and forming a working track; calling a motion library function and a position feedback function, and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time; and comparing the test track with the operation track in real time, determining the current jitter offset of each direction axis in the first three-dimensional coordinate system, and determining the current jitter test result of the robot in the first three-dimensional coordinate according to the relation between the jitter offset and the corresponding threshold range. The industrial robot jitter testing method and the system are suitable for all industrial robot performance tests, additional testing hardware is not needed, testing track motion can be automatically planned, jitter displacement is automatically collected in real time, and whether the test is qualified or not is automatically judged.
Description
Technical Field
The invention relates to the technical field of robot testing, in particular to a jitter testing method and system suitable for testing all industrial robots.
Background
The welding robot is an industrial robot for welding, and the industrial robot is a multipurpose automatic control manipulator capable of being programmed repeatedly. With three or more programmable axes for use in the field of industrial automation.
Before an industrial robot is put into use, a special debugging device is generally needed to test whether the robot is combined with the standard of putting into use. For example, in arc welding processing, if a welding gun clamped by an end manipulator of an industrial robot shakes, the welding gun driven by a servo motor cannot move in place, and a welding seam cannot meet the processing precision requirement.
In addition, because of the difference of the casting tolerance of the industrial robot body and the assembly error, or the abnormal function of the servo motor, and the like, one set of servo parameters of the servo motor can not meet the factory-leaving requirements of all machine types at the same time, so that the robot can shake at different speed sections when put into use and move.
The existing factory test of the industrial robot does not evaluate the shaking conditions of all machine types in a targeted manner, and the shaking detection of each machine cannot be realized under the condition of not increasing the hardware cost. The processing shake appears when easily making the customer use the robot, can't satisfy the use at the scene.
In the prior art, the terminal shake of the robot is tested by a laser tracker, and a special test instrument is required to be additionally arranged. Or the method is realized through manual measurement and evaluation, so that the cost of great manpower is required, and the test efficiency is low.
Disclosure of Invention
Based on the technical problems, the invention provides the industrial robot shake testing method and the system which are suitable for all industrial robot performance tests, automatically plan the test track motion, automatically acquire shake displacement detailed data in real time, automatically judge whether the shake is qualified or not, display the test condition in real time and realize automation, low cost and high efficiency of the test process.
In a first aspect, the present embodiment provides a jitter testing method for an industrial robot, including the following steps:
formulating a test track, and setting an X-axis threshold range, a Y-axis threshold range and a Z-axis threshold range of the robot jittering in a first three-dimensional coordinate system;
controlling the robot to move along the test track and forming a working track;
calling a motion library function and a position feedback function, and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time;
and comparing the test track with the operation track in real time, determining the current jitter offset of each direction axis in the first three-dimensional coordinate system, and determining the current jitter test result of the robot in the first three-dimensional coordinate according to the relation between the jitter offset and the corresponding threshold range.
Second aspect an embodiment of the present application provides an industrial robot shaking test system, which includes a robot control module, a test track module, a first calling module, a first comparison module, and a first determining module,
the test track module is used for formulating a test track and setting an X-axis threshold range, a Y-axis threshold range and a Z-axis threshold range of the robot in a first three-dimensional coordinate system;
the robot control module is used for controlling the robot to move along the test track and forming a working track;
the first calling module is used for calling a motion library function and a position feedback function and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time;
the first comparison module is used for comparing the test track with the operation track in real time, determining the current jitter offset of each direction axis in the first three-dimensional coordinate system,
the first judging module is used for determining the current shake test result of the robot in the first three-dimensional coordinate according to the relation between the shake offset and the corresponding threshold range.
In a third aspect, the present application provides an industrial robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method provided in the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present application provide a robot computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps described in the method according to the first aspect of the embodiments of the present application. The computer program product may be a software installation package.
According to the industrial robot jitter testing method and system, software modules suitable for jitter testing of all types of industrial robots are loaded or installed on the robots. On the premise of not increasing hardware cost, the problem of jitter test of the industrial robot is solved, the robot control module automatically controls the robot to do specific motion according to a test track, the jitter analysis module collects the jitter amount of the operation track in the XYZ vector direction in real time, and the jitter result is automatically judged, so that the factory test efficiency and the management and control quality of the robot are improved.
The industrial robot jitter testing method and system provided by the embodiment of the application can automatically plan the testing track as required before leaving the factory or in the using process, automatically acquire the detailed jitter displacement data in real time, automatically judge whether the jitter is qualified or not, realize the automation, low cost and high efficiency of the jitter testing process, and further optimize the working performance of the robot.
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.
Wherein:
fig. 1 is a system diagram of a shaking test system of an industrial robot according to the embodiment;
fig. 2 is a schematic main flow chart of the industrial robot jitter testing method according to the present embodiment;
fig. 3 is a detailed flowchart of the industrial robot jitter testing method according to the embodiment;
fig. 4 is a schematic diagram of a module structure of the industrial robot shaking test system software according to the embodiment;
fig. 5 is a schematic diagram of a hardware structure of the industrial robot shaking test system according to this embodiment.
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.
The terms "including" and "having," and any variations thereof, in the description and claims of this application and the drawings described above, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 4, the industrial robot shaking test system of the present embodiment is a test software module that can be independently loaded or installed in an industrial robot system in a switching manner.
When the system is directly installed on a robot system, the jitter analysis module is directly called during testing.
In an independently loaded alternative test engineering embodiment, the engineering files of the jitter analysis module need to be moved with the engineering files of the robot itself. For example, the engineering files of the jitter analysis module are uploaded to a TestFiles folder of a server connected with the robot controller, the original engineering files in the TestFiles folder of the controller are placed into a StandardFiles folder of the FTP server, the engineering files in the TestFiles folder of the controller are copied into the files folder to replace the original engineering files, and then the controller is restarted to complete the switching test program. When the standard program is switched back, the engineering files under the StandardFiles folder of the FTP server are copied to the files of the controller to replace the tested engineering files, then the testFiles folder and the StandardFiles folder in the FTP server are deleted, the controller is restarted, and the standard engineering conversion is completed.
Referring to fig. 1, an industrial robot is shown comprising a manipulator 11 with multi-axis motion in a first three-dimensional coordinate system and a manipulator arm 12 with multi-axis motion in a second three-dimensional coordinate system. The three-dimensional coordinate system includes an X-axis, a Y-axis and a Z-axis. The second coordinate system includes an a-axis, a b-axis, and a c-axis. In this embodiment, the shaking test mainly focuses on the manipulator 11, and similarly, the shaking test may be performed on the manipulator 12. The industrial robot is connected to a server 13 which is provided with a display 14 and a communication module 15.
Referring to fig. 4, the industrial robot shaking test system of the present embodiment includes a robot control module 16 and a shaking analysis module 2. The robot control module 16 is used to control the robot to work according to standard projects. The jitter analysis module 2 collects the motion data in real time and analyzes the motion data to obtain a jitter result.
The robot control module includes a test trajectory module 17, an interactive interface module 18, and a storage module 13. The interactive interface module 17 is configured to display the test track, the robot operation track, and the jitter test result in real time on an interactive interface. The storage module 17 can be used to store the test track, the operation track and the jitter test result of each three-dimensional coordinate system.
The shake analysis module comprises a first shake analysis module 21 and a second shake analysis module 22, wherein the first shake analysis module 21 is used for testing the shake of the manipulator in a first three-dimensional coordinate system. The first shake analysis module 21 is used for testing the shake of the robot 11 in the first three-dimensional coordinate system. The second jitter analysis module 21 is used for testing the jitter of the mechanical wall 12 in a second three-dimensional coordinate system.
The first jitter analysis module 21 includes a first calling module 31, a first comparing module 23, and a first determining module 33. The second jitter analyzing module 22 includes a second calling module 41, a second comparing module 42, and a second determining module 43.
The test track module 17 is configured to formulate a test track, and set an X-axis threshold range, a Y-axis threshold range, and a Z-axis threshold range of the robot shaking in the first three-dimensional coordinate system. The robot control module 16 is used for controlling the robot to move along the test track and forming a working track; the first calling module 31 is configured to call a motion library function and a position feedback function, and acquire an X-axis motion displacement, a Y-axis motion displacement, and a Z-axis motion displacement of the operation trajectory in real time. The first comparing module 32 is configured to compare the test track and the operation track in real time, and determine a current jitter offset of each direction axis in the first three-dimensional coordinate system. The first determining module 33 is configured to determine a current shake test result of the robot in the first three-dimensional coordinate according to a relationship between the shake offset and a corresponding threshold range.
The above is the jitter test result determined at the current sampling frequency. The test results include maximum jitter displacement, minimum jitter displacement, average jitter displacement, and jitter test results.
The system acquires motion and position data of the industrial robot working along the test track at a set frequency. A jitter test data set is analyzed based on a time axis, and the mean value, the amplitude value and the jitter qualification rate of the data set are judged, so that the working quality of the industrial robot can be judged according to jitter parameters before the industrial robot leaves a factory, motor servo parameters of unqualified robots are correspondingly adjusted according to the jitter parameters, and each industrial robot leaving the factory is guaranteed to have high working quality.
When the robot arm and the 6-axis space motion track of the mechanical arm are integrally tested, the test track comprises a second-dimension test track, and the operation track comprises a second-dimension operation track.
The test track module 17 is further configured to set an a-axis threshold range, a b-axis threshold range, and a c-axis threshold range of the robot shaking in the second three-dimensional coordinate system.
The second calling module 41 is configured to call a motion library function and a position feedback function, and acquire an a-axis motion displacement, a b-axis motion displacement, and a c-axis motion displacement of the second-dimensional operation trajectory in real time. The second comparing module 42 is configured to compare the second-dimension test track and the second-dimension operation track in real time, and determine a current jitter offset of each direction axis in the second three-dimensional coordinate system. The second determining module 43 is configured to determine a current shake test result of the robot in the second three-dimensional coordinate according to a relationship between the shake offset and a corresponding threshold range.
The interactive interface module 17 displays the analysis results of the test trajectory, the operation trajectory and the jitter test data set on the interactive interface of the display screen 14 of the server 13 in real time, and also displays the analysis results of the second-dimensional test trajectory, the second-dimensional operation trajectory and the second-dimensional jitter test data set, compared with the jitter qualified result, the maximum jitter displacement, the minimum jitter displacement and the average jitter displacement.
The storage module 17 stores all test tracks, operation tracks and jitter test results of each three-dimensional coordinate system.
Method embodiment
Referring to fig. 2 and fig. 3, a main flowchart of the jitter testing method for an industrial robot according to the present embodiment is shown.
Step 101: and formulating a test track, and setting an X-axis threshold range, a Y-axis threshold range and a Z-axis threshold range of the robot in the first three-dimensional coordinate system.
Step 102: and controlling the robot to move along the test track and forming a working track.
Step 103: calling a motion library function and a position feedback function, and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time; in specific implementation, the X-axis motion displacement, the Y-axis motion displacement and the Z-axis motion displacement of the operation track are called and obtained in real time from the motion library function and the position feedback function at an adjustable set frequency. Such as invoking X-axis motion displacement, Y-axis motion displacement, and Z-axis motion displacement at a frequency of 4 milliseconds. Or higher frequencies may be used, with the particular frequency setting being dependent on the accuracy of the test.
Step 104: and comparing the test track with the operation track in real time, and determining the current jitter offset of each direction axis in the first three-dimensional coordinate system. In specific implementation, the jitter offset of the working track relative to the test track is determined, and the jitter offset includes an X-axis offset, a Y-axis offset and a Z-axis offset.
Step 105: and determining the current shaking test result of the robot in the first three-dimensional coordinate according to the relation between the shaking offset and the corresponding threshold range. And comparing and analyzing the relation between the current jitter offset of each direction axis and the corresponding threshold range, wherein qualified jitter is determined when the jitter falls into the threshold range, and unqualified jitter is determined when the jitter exceeds the threshold range.
As shown in fig. 3, for a six-axis space motion industrial robot, the test trajectory includes a second-dimensional test trajectory, and the work trajectory includes a second-dimensional work trajectory.
The industrial robot jitter testing method can also set a testing step of a second three-dimensional space in parallel with the first three-dimensional space or independently, wherein the testing step of the second three-dimensional space is as follows:
step 201: and setting an a-axis threshold range, a b-axis threshold range and a c-axis threshold range of the robot in the second three-dimensional coordinate system.
Step 202: and calling a motion library function and a position feedback function, and acquiring the a-axis motion displacement, the b-axis motion displacement and the c-axis motion displacement of the second-dimensional operation track in real time.
Step 203: and comparing the second-dimension test track with the second-dimension operation track in real time, and determining the current jitter offset of each direction axis in the second three-dimensional coordinate system.
Step 204: and determining the current shaking test result of the robot in the second three-dimensional coordinate according to the relation between the shaking offset and the corresponding threshold range.
No matter be triaxial motion industrial robot or six-axis motion industrial robot, all real-time synchronization display corresponds real-time updated image on the interactive interface of server, and the step includes:
step 301: and displaying the test track, the robot operation track and the jitter test result on the interactive interface of the robot in real time.
Step 302: and storing all the test tracks, the operation tracks and the jitter test result of each three-dimensional coordinate system.
The above is the jitter test result determined at the current sampling frequency. The system acquires motion and position data of the industrial robot working along the test track at a set frequency. A jitter test data set is analyzed based on a time axis, and the mean value, the amplitude value and the jitter qualification rate of the data set are judged, so that the working quality of the industrial robot can be judged according to jitter parameters before the industrial robot leaves a factory, motor servo parameters of unqualified robots are correspondingly adjusted according to the jitter parameters, and each industrial robot leaving the factory is guaranteed to have high working quality.
It will be appreciated that the jitter test for each axis of motion of each three-dimensional coordinate system can be performed for different types of robot operations, such as welding or cutting processes, by adjusting the test trajectory to win the process accuracy requirements.
Referring to fig. 5, in another embodiment of the present invention, an industrial robot jitter testing system is provided, which includes a memory 602, a processor 601 and a computer program 604 stored on the memory 602 and executable on the processor 601, wherein the processor 601 is connected to a communication module 605, and the processor 601 executes the program to implement an industrial robot jitter testing method.
The terminal for installing the industrial robot jitter testing software can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The communication information protection device/terminal equipment may include, but is not limited to, a processor, a memory. It will be understood by those skilled in the art that the schematic diagram is merely an example of a communication information protection apparatus/terminal device, and does not constitute a limitation of the communication information protection apparatus/terminal device, and may include more or less components than those shown, or combine some components, or different components, for example, the communication information protection apparatus/terminal device may further include an input-output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is the control center of the robot shake test terminal, and various interfaces and lines are used to connect various parts of the whole robot.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the robot shake testing system by running or executing the computer programs and/or modules stored in the memory and calling up data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating device, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the robot, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the robot shaking test system or the terminal integrated module/unit can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. An industrial robot jitter testing method is characterized by comprising the following steps:
formulating a test track, and setting an X-axis threshold range, a Y-axis threshold range and a Z-axis threshold range of the robot jittering in a first three-dimensional coordinate system;
controlling the robot to move along the test track and forming a working track;
calling a motion library function and a position feedback function, and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time;
and comparing the test track with the operation track in real time, determining the current jitter offset of each direction axis in the first three-dimensional coordinate system, and determining the current jitter test result of the robot in the first three-dimensional coordinate according to the relation between the jitter offset and the corresponding threshold range.
2. An industrial robot jitter testing method according to claim 1,
the step of comparing the test track and the operation track in real time further comprises:
calling and acquiring the X-axis motion displacement, the Y-axis motion displacement and the Z-axis motion displacement of the operation track in real time from the motion library function and the position feedback function at an adjustable set frequency,
determining the jitter offset of the operation track relative to the test track, wherein the jitter offset comprises an X-axis offset, a Y-axis offset and a Z-axis offset;
and comparing and analyzing the relation between the current jitter offset of each direction axis and the corresponding threshold range, wherein qualified jitter is determined when the jitter falls into the threshold range, and unqualified jitter is determined when the jitter exceeds the threshold range.
3. An industrial robot jitter testing method according to claim 1,
the test track comprises a second-dimensional test track, the operation track comprises a second-dimensional operation track, and an a-axis threshold range, a b-axis threshold range and a c-axis threshold range of the robot in the second three-dimensional coordinate system are set;
calling a motion library function and a position feedback function, and acquiring the a-axis motion displacement, the b-axis motion displacement and the c-axis motion displacement of the second-dimensional operation track in real time;
and comparing the second-dimensional test track with the second-dimensional operation track in real time, determining the current jitter offset of each direction axis in the second three-dimensional coordinate system, and determining the current jitter test result of the robot in the second three-dimensional coordinate according to the relation between the jitter offset and the corresponding threshold range.
4. An industrial robot jitter testing method according to any of the claims 1-3, characterized in that,
displaying the test track, the robot operation track and the jitter test result on an interactive interface of the robot in real time;
the test results include maximum jitter displacement, minimum jitter displacement, average jitter displacement, and jitter test results.
5. An industrial robot jitter testing method according to claim 1 or 2,
changing the test track to finish the jitter test of each motion axis of each three-dimensional coordinate system;
and storing all the test tracks, the operation tracks and the jitter test result of each three-dimensional coordinate system.
6. A jitter test system of an industrial robot is characterized by comprising a robot control module, a test track module, a first calling module, a first comparison module and a first judgment module,
the test track module is used for formulating a test track and setting an X-axis threshold range, a Y-axis threshold range and a Z-axis threshold range of the robot in a first three-dimensional coordinate system;
the robot control module is used for controlling the robot to move along the test track and forming a working track;
the first calling module is used for calling a motion library function and a position feedback function and acquiring X-axis motion displacement, Y-axis motion displacement and Z-axis motion displacement of the operation track in real time;
the first comparison module is used for comparing the test track with the operation track in real time, determining the current jitter offset of each direction axis in the first three-dimensional coordinate system,
the first judging module is used for determining the current shake test result of the robot in the first three-dimensional coordinate according to the relation between the shake offset and the corresponding threshold range.
7. The industrial robot shaking test system according to claim 6, further comprising a second calling module, a second comparing module and a second judging module, wherein the test trajectory comprises a second dimension test trajectory and the working trajectory comprises a second dimension working trajectory,
the test track module is also used for setting an a-axis threshold range, a b-axis threshold range and a c-axis threshold range of the robot in a second three-dimensional coordinate system;
the second calling module is used for calling a motion library function and a position feedback function and acquiring the a-axis motion displacement, the b-axis motion displacement and the c-axis motion displacement of the second-dimensional operation track in real time;
the second comparison module is used for comparing the second-dimensional test track with the second-dimensional operation track in real time and determining the current jitter offset of each direction axis in the second three-dimensional coordinate system;
and the second judging module is used for determining the current shake test result of the robot in the second three-dimensional coordinate according to the relation between the shake offset and the corresponding threshold range.
8. An industrial robot jitter testing system according to claim 6, further comprising an interactive interface module and a storage module,
the interactive interface module is used for displaying the test track, the robot operation track and the jitter test result on an interactive interface in real time;
the storage module can be used for storing all the test tracks, the operation tracks and the jitter test result of each three-dimensional coordinate system.
9. An industrial robot comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the method according to any of claims 1-5 when executing said computer program.
10. A robot computer program product, characterized in that the computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to carry out the method of any of claims 1-5.
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