CN114833871B - Industrial robot reliability test device and test method - Google Patents
Industrial robot reliability test device and test method Download PDFInfo
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- CN114833871B CN114833871B CN202210239999.XA CN202210239999A CN114833871B CN 114833871 B CN114833871 B CN 114833871B CN 202210239999 A CN202210239999 A CN 202210239999A CN 114833871 B CN114833871 B CN 114833871B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1679—Program controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an industrial robot reliability test device and an experimental method, comprising the following steps: the device comprises a ground level iron, a servo feeding system, a detection system and a control system; the detection system comprises: the device comprises an environment detection device, a laser displacement sensor, a reflection device and a servo electromagnet; the environment detection device, the laser displacement sensor and the servo electromagnet are arranged at the tail end of the industrial robot; the servo feeding system feeds the reflecting device, tests are carried out at different positions, and the servo electromagnet grabs and replaces the codes with different weights to carry out the tests. The reliability test of the industrial robot for simulating the actual working conditions is realized by simulating the load change of the industrial robot and the power supply voltage change of the industrial robot, so that the reliability test of the industrial robot is more complete, the reliability and stability of the test are improved, and the reliability level of the industrial robot is tested comprehensively.
Description
Technical Field
The invention belongs to a test device in the field of industrial machinery manufacturing automation precision test, and particularly relates to an industrial robot reliability test device and a test method.
Background
Industrial robots have been currently used in important fields such as manufacturing, and reliability test apparatuses thereof have been widely used in the field of mechanical manufacturing automation. The working accuracy of the industrial robot mainly depends on the working accuracy of the tail end of the robot, and is an important index for reflecting the performance and reliability of the industrial robot;
The existing industrial robot precision testing method mainly adopts a laser tracker to test the pose precision of the tail end of the industrial robot. The existing industrial robot pose testing device is mainly a laser tracker, and has the advantages of higher measuring precision, higher speed and the like, but the instrument also has limitation on the field and space required by measurement, is unfavorable for on-site operation measurement of the industrial robot, and has higher instrument cost and more complex operation. The existing traditional low-cost industrial robot reliability testing device is used for detecting under the working condition without load, and cannot be called as a true industrial robot reliability test. Under the condition of load, the test result does not accord with the test result of the pose precision test method, and thus the test result of the traditional test method cannot accurately represent the working precision of the industrial robot. At this time, there is a need for an industrial robot reliability test device that is low in cost, simple to operate, and capable of simulating real conditions.
Disclosure of Invention
The present invention aims to solve the above problems and provide an industrial robot reliability test device and a test method.
An industrial robot reliability test device, comprising: the device comprises a ground level iron (1), a servo feeding system 7, a detection system 3 and a control system;
The detection system 3 includes: an environment detection device, a laser displacement sensor, a reflection device 25 and a servo electromagnet 24;
the environment detection device, the laser displacement sensor and the servo electromagnet 24 are arranged at the tail end of the industrial robot; the servo feed system 7 feeds the reflecting means 25;
The servo feed system 7 includes: a servo feed system 701, a servo feed system 702, a servo feed system 703; the servo feeding system 1 and the servo feeding system 2 have the same structure;
the No. 1 servo feeding system 701 and the No. 2 servo feeding system 702 are parallel to each other, and two ends of the No. 1 servo feeding system and the No. 2 servo feeding system are respectively fixed on the ground level iron (1) through supporting legs 2;
The servo feed system No. 1 701 includes: no. 1 servo motor 501, no. 1 decelerator 601, no. 1 transmission synchronous belt 701-01, no. 1 guide rail 701-02, no. 1 decelerator base 801, no. 1 bearing system 901, no. 2 bearing system 901-01, no. 1 proximity switch 1001, no. 2 proximity switch 1001-01;
The servo feed system 3 comprises: a No. 3 servo motor 503, a No. 3 speed reducer 603, a No. 3 speed reducer base 803, a No. 3 transmission synchronous belt 703-01, a No. 3 guide rail 703-02, a No. 5 bearing system 903, a No. 6 bearing system 903-01, a No. 1 slider 1101, a No. 2 slider 1102, a No. 3 slider 1103;
the No. 1 slider 1101 and the No. 2 slider 1102 are arranged at two ends of the No. 3 servo feeding system 703, are respectively connected with the No. 1 guide rail 701-02 and the No. 2 guide rail 702-02 in a sliding manner, and are fixedly connected with the No. 1 transmission synchronous belt 701-01 and the No. 2 transmission synchronous belt 702-01;
the No. 3 sliding block 1103 is in sliding connection with the No. 3 guide rail 703-02; fixedly connected with a No. 3 transmission synchronous belt 703-01;
1. And the servo motors 2 and 3 respectively drive the conveying synchronous belts to convey, and the sliding blocks slide on the respective guide rails.
The detection system 3 includes: detection system body, no. 1 laser displacement sensor 161, no. 2 laser displacement sensor 162, no.3 laser displacement sensor 163, vibration sensor 17, temperature sensor 18, humidity sensor 19, air pressure sensor 20, noise sensor 21, visual sensor 22, support plate 23, servo electromagnet 24, reflecting device 25, and,
A weight assembly 40 and a weight 41;
the detection system body is a vertical plate, the three laser displacement sensors are respectively arranged on the upper side, the left side and the right side of the vertical plate, the servo electromagnet 24 is arranged on the lower side of the vertical plate, and the vision sensor 22 is arranged on the servo electromagnet 24 through the supporting plate 23;
the counterweight assembly 40 is a box body, and the weight 41 is placed in the box body;
The reflecting device 25 is a rectangular box body, the opening of the reflecting device is downward, the tested object 261 is arranged at the center of the top in the rectangular box body, and the wall of the rectangular box body is provided with a reflector 2501, a reflector 2502 and a reflector 2503;
the No. 4 servo motor 504 is installed on the No. 3 sliding block 1103; the output end of the No. 4 servo motor 504 is connected with a worm gear transmission mechanism, and the top of the reflecting device 25 is fixed at the output end of the worm gear transmission mechanism;
The control system comprises: an adjustable power adapter 39, a computer 43, a data acquisition card 44, an operation panel 27, a programmable controller 45, and an industrial robot 42;
The operation table 27 includes: system operation lamp 28, system operation button 29, system stop lamp 30, system stop button 31, display 32, electromagnet operation button 33, electromagnet stop button 34, reset button 35, emergency stop button 36, digital display voltmeter 38, programmable controller 45;
They and the computer 43 are respectively connected with a programmable controller 45; the industrial robot 42 is connected to a programmable controller 45 through an adjustable power adapter 39; the programmable controller 45 is connected with a servo motor of the servo feed system 7 through a built-in encoder;
The data collected by the detection system 3 is input into a computer 43 through a data collection card 44;
the pre-installed data processing program 47;
The data processing program 47 includes three parts: the first part is the industrial robot test program that sets up before the test and the motion program of servo feed system when testing, and the second part is the data that gathers in the whole test process and record and calculate, and the third part is the data under the different operating modes of statistical analysis industrial robot reliability test system under the different load condition after the test, includes: and repeating the positioning precision and pose precision data.
The bearing system comprises a belt pulley, a deep groove ball bearing, two shaft sleeves, a bearing left end cover, a bearing right end cover and a belt pulley fixing seat;
the synchronous conveyer belt is a conveyer belt with meshing teeth, and the synchronous conveyer belt is meshed with a belt wheel in the bearing system.
The guide rail is a straight rod piece with an equal circular cross section, screw through holes for installing screws are formed in two ends of the guide rail, and the number of the screw through holes is equal to that of screw holes in the bottom surface of a guide rail groove on the guide rail seat and aligned with each other; the guide rail is arranged on corresponding threaded holes in guide rail grooves on bearing system seats at the front and rear of the servo system through screws;
the proximity switch is arranged on the upper side of the guide rail close to the bearing system, an electric wire of the proximity switch is connected with an electric wire of the servo motor, when the sliding block approaches the proximity switch, the switch is closed, and the servo motor stops working, so that an anti-collision function is realized;
The sliding block is a structural member with a U-shaped cross section and comprises a sliding block main body and sliding block sealing plates, the sliding block sealing plates are arranged at two ends of the sliding block main body to play a role in fixing, screw through holes are formed in the bottoms of grooves of the sliding block, a No.1 sliding block and a No.2 sliding block are installed on No.1 threaded holes corresponding to the front end and the rear end of a No. 3 servo system through screws, the No.1 sliding block and the No.2 sliding block are buckled on respective guide rails and are in sliding connection and meshed with respective synchronous conveying belts, and therefore the No. 3 servo system can do linear motion on the No.1 servo system and the No.2 servo system;
the No.3 slider is buckled on the No.3 guide rail 703-02 in a sliding connection and meshed with the No.3 synchronous conveyor 703-01, so that the No.3 slider can do linear motion on the No.3 servo system;
The speed reducer base is a structure body with a rectangular cross section and consists of a vertical plate and a base plate which are mutually perpendicular. The vertical plate is provided with a central through hole, so that an output shaft of the speed reducer is connected with a belt wheel of the bearing system, four threaded holes for installing the speed reducer are formed in the periphery of the central through hole, the base plate is provided with four circular through holes, and the speed reducer base 802 is installed on the four threaded holes on the right side of the bearing system through screws.
It is still another object of the present invention to provide a test method of an industrial robot reliability test apparatus.
The test method of the industrial robot reliability test device adopts the industrial robot reliability test device, and comprises the following steps:
(1) Preparation before testing: according to the working condition of the tested industrial robot 42 needing to simulate the load, a loading scheme of the industrial robot reliability test device is formulated; the detection system 3 is arranged at the tail end of the wrist body of the industrial robot 42, a switch of the test equipment is opened, the weight 41 is loaded, and the servo feeding system 7 is controlled to move the reflecting device 25 to the front of the industrial robot 42; after the setting is completed, starting to perform a related test;
(2) Spatial pose accuracy of industrial robot: firstly, driving the tail end of the industrial robot 42 from an absolute zero position to the position right in front of a measured target object 26 in the reflecting device 25, acquiring the space pose precision condition of a measuring point by the vision sensor 22, then driving the tail end of the industrial robot 42 to return to the zero position with the same distance, repeating the measurement for a plurality of times, and transmitting data to the computer 43 for analysis through the data acquisition card 44;
(3) Industrial robot end repetitive positioning accuracy: driving the tail end of the industrial robot 42 from an absolute zero position into the reflecting device 25, respectively collecting the repeated positioning precision condition of the tail end of the industrial robot 42 by three laser displacement sensors 161, 162 and 163, then driving the tail end of the industrial robot 42 to return to the zero position and pose position by the same distance, repeating the measurement for a plurality of times, and transmitting data to the computer 43 for analysis through the data collecting card 44;
(4) Various sensors collect data in a real working environment; the digital display voltmeter collects different voltage values generated by the change voltage, and the data are transmitted to the computer 43 for analysis through the data collection card 44;
(5) Further, the industrial robot 42 is moved to the exchangeable load place, the weights 41 of different weights are exchanged using the load system and the above steps are repeated.
Further, the reflecting device 25 is moved to other positions, the weight 41 of different weight is replaced with the load system and the above steps are repeated.
The invention provides an industrial robot reliability test device and an experimental method, comprising the following steps: the device comprises a ground level iron (1), a servo feeding system 7, a detection system 3 and a control system;
The detection system 3 includes: an environment detection device, a laser displacement sensor, a reflection device 25 and a servo electromagnet 24;
The environment detection device, the laser displacement sensor and the servo electromagnet 24 are arranged at the tail end of the industrial robot; the servo feeding system 7 feeds the reflecting device 25, tests are carried out at different positions, and the servo electromagnet 24 grabs and replaces the codes with different weights to carry out experiments. The reliability test of the industrial robot for simulating the actual working conditions is realized by simulating the load change of the industrial robot and the power supply voltage change of the industrial robot, so that the reliability test of the industrial robot is more complete, the reliability and stability of the test are improved, and the reliability level of the industrial robot is tested comprehensively.
The invention is used for detecting the reliability of the industrial robot, and has the following beneficial effects compared with the prior art:
(1) The industrial robot reliability test device is suitable for industrial robots of different models, and has universality and flexibility; compared with a measuring method of a laser tracker, the method is based on a detection technology under a real working condition, and is lower in cost; compared with the traditional industrial robot detection device, the invention can simulate the real working condition and realize multi-aspect performance detection; therefore, the invention can realize the comprehensive detection of the reliability of the industrial robot with low cost.
(2) The invention adopts the load simulation system, and can simulate the real working condition of the industrial robot; the reliability test of the industrial robot for simulating the actual working conditions can be realized by simulating the load change of the industrial robot and the power supply voltage change of the industrial robot while the data of the industrial robot such as vibration, noise, temperature, humidity and air pressure can be measured, so that the reliability test of the industrial robot is more complete, the reliability and stability of the test are improved, and the reliability level of the industrial robot is tested more comprehensively;
(3) The industrial robot reliability test method is a complete industrial robot reliability test method, firstly, a tested industrial robot is installed on an industrial robot reliability test device, and then, according to the actual working environment which the tested industrial robot needs to simulate, single variable control can be realized; the multi-factor comprehensive influence test can be realized, the load change, the power supply voltage change and the test position change can be realized, so that the reliability test of the industrial robot is more complete, and the reliability of the test is improved.
Drawings
FIG. 1 is an isometric projection view of a structural component of an industrial robot reliability test device according to the present invention;
FIG. 2 is an isometric view of a servo feed system employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 3 is a side view of a servo feed system No.1 employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 4 is a side view of a No. 2 servo feed system employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 5 is a side view of a No. 3 servo feed system employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 6 is a cross-sectional view of a bearing system configuration employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 7 is a front view showing the structural composition of a detection system employed in the industrial robot reliability test apparatus according to the present invention;
FIG. 8 is an isometric view of a structural composition of a reflecting device employed in the industrial robot reliability test device of the present invention;
FIG. 9 is an isometric view of a structural component of a console employed in an industrial robot reliability test apparatus according to the present invention;
FIG. 10 is a block diagram showing the structural components of a control system employed in the industrial robot reliability test apparatus according to the present invention;
FIG. 11 is a block flow diagram of the industrial robot reliability test method provided by the invention;
(in the figure: the device comprises a ground iron, a supporting leg 2, a detection system 3, a reinforcing rib 4, a servo motor 501.1, a servo motor 502.2, a servo motor 503.3, a servo motor 504.4, a speed reducer 601.1, a speed reducer 602.2, a speed reducer 603.3, a speed reducer 604.4, a servo feeding system 7, a servo feeding system 701.1, a servo feeding system 702.2, a servo feeding system 703.3, a transmission synchronous belt 701-01.1, a guide rail 701-02.1, a transmission synchronous belt 702-01.2, a guide rail 702-02.2, a transmission synchronous belt 703-01.3, a guide rail 703-02.3, a speed reducer 801.1, a speed reducer 802.2, a speed reducer 803.3, a speed reducer 804.4, a bearing system 9, a bearing system 901.1, a bearing system 901-01.2, a bearing system 902.3, a bearing system 902-02.4, a bearing system 903.5, 903-03.6 bearing system, 1001.1 proximity switch, 1001-01.2 proximity switch, 1002.3 proximity switch, 1002-01.4 proximity switch, 1101.1 slider, 11-01.1 slider seal plate, 1102.2 slider, 11-02.2 slider seal plate, 12 reinforcing plate, 13 pulley, 141.1 deep groove ball bearing, 142.2 deep groove ball bearing, 1401.1 shaft sleeve, 1402 left end cap, 1403.2 shaft sleeve, 1404 right end cap, 15 pulley holder, 161.1 laser displacement sensor, 162.2 laser displacement sensor, 163.3 laser displacement sensor, 17 vibration sensor, 18 temperature sensor, 19 humidity sensor, 20 air pressure sensor, 21 noise sensor, 22 vision sensor, 22 support plate, 24 electromagnet, 25 reflection device, 2501.1 reflection plate, 2502.2 reflection plate, 2503.3 reflection plate, 26. the system comprises a measured object, 27, an operating table, 28, a system running lamp, 29, a system running button, 30, a system stopping lamp, 31, a system stopping button, 32, a display, 33, a solenoid running button, 34, a solenoid stopping button, 35, a reset button, 36, an emergency stopping button, 37, a mouse and keyboard, 38, a digital display voltmeter, 39, an adjustable power adapter, 3901, a robot power box, 40, a counterweight assembly, 41, a counterweight, 42, an industrial robot, 43, a computer, 44, a data acquisition card, 45, a programmable controller, 46, an internal encoder, 461.1, 462.2, 463.3, 464.4, 47, a data processing program, and 48, a multi-core plug).
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the invention simulates different working conditions of the industrial robot in actual operation, obtains reliability and precision reliability data of the industrial robot under the condition of receiving different loads, and simultaneously provides a complete reliability test method of the industrial robot.
The reliability test device and the reliability test method of the industrial robot mainly comprise two parts, namely the reliability test device of the industrial robot and the reliability test method of the reliability test device of the industrial robot.
Referring to fig. 1, the industrial robot reliability test device according to the present invention includes a feeding system, a detecting system and a control system.
Example 1 reliability test method for reliability test apparatus of industrial robot
Referring to fig. 1, the industrial robot reliability test device comprises a ground flat iron (1), supporting legs 2, a detection system 3, reinforcing ribs 4 and the like; referring to fig. 2, the servo feed system includes a servo feed system No. 1701, a servo feed system No. 2 702, a servo feed system No. 3 703, wherein: the servo feed system 1 and the servo feed system 2 have the same structure, and the servo feed system 1 and the servo feed system 2 are symmetrically arranged on the supporting leg 2 on the ground level iron (1) in parallel relative to the longitudinal symmetry plane of the servo feed system 703.
The horizontal iron (1) is a cuboid plate-type casting piece, the horizontal iron (1) is installed on a foundation through a base platform, T-shaped grooves with the same structure and parallel to each other are formed in the top end of the horizontal iron (1), weight reduction grooves are formed in the bottom end of the horizontal iron (1), four rectangular grooves are formed in four corners of the top end of the horizontal iron (1), and are used for installing supporting legs 2 in an industrial robot reliability test device and a rectangular groove is formed in the center of the top end of the horizontal iron and used for installing an industrial robot 42 to be detected.
Referring to fig. 2, the servo feed system includes: a servo feed system 701, a servo feed system 702, a servo feed system 703;
1. Feeding system
Referring to fig. 3, the servo feed system 701 includes a servo motor 501, a speed reducer 601, a transmission synchronous belt 701-01, a guide rail 701-02, a speed reducer base 801, a bearing system 901-01, a proximity switch 1001, and a proximity switch 1001-01, wherein: the bearing system 1 and the bearing system 2 have the same structure, and the proximity switch 1001 and the proximity switch 2 have the same structure;
Referring to fig. 1 and 3, the servo feed system 701 is supported by a bearing system 901 No.1, the servo feed system 701 is mounted on a supporting leg 2 through the bearing system 901 therein, mounting plates with rectangular cross sections with equal structures are symmetrically arranged on the front side and the rear side of the bottom end of the servo feed system 701 in parallel relative to the longitudinal symmetry plane of the servo feed system 703 No. 3, and threaded holes No.1 for mounting the bearing system are uniformly arranged on the bottom surface of the mounting plate; four screw holes No.2 for installing a No.1 speed reducer base 801 are formed in the right end of the bearing system 901, four screw holes No. 3 for installing a No.1 speed reducer 601 are formed in the right end of the screw holes No.2, two screw holes No. 4 for installing a No.1 servo motor 501 are formed in the right side of the screw holes No. 3, and two screw holes No. 5 for installing guide rails 701-01 are formed in the rear side of the bearing system 901.
The guide rail 701-01 is a straight rod piece with an equal circular cross section, screw through holes for installing screws are formed in two ends of the guide rail, and the number of the screw through holes is equal to that of the number 1 threaded holes on the bottom surface of the guide rail groove on the guide rail seat and the screw through holes are aligned with each other; the guide rail is arranged on corresponding No. 5 threaded holes in the guide rail grooves on the bearing system seats at the front and rear of the servo system through screws;
the No. 1 proximity switch 1001 and the No. 2 proximity switch 1001-01 are arranged on the upper side of a guide rail close to the No. 1 bearing system and the No. 2 bearing system, the electric wires of the No. 1 proximity switch 1001 and the No. 2 proximity switch 1001-01 are connected with the electric wire of the No. 1 servo motor, when the sliding block approaches the proximity switch, the switch is closed, the servo motor stops working, and an anti-collision function is realized;
the No. 1 bearing system 901,2 bearing system 901-01 is installed on a No. 1 threaded hole arranged at the top end of the supporting leg 2 by adopting a screw;
The No. 1 speed reducer base is a structural body with a rectangular cross section and consists of a vertical plate and a base plate which are mutually perpendicular. The vertical plate is provided with a central through hole, so that an output shaft of the No. 1 speed reducer 601 is connected with a belt pulley of the bearing system 901, four threaded holes for installing the No. 1 speed reducer 501 are formed in the periphery of the central through hole, the base plate is provided with four round through holes, and the No. 1 speed reducer base 801 is installed on the four No. 2 threaded holes on the right side of the No. 1 bearing system 901 through screws;
The left side and the right side of the No. 1 speed reducer 601 are respectively provided with a square mounting plate, each side mounting plate is provided with four round through holes, the square left side mounting plates with output shafts are mounted on the four threaded holes on the No. 1 speed reducer base 3 vertical plate through screws, and the output shafts of the No. 1 speed reducer 601 penetrate out of the central through holes of the vertical plate. The No. 1 speed reducer 601 adopts GSF-GH series harmonic speed reducer of Japanese HarmonicDrive, and the speed reducer has the advantages of standard torque, high precision and no tooth gap;
The No.1 conveying synchronous belt 701-01 is a conveying belt provided with meshing teeth, and the synchronous conveying belt 701-01 is meshed with a No.1 belt wheel in a No.1 bearing system;
The belt wheel 1 and the speed reducer 501 are connected by an inner hole key, the belt wheel 1 is connected to the output shaft of the speed reducer 601 by a flat key, so that the torque and the rotation speed of the speed reducer 601 are transmitted to the belt wheel 1, and the belt wheel 1 transmits the torque and the rotation speed of the speed reducer 601 to the synchronous conveyor belt 701-01;
the output shaft of the No. 1 servo motor 501 is inserted into the No. 1 speed reducer 601 and is mounted on the square left mounting plate of the No. 1 speed reducer 601 through screws. The servo motor 1 adopts Siemens S-1FL6 series servo motors, and a built-in encoder 461 is arranged in the servo motor 1; an electric wire of a built-in encoder 461 of the No. 1 servo motor 501 is connected to an I1 interface of the programmable controller;
Referring to fig. 3 and 6, the bearing system 901 includes a pulley 13 No. 1, a deep groove ball bearing 141,2 No. deep groove ball bearing 142,1 No. shaft sleeve 1401,1 No. shaft sleeve 1402,2 No. shaft sleeve 1403, a bearing right end cap 1404,1 No. pulley fixing seat 15; the structure of the No. 2 bearing system 901-01 is identical to that of the No. 1 bearing system, and the bearing system comprises: pulley, left deep groove ball bearing, right deep groove ball bearing, left axle sleeve, bearing left end cover, right axle sleeve, bearing right end cover, pulley fixing base.
The structure and the installation form of the No. 2 servo feeding system are completely the same as those of the No.1 servo feeding system, and the following description is also the same:
referring to fig. 4, the servo feed system 702 No. 2 includes a servo motor No. 2 502, a speed reducer No. 2 602, a transmission synchronous belt No. 2 702-01, a guide rail No. 2 702-02, a speed reducer base No. 802, a bearing system No. 902, a bearing system No. 4 902-01, a proximity switch No. 3 1002, a proximity switch No. 4 1002-01, wherein: the structure of the No. 3 bearing system is the same as that of the No. 4 bearing system, and the structure of the No. 3 proximity switch 1002 is the same as that of the No. 4 proximity switch 1002-01;
Referring to fig. 1 and 3, the No.2 servo feed system 702 is supported by a No.2 bearing system 902, the No.2 servo feed system 702 is mounted on a supporting leg 2 through the bearing system 902, mounting plates with rectangular cross sections with equal structures are symmetrically arranged on the front side and the rear side of the bottom end of the No.2 servo feed system 702 in parallel relative to the longitudinal symmetry plane of the No. 3 servo feed system 703, and No.1 threaded holes for mounting the bearing systems are uniformly arranged on the bottom surface of the mounting plates; four screw holes 2 for installing a speed reducer base 802 are formed in the right end of the bearing system 902, four screw holes 3 for installing a speed reducer 602 are formed in the right end of the screw holes 2, two screw holes 4 for installing a servo motor 502 are formed in the right side of the screw holes 3, and two screw holes 5 for installing guide rails 702-01 are formed in the rear side of the bearing system 902;
The guide rail 702-01 is a straight rod piece with an equal circular cross section, screw through holes for installing screws are formed in two ends of the guide rail, and the number of the screw through holes is equal to that of the number 1 threaded holes on the bottom surface of the guide rail groove on the guide rail seat and are aligned with each other; the guide rail is arranged on corresponding No. 5 threaded holes in the guide rail grooves on the bearing system seats at the front and rear of the servo system through screws;
The No. 3 proximity switch 1002 and the No. 4 proximity switch 1002-01 are arranged on the upper side of a guide rail close to the No. 3 bearing system and the No. 3 bearing system, an electric wire of the No. 3 proximity switch 1002 and an electric wire of the No. 4 proximity switch 1002-01 are connected with an electric wire of the No. 2 servo motor, when the sliding block approaches the proximity switch, the switch is closed, the servo motor stops working, and an anti-collision function is realized;
The No. 3 bearing system 902,4 bearing system 902-01 is arranged on a No. 1 threaded hole arranged at the top end of the supporting leg 2 by adopting a screw;
The No. 2 speed reducer base is a structural body with a rectangular cross section and consists of a vertical plate and a base plate which are mutually perpendicular. The vertical plate is provided with a central through hole, so that an output shaft of the No. 2 speed reducer 602 is connected with a belt pulley of the bearing system 902, four threaded holes for installing the No. 2 speed reducer 502 are formed in the periphery of the central through hole, the base plate is provided with four round through holes, and the No. 2 speed reducer base 802 is installed on the four No. 2 threaded holes on the right side of the No. 3 bearing system 902 through screws;
The left side and the right side of the No. 2 reducer 602 are respectively provided with a square mounting plate, each side mounting plate is provided with four round through holes, the square left side mounting plate with an output shaft is mounted on four threaded holes on the No. 2 reducer base 3 vertical plate through screws, and the output shaft of the No. 2 reducer 602 penetrates out of the central through holes of the vertical plate. The No. 2 speed reducer 602 adopts GSF-GH series harmonic speed reducer of Japanese HarmonicDrive, and the speed reducer has the advantages of high precision, no tooth gap and standard torque;
the No.2 conveying synchronous belt 702-01 is a conveying belt provided with meshing teeth, and the synchronous conveying belt 702-01 is meshed with a No. 3 belt wheel in a No. 3 bearing system;
The pulley 3 and the speed reducer 2 502 are connected by an inner hole key, the pulley 3 is connected to the output shaft of the speed reducer 2 by a flat key, so that the torque and the rotation speed of the speed reducer 2 are transmitted to the pulley 3, and the pulley 3 transmits the torque and the rotation speed of the speed reducer 2 to the synchronous conveyor belt 702-01 of the speed reducer 2;
The output shaft of the No. 2 servo motor 502 is inserted into the No. 2 reducer 602 and is mounted on the square left mounting plate of the No. 2 reducer 602 through screws. The servo motor 2 adopts Siemens S-1FL6 series servo motors, and an electric wire of a built-in encoder 462 of a built-in encoder 462,2 of a servo motor 502 of a built-in encoder 462,2 of a servo motor 2 is connected to an I2 interface of a programmable controller;
Referring to fig. 6, the bearing system No. 3 902 and the bearing system No. 4 902-01 have the same structure as the bearing system No. 1 901, and include: pulley, left deep groove ball bearing, right deep groove ball bearing, left axle sleeve, bearing left end cover, right axle sleeve, bearing right end cover, pulley fixing base.
Referring to fig. 5, the servo feed system 703 includes a servo motor 503, a speed reducer 603, a speed reducer base 803, a servo motor 504, a speed reducer 604, a speed reducer base 804, a transmission synchronous belt 703-01, a guide rail 703-02, a bearing system 903-01, a slider 1101, a slider seal plate 11-01, a slider 1102, a slider seal plate 11-02, a slider 1103, a slider seal plate 11-03, and a reinforcing plate 12; wherein: the bearing system No.5 has the same structure as the bearing system No. 6;
The No. 3 conveying synchronous belt 703-01 is a belt with meshing teeth, the synchronous belt 703-01 is meshed with a belt pulley in the No. 5 bearing system 903, mounting plates with rectangular cross sections and equal in structure are symmetrically arranged on the front side and the rear side of the bottom end of the No. 1 servo feed system 701 in parallel relative to the top end of the longitudinal symmetry plane of the No. 3 servo feed system 703, and No. 1 threaded holes for mounting sliding blocks are uniformly arranged on the top end surface of the mounting plates; four threaded holes 2 for installing a No. 3 speed reducer base 801 are formed in the right end of the bearing system 903, four threaded holes 3 for installing a No. 1 speed reducer 601 are formed in the right end of the threaded holes 2, two threaded holes 4 for installing a No. 1 servo motor 501 are formed in the right side of the threaded holes 3, and a threaded hole 5 for installing a guide rail 703-01 is formed in the rear side of the bearing system 903;
The guide rail 703-01 is a straight rod piece with an equal circular cross section, screw through holes for installing screws are formed in two ends of the guide rail, and the number of the screw through holes is equal to that of the number 1 threaded holes on the bottom surface of the guide rail groove on the guide rail seat and are aligned with each other; the guide rail screws are arranged on corresponding No. 5 threaded holes in guide rail grooves on bearing system seats in front and back of the servo system;
The sliding block is a structural member with a U-shaped cross section and comprises a sliding block main body and sliding block sealing plates, the sliding block sealing plates are arranged at two ends of the sliding block main body to play a role in fixing, screw through holes are formed in the bottoms of grooves of the sliding block, a No.1 sliding block and a No.2 sliding block are installed on No.1 threaded holes corresponding to the front end and the rear end of a No. 3 servo system through screws, the No.1 sliding block and the No.2 sliding block are buckled on respective guide rails and are in sliding connection and meshed with respective synchronous conveying belts, and therefore the No. 3 servo system can do linear motion on the No.1 servo system and the No.2 servo system;
the No.3 slider is buckled on the No.3 guide rail 703-02 in a sliding connection and meshed with the No.3 synchronous conveyor 703-01, so that the No.3 slider can do linear motion on the No.3 servo system;
The No. 3 servo feeding system is also provided with a proximity switch, and has an anti-collision function;
The reinforcing plate 12 is arranged at the top end of the structural member of the No. 3 servo feeding system 703, so that the strength of the structural member is improved;
The No. 3 speed reducer base is a structural body with a rectangular cross section and consists of a vertical plate and a base plate which are mutually perpendicular. The vertical plate is provided with a central through hole, so that an output shaft of the No. 3 speed reducer 603 is connected with a belt pulley of the bearing system 903, four threaded holes for installing the No. 3 speed reducer 603 are formed in the periphery of the central through hole, the base plate is provided with four round through holes, and the No. 1 speed reducer base 801 is installed on the four No. 2 threaded holes on the right side of the No. 1 bearing system 901 through screws;
the belt wheel in the No. 5 bearing system is connected with the No. 3 speed reducer 503 by an inner hole key, the belt wheel is connected to the output shaft of the No. 3 speed reducer 603 by a flat key, so that the torque and the rotating speed of the No. 3 speed reducer 603 are transmitted to the belt wheel, and the belt wheel transmits the torque and the rotating speed of the No. 3 speed reducer 603 to the No. 3 synchronous conveyor 703-01;
The left side and the right side of the No. 3 speed reducer 603 are respectively provided with a square mounting plate, each side mounting plate is provided with four round through holes, the square left side mounting plate with an output shaft is mounted on four threaded holes on the No. 3 speed reducer base vertical plate through screws, and the output shaft of the No. 3 speed reducer 603 penetrates out of the central through holes of the vertical plate. The No. 3 speed reducer 603 adopts GSF-GH series harmonic speed reducer of Japanese HarmonicDrive, and the speed reducer has the advantages of high precision, no tooth gap and standard torque;
The output shaft of the No.3 servo motor 503 is inserted into the No.3 reducer 603 and is mounted on the square left mounting plate of the No.3 reducer 603 through screws. The No.3 servo motor 503 adopts Siemens S-1FL6 series servo motors, and an electric wire of a built-in encoder 463 of the No.3 built-in encoder 463,3 built-in servo motor 503 of the No.3 servo motor is connected to an I3 interface of the programmable controller;
the output shaft of the No.4 servo motor 504 is inserted into the No.4 reducer 604 and is mounted on the square left mounting plate of the No.4 reducer 604 by screws. The No.4 servo motor 504 adopts Siemens S-1FL6 series servo motors, and an electric wire of a built-in encoder 464 of the No.4 servo motor built-in encoder 464,4 of the No.4 servo motor 504 is connected to an I4 interface of the programmable controller;
A worm and gear transmission mechanism is arranged in the No. 3 sliding block, the No. 4 servo motor 504 transmits the rotating speed and the torque to the No. 4 speed reducer 604,4 speed reducer 604, the rotating speed and the torque are transmitted to the worm and gear transmission mechanism, and the worm and gear transmission mechanism transmits the rotating speed and the torque to the reflecting device 25, so that the angle change of the reflecting plate is realized;
Referring to fig. 5 and 6, the bearing system No.5 903 includes a structure identical to the bearing system No. 903-01 and the bearing system No. 901, and includes: pulley, left deep groove ball bearing, right deep groove ball bearing, left axle sleeve, bearing left end cover, right axle sleeve, bearing right end cover, pulley fixing base.
2. Detection system
Referring to fig. 7, the detection system includes a No. 1 laser displacement sensor 161, a No. 2 laser displacement sensor 162, a No. 3 laser displacement sensor 163, a vibration sensor 17, a temperature sensor 18, a humidity sensor 19, an air pressure sensor 20, a noise sensor 21, a vision sensor 22, a support plate 23, a servo electromagnet 24, a reflecting device 25, a digital display voltmeter 38, a counterweight assembly 40 and a counterweight 41; the detection system 3 is arranged at the tail end of the industrial robot 42;
The environment detection device consists of a vibration sensor 17, a temperature sensor 18, a humidity sensor 19, an air pressure sensor 20 and a noise sensor 21. The environment detection device is used for measuring vibration information, noise information, temperature information, humidity information and air pressure information in the environment; further environmental parameter data is generated. The temperature, the humidity, the air pressure, the noise and the vibration change of the industrial robot in the working state can be obtained through the data, and whether the working of the industrial robot is influenced or not can be obtained; whether the working requirements are met;
The laser displacement sensor 161 is installed on two screw holes of two horizontal plates at the left side of the vertical plate in the detection system 3 by adopting screws. The left two horizontal plates are mounted on a No. 1 threaded hole at the left rear end of the vertical plate in the detection system 3 by screws and are used for detecting repeated positioning accuracy of the tail end of the industrial robot in the vertical direction. The No. 1 laser displacement sensor 161 adopts a Kernel laser displacement LK-G30 sensor, and an electric wire of the sensor is connected to an acquisition interface of the analog quantity signal channel 1;
The No.2 laser displacement sensor 162 is mounted on two screw holes of two vertical plates on the upper side of the vertical plate in the detection system 3 by adopting screws. The two vertical boards on the upper side are installed on a No.2 threaded hole at the rear end of the upper side of the vertical board in the detection system 3 by adopting screws and are used for detecting the repeated positioning precision of the tail end of the industrial robot in the horizontal direction. The No.2 laser displacement sensor 162 adopts a Kernel laser displacement LK-G30 sensor, and an electric wire of the sensor is connected to an acquisition interface of the analog quantity signal channel 2;
The laser displacement sensor 163 is installed on two screw holes of two horizontal plates on the right side of the vertical plate in the detection system 3 by adopting screws. The two horizontal plates on the right side are installed on a No. 3 threaded hole at the right rear end of the vertical plate in the detection system 3 by adopting screws and are used for detecting the repeated positioning precision of the tail end of the industrial robot in the horizontal direction. The No. 3 laser displacement sensor 163 adopts a Kernel laser displacement LK-G30 sensor, and an electric wire of the sensor is connected to an acquisition interface of the analog quantity signal channel 3;
The temperature sensor 17 is positioned on the left side of the No.1 laser displacement sensor, and the temperature sensor 17 is arranged on a No. 4 threaded hole at the right end of the left end face of the upper side of the detection system. The temperature sensor 17 is a digital temperature sensor FT-H10C of the ken FT series. The system is used for acquiring the ambient temperature of the industrial robot under the actual working condition, and an electric wire of the system is connected to an acquisition interface of the analog quantity signal channel 5;
The humidity sensor 18 is positioned on the left side of the temperature sensor 17, and the humidity sensor 18 is arranged on a number 5 threaded hole at the right end of the left end face on the upper side of the detection system. Humidity sensor 18 employs ASAIR humidity sensors. The electric wire of the environment humidity acquisition device is connected to the acquisition interface of the analog signal channel 6;
The air pressure sensor 19 is positioned on the left side of the humidity sensor 18, and the air pressure sensor 19 is arranged on a 6 # threaded hole at the right end of the left end face on the upper side of the detection system. The air pressure sensor 19 adopts a BMP280 high-precision air pressure sensor module. The device is used for acquiring the ambient air pressure of the industrial robot under the actual working condition, and an electric wire of the device is connected to an acquisition interface of the analog signal channel 7;
The noise sensor 20 is positioned on the left side of the air pressure sensor 19, and the noise sensor 20 is arranged on a number 7 threaded hole at the right end of the left end face of the upper side of the detection system. The noise sensor 20 employs an RS485 noise sensor. The electric wire of the environment noise acquisition device is connected to the acquisition interface of the analog signal channel 8;
the vibration sensor 21 is positioned on the left side of the noise sensor 20, and the vibration sensor 21 is arranged on a number 8 threaded hole at the right end of the left end face on the upper side of the detection system. The vibration sensor 21 adopts a VB-451SCB vibration sensor of the element-to-object connection to detect static and dynamic acceleration of the industrial robot in a load state, and an electric wire of the vibration sensor is connected to an acquisition interface of the analog quantity signal channel 9;
The visual sensor 22 is arranged on two threaded holes No.2 with the same structure on a bracket 33 at the lower side of the detection system 3. The vision sensor 22 adopts a Kidney vision sensor IV-H500CA, and the electric wire of the vision sensor is connected with the acquisition interface of the analog quantity signal channel 4;
The digital display voltmeter 38 belongs to an independent detection component, can be placed at the top of the operation table 27, is connected with an acquisition interface of the analog signal channel 10 by an electric wire, and is used for measuring the working voltage of the industrial robot 42 and monitoring the power supply voltage change of the industrial robot in the working state; displaying test data in a man-machine interaction interface of computer software, and comparing the test data collected only when the power supply voltage changes with the test data when the power supply voltage does not change;
The reflecting device 25 includes a number 1 reflecting plate 2501, a number 2 reflecting plate 2502, and a number 3 reflecting plate 2503, and a rectangular block-shaped structure is provided inside the reflecting device 25: a target object 26 to be measured; the top of the No. 1 reflecting plate is provided with a threaded hole which is connected with a worm and gear transmission mechanism in the No. 3 sliding block 1103, so that the angle change of the reflecting plate is realized.
The electromagnet 24 is arranged at the lower side of the detection system and is arranged on a No. 1 threaded hole of the bracket 33, and an electric wire of the electromagnet is connected to an interface of the operation table. The operation of replacing the load of the industrial robot can be realized by opening and closing the electromagnetic valve 32 in the operation table; further realizing the reliability detection of the industrial robot under different load conditions;
The weight 41 is placed in the weight assembly 40, the weight assembly 40 is fixed on a T-shaped groove on the ground level iron (1), and weights 41 with different weights are loaded according to different requirements of a reliability test and used for simulating loads under real working conditions.
The electric wire of the servo electromagnet 24 is connected to the interface between the electromagnet opening button 33 and the electromagnet opening button 34 of the operation table 27, and is used for controlling the opening and closing of the electromagnet.
3. Control system
Referring to fig. 8, the control system in the industrial robot reliability test apparatus according to the present invention includes an adjustable power adapter 39, an operation table 27;
Referring to fig. 1, the console 27 is placed in front of the horizon iron (1), the adjustable power adapter 39 is placed at the top of the console 27, one side of the adjustable power adapter 39 is connected with the programmable controller 45 in the console 27, the other side is connected with the power box 3901 of the power supply robot 42 of the industrial robot, receives the control signal transmitted by the programmable controller 45, and makes corresponding changes to the power supply voltage of the industrial robot 42; the operation table 27 includes: system operation lights 28, system operation buttons 29, system stop lights 30, system stop buttons 31, display 32, electromagnet operation buttons 33, electromagnet stop buttons 34, reset buttons 35, emergency stop buttons 36, mouse keyboard 37, digital display voltmeter 38, adjustable power adapter 39, computer 43, data acquisition card 44, programmable controller 45, multi-core plug 48; the computer 43 is the core of the control system, is arranged in the box body at the lower part of the operation desk 27, and the keyboard and mouse 37, the display 32, the programmable controller 45 and the data acquisition card 44 are respectively connected with the computer 43 provided with the data processing program 47;
The keyboard and mouse 37 is installed on the upper end surface of the extending part of the operation desk 27, the electric wire is connected to the USB interface of the computer 43, the display 32 adopts a liquid crystal display, is installed on the inclined surface of the upper part of the operation desk 27, and is connected to the display interface of the computer 43 through an HDMI wire;
One side of the adjustable power adapter 39 is connected with a programmable controller 45 in the operation table 27, the other side is connected with a power supply box 3901 of the industrial robot 42, receives control signals transmitted by the programmable controller 45, and correspondingly changes the power supply voltage of the industrial robot 42;
The data acquisition card 44 disclosed by the invention adopts a Smacq-brand USB-5000 series data acquisition card, the sampling rate is high, and the number of channels meets the test requirement; is installed inside the computer 43 and is connected in a main board clamping groove of the computer 43. The acquisition interfaces of the analog quantity signal channels 1 to 10 of the data acquisition card 43 are sequentially connected with the electric wires of a No. 1 laser displacement sensor 161, a No. 2 laser displacement sensor 162, a No. 3 laser displacement sensor 163, a vibration sensor 17, a temperature sensor 18, a humidity sensor 19, an air pressure sensor 20, a noise sensor 21, a vision sensor 22 and a digital display voltmeter 38, and respectively acquire the repeated positioning precision data of the tail end of the industrial robot 42, the vibration data of the vibration sensor 17, the temperature, humidity, air pressure and noise data in the working state of the industrial robot 42, the position and posture precision data of the tail end of the industrial robot 42 and the working voltage;
The programmable controller 45 is a EasyModiconM programmable controller, and is installed inside the computer 43, one end of an electrical connection wire of the programmable controller 45 is connected to the programmable controller 45, and the other end of the electrical connection wire is connected to a USB interface of the computer 43;
The multi-core plug 48 is a 12-core multi-core plug selected by the multi-core plug 48 and is arranged in the computer 43, and an electric wire of the multi-core plug 48 is connected with an I1 interface of the programmable controller 45; the I0.0 interface of the input end of the multi-core plug 48 is connected with the 1 interface of the system operation button 29 by adopting an electric wire, the I0.1 interface of the input end is connected with the 1 interface of the system stop button 31 by adopting an electric wire, the I0.2 interface of the input end is connected with the 1 interface of the loading operation button 33 by adopting an electric wire, the I0.3 interface of the input end is connected with the 1 interface of the loading stop button 34 by adopting an electric wire, the I0.4 interface of the input end is connected with the 1 interface of the reset button 35 by adopting an electric wire, and the I0.5 interface of the input end is connected with the 1 interface of the emergency stop button 36 by adopting an electric wire; the O2.0 interface at the output end of the multi-core plug 48 is connected with the X1 interface of the system operation lamp 29 by adopting an electric wire, and the O2.1 interface at the output end is connected with the X1 interface of the system stop lamp 30 by adopting an electric wire;
the I2 interface of the programmable controller is connected with the built-in encoder 461 of the 1 servo motor 501, the I3 interface of the programmable controller is connected with the built-in encoder 462 of the 2 servo motor 502, the I4 interface of the programmable controller is connected with the built-in encoder 463 of the 3 servo motor 503, and the I5 interface of the programmable controller is connected with the built-in encoder 464 of the 4 servo motor 504; realizing control of the servo motor;
The data processing program 47 is preloaded into the computer 43, and comprises three parts, wherein the first part is an industrial robot test program set before the test and a motion program of a servo feeding system during the test, the second part is recording and calculating data collected in the whole test process, and the third part is after the test is finished, the repeated positioning precision, the pose precision and various data of the industrial robot reliability test system under different working conditions under different load conditions are statistically analyzed.
2. Test method of industrial robot reliability test device
The reliability test method of the industrial robot is carried out on the basis of adopting the reliability test device of the industrial robot, and a set of reliability test method is provided for the industrial robot to be tested;
Referring to fig. 11, the industrial robot reliability test method includes the steps of:
(1) Preparation before testing: according to the working condition of the tested industrial robot 42 needing to simulate the load, a loading scheme of the industrial robot reliability test device is formulated; the detection system 3 is arranged at the tail end of the wrist body of the industrial robot 42, a switch of the testing equipment is opened, the weight 41 is loaded, and the servo feeding system 7 is controlled to move the reflecting device 25 to the proper distance in front of the industrial robot 42; after the setting is completed, starting to perform a related test;
(2) Spatial pose accuracy of industrial robot: firstly, driving the tail end of the industrial robot 42 from an absolute zero position to the position right in front of a measured target object 26 in the reflecting device 25, acquiring the space pose precision condition of a measuring point by the vision sensor 22, then driving the tail end of the industrial robot 42 to return to the zero position with the same distance, repeating the measurement for a plurality of times, and transmitting data to the computer 43 for analysis through the data acquisition card 44;
(3) Industrial robot end repetitive positioning accuracy: driving the tail end of the industrial robot 42 from an absolute zero position into the reflecting device 25, respectively collecting the repeated positioning precision condition of the tail end of the industrial robot 42 by three laser displacement sensors 161, 162 and 163, then driving the tail end of the industrial robot 42 to return to the zero position and pose position by the same distance, repeating the measurement for a plurality of times, and transmitting data to the computer 43 for analysis through the data collecting card 44;
(4) Various sensors collect data in a real working environment; the digital display voltmeter collects different voltage values generated by the change voltage, and the data are transmitted to the computer 43 for analysis through the data collection card 44;
(5) Further, the industrial robot 42 can be moved to a replaceable load, the weights 41 with different weights are replaced by using the load system, and the steps are repeated, so that more convincing data are obtained;
(6) Further, the reflecting device 25 can be moved to other positions, the weights 41 with different weights are replaced by using a load system, and the steps are repeated, so that more convincing data are obtained;
According to the industrial robot reliability test device, the real working condition is simulated through the load system; the detection system obtains positioning precision information of a part to be detected of the industrial robot, and transmits the positioning precision information to a computer through a data acquisition card to obtain pose precision of the part to be detected through processing, and positioning precision data information is repeated; further, the environment detection component obtains vibration information, noise information, temperature information, humidity information and air pressure information under the working state of the industrial robot; and the data is transmitted to a computer through a data acquisition card to generate a parameter list. Therefore, the industrial robot reliability test device can realize detection on multiple aspects of pose precision, repeated positioning precision, temperature, vibration, noise control and the like under the real working condition of the industrial robot. The data processed by the computer can be read, recorded and analyzed, so that the reliability comprehensive performance of the industrial robot can be evaluated. Therefore, compared with a laser tracker, the invention is based on the detection technology under the real working condition, and has lower cost; compared with the traditional industrial robot detection device, the invention can simulate the real working condition and realize multi-aspect performance detection; compared with the two, the method can realize the comprehensive detection of the reliability of the industrial robot with low cost.
The embodiments described herein are intended to facilitate the understanding and appreciation of the invention by those skilled in the art and are merely exemplary of, or are presently preferred with reference to, the accompanying drawings. It is within the scope of the present invention to make structural equivalents and modifications thereto which would be obvious to those skilled in the art without undue effort while maintaining the basic concept of the present invention.
Claims (7)
1. An industrial robot reliability test device, comprising: the device comprises a ground level iron (1), a servo feeding system (7), a detection system (3) and a control system;
The detection system (3) comprises: an environment detection device, a laser displacement sensor, a reflection device (25) and a servo electromagnet (24);
The environment detection device, the laser displacement sensor and the servo electromagnet (24) are arranged at the tail end of the industrial robot; a servo feed system (7) feeds the reflecting device (25);
the servo feed system (7) comprises: a servo feed system No.1 (701), a servo feed system No.2 (702) and a servo feed system No. 3 (703); the servo feeding system 1 and the servo feeding system 2 have the same structure;
The No. 1 servo feeding system (701) and the No.2 servo feeding system (702) are parallel to each other, and two ends of the No. 1 servo feeding system and the No.2 servo feeding system are respectively fixed on the ground flat iron (1) through supporting legs 2;
The No.1 servo feeding system (701) comprises: a No.1 servo motor (501), a No.1 speed reducer (601), a No.1 transmission synchronous belt (701-01), a No.1 guide rail (701-02), a No.1 speed reducer base (801), a No.1 bearing system (901), a No. 2 bearing system (901-01), a No.1 proximity switch (1001) and a No. 2 proximity switch (1001-01);
the No. 3 servo feeding system (703) comprises: a No. 3 servo motor (503), a No. 3 speed reducer (603), a No. 3 speed reducer base (803), a No. 3 transmission synchronous belt (703-01), a No. 3 guide rail (703-02), a No. 5 bearing system (903), a No. 6 bearing system (903-01), a No. 1 sliding block (1101), a No. 2 sliding block (1102) and a No. 3 sliding block (1103);
The No. 1 sliding block (1101) and the No. 2 sliding block (1102) are arranged at two ends of the No. 3 servo feeding system (703), are respectively connected with the No. 1 guide rail (701-02) and the No. 2 guide rail (702-02) in a sliding manner, and are fixedly connected with the No. 1 conveying synchronous belt (701-01) and the No. 2 conveying synchronous belt (702-01);
The No.3 sliding block (1103) is in sliding connection with the No.3 guide rail (703-02); fixedly connected with a No.3 transmission synchronous belt (703-01);
1. The servo motors 2 and 3 respectively drive the conveying synchronous belts to convey, and the sliding blocks slide on the guide rails;
The detection system (3) comprises: the detection system comprises a detection system body, a No. 1 laser displacement sensor (161), a No. 2 laser displacement sensor (162), a No. 3 laser displacement sensor (163), a vibration sensor (17), a temperature sensor (18), a humidity sensor (19), an air pressure sensor (20), a noise sensor (21), a visual sensor (22), a supporting plate (23), a servo electromagnet (24), a reflecting device (25),
A weight assembly (40) and a weight (41);
The detection system body is a vertical plate, the three laser displacement sensors are respectively arranged on the upper side, the left side and the right side of the vertical plate, the servo electromagnet (24) is arranged on the lower side of the vertical plate, and the vision sensor (22) is arranged on the servo electromagnet (24) through the supporting plate (23);
the counterweight component (40) is a box body, and the counterweight (41) is placed in the box body;
The reflecting device (25) is a rectangular box body, the opening of the reflecting device is downward, a measured object (261) is arranged at the center of the top in the rectangular box body, and a reflecting plate (2501) No. 1, a reflecting plate (2502) and a reflecting plate (2503) No. 3 are arranged on the wall of the rectangular box body;
the No. 4 servo motor (504) is arranged on the No. 3 sliding block (1103); the output end of the No. 4 servo motor (504) is connected with a worm gear transmission mechanism, and the top of the reflecting device (25) is fixed at the output end of the worm gear transmission mechanism; the control system comprises: an adjustable power adapter (39), a computer (43), a data acquisition card (44), an operation desk (27), a programmable controller (45) and an industrial robot (42);
The operation table (27) includes: a system operation lamp (28), a system operation button (29), a system stop lamp (30), a system stop button (31), a display (32), an electromagnet operation button (33), an electromagnet stop button (34), a reset button 35, an emergency stop button (36), a digital display voltmeter (38) and a programmable controller (45);
They and the computer (43) are respectively connected with the programmable controller (45); the industrial robot (42) is connected with the programmable controller (45) through the adjustable power adapter (39); the programmable controller (45) is connected with a servo motor of the servo feeding system (7) through a built-in encoder;
the data acquired by the detection system (3) are input into a computer (43) through a data acquisition card (44);
The computer (43) is preloaded with a data processing program (47);
the data processing program (47) comprises three parts: the first part is the industrial robot test program that sets up before the test and the motion program of servo feed system when testing, and the second part is the data that gathers in the whole test process and record and calculate, and the third part is the data under the different operating modes of statistical analysis industrial robot reliability test system under the different load condition after the test, includes: repeating positioning precision and pose precision data;
The sliding block is a structural member with a U-shaped cross section and comprises a sliding block main body and sliding block sealing plates, the sliding block sealing plates are arranged at two ends of the sliding block main body to play a role in fixing, screw through holes are formed in the bottoms of grooves of the sliding block, a No.1 sliding block and a No.2 sliding block are installed on No.1 threaded holes corresponding to the front end and the rear end of a No. 3 servo system through screws, the No.1 sliding block and the No.2 sliding block are buckled on respective guide rails and are in sliding connection and meshed with respective synchronous conveying belts, and therefore the No. 3 servo system can do linear motion on the No.1 servo system and the No.2 servo system;
The No. 3 sliding block is buckled on the No. 3 guide rail (703-02) in a sliding connection mode and meshed with the No. 3 synchronous conveyor belt (703-01), and therefore the No. 3 sliding block can linearly move on the No. 3 servo system.
2. The industrial robot reliability test device according to claim 1, wherein: the bearing system comprises a belt pulley, a deep groove ball bearing, two shaft sleeves, a bearing left end cover, a bearing right end cover and a belt pulley fixing seat.
3. The industrial robot reliability test device according to claim 2, wherein: the synchronous conveyer belt is a conveyer belt with meshing teeth, and the synchronous conveyer belt is meshed with a belt wheel in the bearing system.
4. The industrial robot reliability test device according to claim 3, wherein: the guide rail is a straight rod piece with an equal circular cross section, screw through holes for installing screws are formed in two ends of the guide rail, and the number of the screw through holes is equal to that of screw holes in the bottom surface of a guide rail groove on the guide rail seat and aligned with each other; the guide rail is arranged on corresponding threaded holes in the guide rail grooves on the bearing system seats in front and back of the servo system through screws.
5. The industrial robot reliability test device according to claim 4, wherein: the proximity switch is arranged on the upper side of the guide rail close to the bearing system, an electric wire of the proximity switch is connected with an electric wire of the servo motor, when the sliding block approaches the proximity switch, the switch is closed, the servo motor stops working, and the anti-collision function is achieved.
6. A test method of an industrial robot reliability test apparatus, employing the industrial robot reliability test apparatus according to claim 1, comprising:
(1) Preparation before testing: according to the working condition of the tested industrial robot (42) needing to simulate the load, a loading scheme of the industrial robot reliability test device is formulated; the detection system (3) is arranged at the tail end of the wrist body of the industrial robot (42), a test equipment switch is turned on, weights 41 are loaded, and the servo feeding system (7) is controlled to move the reflecting device (25) to the front of the industrial robot (42); after the setting is completed, starting to perform a related test;
(2) Spatial pose accuracy of industrial robot: firstly, driving the tail end of an industrial robot (42) from an absolute zero position to the position right in front of a measured target object 26 in a reflecting device (25), acquiring the space pose precision condition of a measuring point by a visual sensor (22), then driving the tail end of the industrial robot (42) to return to the zero position with the same distance, repeating the measurement for a plurality of times, and transmitting data to a computer (43) for analysis through a data acquisition card (44);
(3) Industrial robot end repetitive positioning accuracy: driving the tail end of the industrial robot (42) from an absolute zero position into the reflecting device (25), respectively acquiring the repeated positioning precision condition of the tail end of the industrial robot (42) by three laser displacement sensors (161), (162) and (163), then driving the tail end of the industrial robot (42) to return to the zero position and pose position with the same distance, repeating the measurement for a plurality of times, and transmitting data to a computer (43) for analysis through a data acquisition card (44);
(4) Various sensors collect data in a real working environment; the digital display voltmeter collects different voltage values generated by the change voltage, and data are transmitted to a computer (43) for analysis through a data collection card (44);
(5) Further, the industrial robot (42) is moved to a replaceable load, the weight (41) of different weight is replaced with the load system and the above steps are repeated.
7. The test method of the industrial robot reliability test device according to claim 6, wherein: the reflecting device (25) is moved to other positions, the weight (41) of different weight is replaced by a load system and the above steps are repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210239999.XA CN114833871B (en) | 2022-03-12 | 2022-03-12 | Industrial robot reliability test device and test method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU4696585A (en) * | 1984-09-07 | 1986-03-13 | Sony Corporation | Industrial robot with servo system |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
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| CN106338969B (en) * | 2016-10-21 | 2018-09-14 | 吉林大学 | Electro-hydraulic servo feed system reliability test and test method |
| RU2721485C1 (en) * | 2019-12-12 | 2020-05-19 | Ассистирующие Хирургические Технологии (Аст), Лтд | Combined manipulator of robotosurgical complex |
| CN113681537B (en) * | 2021-09-13 | 2024-07-30 | 合肥市信同信息科技有限公司 | A high-altitude suspended power inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU4696585A (en) * | 1984-09-07 | 1986-03-13 | Sony Corporation | Industrial robot with servo system |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
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