CN212112211U - Servo testing arrangement - Google Patents

Abstract

The utility model provides a servo testing device, which comprises a power module, a controller, a functional module and a cabinet body; power module, controller and functional module demountable installation are in the cabinet body, and power module connection director supplies power to servo testing arrangement, and the controller is connected and control functional module in order to test. The utility model provides a servo testing arrangement can realize stabilizing high-efficient and multiplexing test environment, promotes servo test's efficiency and security.

Description

Servo testing arrangement

Technical Field

The utility model relates to an automatic control field particularly, relates to a servo testing arrangement.

Background

The servo system is an automatic control system, and the servo system needs to have good performance requirements such as controllability, stability and the like. As an important part of automation control, servo systems are widely used.

In the production of the servo system, the tool needs to be tested for various performances of the servo system. For a servo system, a plurality of functions are often included, and efficient and accurate control can be realized only through precise coordination among the functions. For example, the controller issues commands to the servo system through communication, and the servo system performs control according to input signals.

In the prior art, each function in a servo system is usually tested separately, for example, when testing a communication function, a developer builds a test platform related to the communication test. After the test is finished, the platform is detached, and a new test platform is set up for the test of another function. The testing process is complex and low in efficiency, a testing environment is set up for each function in each test, and the multiplexing is difficult.

SUMMERY OF THE UTILITY MODEL

The utility model provides a servo testing arrangement, the technical problem of main solution is current servo test process inefficiency, needs the repeated scene of setting up correspondence.

In order to solve the technical problem, an embodiment of the utility model provides a servo testing arrangement, servo testing arrangement is connected with the system under test, servo testing arrangement includes:

the intelligent cabinet comprises a power supply module, a controller, a functional module and a cabinet body;

the power supply module is connected with the controller and supplies power to the servo testing device;

the controller is connected with the functional module and used for controlling the functional module;

the power module, the controller and the functional module are detachably mounted on the cabinet body;

and the tested system is connected with the functional module.

Optionally, the functional module includes:

the multi-protocol communication module is in communication connection with the system to be tested;

optionally, the multi-protocol communication module includes at least one of the following communication sub-modules:

the communication submodule of the EtherCAT protocol, the communication submodule of the CANOpen protocol and the communication submodule of the Modbus protocol.

Optionally, the functional module includes: a high-speed signal output module;

the high-speed signal output module is connected with a high-speed signal input port of the tested system and outputs a high-speed signal, and the frequency range of the high-speed signal is 1 Hz-5 MHz.

Optionally, the functional module includes: a high-speed signal input module;

the high-speed signal input module is connected with a high-speed signal output port of the tested system and used for collecting signals output by the high-speed signal output port, and the frequency range of the signals received by the high-speed signal input module is 1 Hz-1 MHz.

Optionally, the functional module includes: an analog quantity signal output module;

and the analog quantity signal output module is connected with an analog quantity signal input port of the tested system and outputs an analog quantity signal.

Optionally, the functional module includes: an analog quantity signal input module;

the analog quantity signal input module is connected with an analog quantity signal output port of the tested system and used for collecting the analog quantity signal output by the analog quantity signal output port.

Optionally, the servo testing apparatus includes an interactive device, and the interactive device is connected to the controller

The interaction device comprises at least one of:

a display screen for displaying data;

and the key unit is used for inputting instructions. Optionally, the cabinet further includes: terminal blocks and/or air switches.

Optionally, the functional module further includes an IO module, an input port of the IO module is connected to a DO output port of the system under test, an output port of the IO module is connected to a DI input port of the system under test,

and/or the presence of a gas in the gas,

the servo testing device further comprises an external resistor, and the external resistor is detachably mounted on the cabinet body.

Optionally, the IO module has an external device, and the external device includes at least one of the following:

the emergency stop device comprises a relay, a contactor and a button, the relay and the button are connected with the IO module, the contactor is connected with a power supply of the system to be tested, and the relay is connected with the contactor;

and the state indicating equipment is connected with the IO module.

Optionally, the functional module of the servo test device includes an IO module, and the servo test device includes an external resistor;

the IO module has external device, external device includes resistance auto-change over device, resistance auto-change over device includes the relay, the relay with IO module and external resistance connection, resistance auto-change over device be used for with external resistance switches to different circuits.

Has the advantages that:

the utility model provides a servo testing arrangement, include, the cabinet body to and set up the power module that is used for the power supply to servo testing arrangement on the cabinet body, be used for control function module's controller, with the system connection function module that is surveyed. Various test function modules can be accessed through the function modules and controlled by the controller. A stable, efficient and reusable test environment can be achieved.

Drawings

Fig. 1 is a block diagram of an overall structure of a servo testing apparatus according to a first embodiment of the present invention;

fig. 2 is a schematic block diagram of the cabinet installation provided by the second embodiment of the present invention;

fig. 3 is a frame diagram of a servo testing apparatus according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings by way of specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The first embodiment is as follows:

in order to provide stable efficient servo test, the embodiment of the utility model provides a servo testing arrangement is provided.

Referring to fig. 1, fig. 1 is a block diagram of an overall structure of a servo testing apparatus according to an embodiment of the present invention;

the servo testing device comprises a power module 1, a controller 2, a functional module 3 and a cabinet body 4. In the present embodiment, the power module 1 is connected to the controller 2, wherein the output of the power module 1 is usually 24V or 5V, the input voltage is usually 220V, 110V or 100V, and the like according to the power supply conditions of different countries or regions, and the power required by other parts is supplied through the controller 2. The controller 2 can adopt a PLC (programmable logic controller) 2, an industrial personal computer, a single chip microcomputer and the like, adopts the programmable controller 2, and can realize or partially realize automatic testing through programming, thereby improving the efficiency. It should be noted that the functional module 3 may be a collection of modules having one or more functions, and at least a part of the modules may be flexibly added or subtracted; in some embodiments, the integrated module may be a single integrated module, for example, a board card is used to integrate multiple functions. The controller 2 is connected to the functional modules 3, and it should be understood that if there are a plurality of modules in the functional modules 3, the controller 2 is connected to each module directly or indirectly to control each module separately.

Optionally, the functional module 3 may include a multi-protocol communication module, in the servo system, the servo usually communicates through a signal line or a proprietary network, and during testing, the multi-protocol communication module is used to detect whether the communication function of the system under test is normal. The communication protocols used by different servo systems may be different, and the embodiment adopts the multi-protocol communication module, so that the test can be performed for various communication protocols, and hardware equipment does not need to be replaced for different communication protocols under a common condition. It should be noted that the multi-protocol communication module may be implemented by a plurality of sub-modules of different protocols, and may also support a plurality of protocols in one module by means of software. When a communication protocol which is not supported by the current multi-protocol communication module is encountered, the expansion can be carried out by adding sub-modules or modifying a software program and the like.

Optionally, the multi-protocol communication module may include at least one of a communication sub-module of an EtherCAT protocol, a communication sub-module of a CANOpen protocol, and a communication sub-module of a Modbus protocol. It is understood that in some embodiments, the multi-protocol communication module may further include various other communication sub-modules.

The functional module 3 may further include a high-speed signal output module, and the high-speed signal output module is connected to a high-speed signal input port of the system under test. The high-speed signal output module can output high-speed signals such as high-speed pulse signals, rapidly-changing level signals and the like, for example, pulse input and probe function input are carried out on a servo driver. Wherein the frequency of the output high-speed signal is 1 HZ-5 MHZ.

Correspondingly, the functional module 3 further comprises a high-speed signal input module, the high-speed signal input module is connected with a high-speed signal output port of the tested system, and is used for collecting signals output by the high-speed signal output port of the tested system, such as encoder frequency division output signals A +, A-, B +, B-, Z +, Z-and the like. The frequency range of the signals received by the high-speed signal input module is 1 HZ-1 MHZ.

The functional module 3 may further include an analog quantity signal output module, and the analog quantity signal output module is connected to an analog quantity signal input port of the system under test. For some motors, the analog quantity signal can also control the motor, and the analog quantity signal output module can output the analog quantity signal to a system to be tested.

The analog quantity signal input module is connected with an analog quantity signal output port of the system to be tested, and the analog quantity signal output by the system to be tested is obtained. In a specific implementation process, the analog quantity signal output module and the analog quantity signal input module are combined, so that the analog quantity signal input and output of the system to be tested can be monitored, for example, the torque control of the motor is given through the analog quantity signal output by the analog quantity signal output module, and the system to be tested transmits the analog quantity state related to the limitation of the analog quantity signal torque on the system torque and the like to the analog quantity signal input module. It is understood that the analog quantity signal includes both a current analog quantity signal and a voltage analog quantity signal, and the analog quantity signal input module or the analog quantity signal output module in the embodiment can support at least one of the analog quantity signals.

Optionally, the servo test apparatus provided in this embodiment further includes an interactive device connected to the controller 2,

the interaction device comprises at least one of: a display screen and a key unit; the display screen is used for displaying data, and the key unit can receive instruction input. The controller 2 can display the information sent and received by each module on the display screen, a tester can visually see current test data only through the screen, and the display screen can also display the state of the current tested system, so that the tester can rapidly know whether the test is normal. And the button unit makes the tester can send the instruction through the button, and the tester can assign control command, modify operation such as parameter through the button unit, convenient test, and controller 2 is after receiving the corresponding instruction of interactive device, and the relevant module of control is executed and is corresponded the operation. In some embodiments, the display screen may be used together with the keys, and it should be noted that the key unit may be a virtual key or a physical key, for example, a touch screen may be used, in which case the key unit may be a virtual key, and the touch screen is both the display screen and plays a role of the key unit. It can be understood that a tester can write a corresponding program according to requirements, and can realize various interaction modes and functions.

The servo testing device further comprises a cabinet body 4, and the power module 1, the controller 2 and the functional module 3 can be detachably mounted in the cabinet body 4. The parts may be mounted in the cabinet 4 by means of screws, snaps, and the like. In order to make the use of the servo testing device more convenient and safer, a terminal block can be added in the cabinet body 4 to facilitate wiring and line arrangement, and/or an air switch is arranged to protect the device.

In this embodiment, the functional module 3 may further include an IO module, and the IO module is connected to the DI/DO port of the system under test. The IO module can carry out input and output of data. The DI/DO port of the tested system can be detected whether to be normal or not through the IO module. Meanwhile, the IO module can be externally connected with some devices. In this embodiment, the external device may include at least one of an emergency stop device, a status indication device, and a resistance switching device. Through the emergency stop device, a tester can emergently stop the tested system or directly cut off the power supply of the tested system through the programmed controller program when the tester finds that the test is abnormal. Wherein, scram device can include relay, contactor and button, and relay and button are connected with the IO module, and the contactor is connected with the power of system under test, and the relay still is connected with the contactor. The emergency stop device is connected with the IO module, and can remotely close the motor according to signals transmitted by the IO module. When the button is pressed, the power supply to the system to be tested can be stopped immediately through the relay and the contactor, and the abnormal condition can be responded in time. And state indicating equipment then can carry out different suggestion according to current test state, makes the tester can be rapidly and audio-visually know whether the condition is unusual to in some embodiments, state indicating equipment can be the banks that have multiple display effect, also can realize through the display screen. And in some cases, the display screen in the interaction device can also play a similar effect, but the state indicating device is connected with the IO module and can be independently arranged at any position, so that the test state can be observed by a tester more easily in some implementation processes.

The servo test apparatus in this embodiment may further include an external resistor 5. The external resistor 5 can provide certain protection in the test process or after the test is finished, and specifically, the external resistor 5 can be used for consuming redundant energy generated in the system operation process, so that the capacitor voltage in the feedback loop is reduced, the feedback loop is effectively protected, and the alarm frequency of the servo driver system is reduced; the external resistor 5 can also be used for consuming the generated energy generated when the motor stops. The specification of the external resistor 5 can be selected according to the specific condition of the system to be tested and the test scene of the external resistor 5, and different external resistors 5 with different specifications may be required for different systems to be tested or different application scenes. The external resistor 5 is detachably connected with the cabinet body 4, and when the external resistors 5 of different specifications are needed, only the original external resistor 5 needs to be detached and then the needed external resistor 5 needs to be installed. In order to facilitate replacement, the external resistor 5 may be disposed at a position where it is easily replaced in a specific implementation process.

Under the condition that the servo testing device is provided with the IO module and the external resistor, a resistor switching device can be further arranged, the resistor switching device comprises a relay, and the relay is connected with the IO module. The controller 2 controls the relay through the IO module according to different test states, and the relay can switch the resistor to different circuits. Through the arrangement, the external resistor 5 is switched to different circuits in different states, redundant energy in the running process of a system can be consumed, and the external resistor can be switched to a related circuit consuming the generated energy of the motor in the stopping process of the motor, so that the motor is protected more safely in the testing process. It is understood that the external device in this embodiment may be one device or a combination of multiple devices.

It should be noted that, for the system under test, it is not necessary to have the relevant interfaces or functions corresponding to all the modules mentioned in the embodiment. The specific functions that can be realized in the test of each part in this embodiment may be different depending on the function of the system under test. In a specific testing process, the system under test may not have some functions or may not provide a test interface corresponding to some functions, and the servo testing apparatus provided in this embodiment does not perform related tests. Therefore, the servo test apparatus provided in the present embodiment should not be understood as being capable of testing all systems, nor should it be understood as being capable of completely implementing all test functions in any situation.

The servo testing device provided by the embodiment comprises a power module 1, a controller 2, a functional module 3 and a cabinet body 4. Wherein, power module 1 is connected and supplies power for servo testing arrangement with controller 2, and controller 2 is connected in order to realize the control to functional module 3 with functional module 3, and each part is all detachable to be installed on the cabinet body 4. The servo test device provided by the embodiment can be added with various specific test modules and uniformly controlled by the controller 2, and can realize a stable, efficient and reusable test environment.

Example two:

for better explanation of the present invention, a specific servo test apparatus is provided below. Referring to fig. 2, fig. 2 is a schematic block diagram illustrating the cabinet 4 according to the embodiment. It should be understood that in the present embodiment, a plurality of terminal blocks are further provided in the cabinet 4 to facilitate the line connection or the grounding. In some embodiments, the system under test may also be loaded onto the cabinet 4. A plurality of systems under test may also be provided simultaneously as shown in fig. 2. Referring to fig. 3, fig. 3 is a frame diagram of a servo test apparatus according to the present embodiment. The servo test apparatus provided in the present embodiment will be described below with reference to fig. 2 and 3.

The servo test apparatus in this embodiment includes: 24V switching power supply 11, PLC controller 21, functional module 3 and external resistor 5. The 24V switching power supply 11 serves as a power supply module, the input voltage of the power supply module may be 220V, 24V voltage is output, the 24V switching power supply 11 supplies power for the servo test device, and an air switch 111 may be further provided to ensure safety of power supply. The controller adopts a PLC (programmable logic controller) 21, and the PLC 21 is connected with the functional module 3. The functional module 3 is in the form of an independent module, and a plurality of modules having one or more functions form part of the functional module 3 in this embodiment, and the functional module 3 in this embodiment includes a multi-protocol communication module 31, a high-speed signal input module 32, a high-speed signal output module 33, an analog quantity signal input module 34, an analog quantity signal output module 35, and an IO module 36. It should be understood that in some implementations, the functions of some modules may be integrated into one module, especially the function-related modules, for example, the functions of the high-speed signal input module 32 and the high-speed signal output module 33 are implemented by one module, and the module can output high-speed signals and receive high-speed signals input by the system under test 100.

The touch screen 211 is connected to the PLC controller 21, and by programming a program, the touch screen 211 can be used to perform remote visual operation on the system under test 100, and meanwhile, virtual keys are provided in the touch screen to enable a tester to issue an instruction. In other embodiments, the interaction may be implemented by other methods such as a non-touch display screen and physical keys.

In this embodiment, the multi-protocol communication module 31 is connected to the communication interface of the system under test 100, and the multi-protocol communication module 31 integrates communication modules capable of supporting common protocols such as EtherCAT protocol, CANOpen protocol, Modbus protocol, etc., so that hardware configuration does not need to be replaced even facing the above different protocols in the conventional test process, and the compatibility is high.

The high-speed signal input module 32 and the high-speed signal output module 33 in this embodiment are respectively connected to a high-speed signal output port and a high-speed signal input port in the system under test 100, and according to the functions supported by the system under test 100, can provide signal outputs such as a high-speed pulse signal and a rapidly changing level signal, and acquire a high-speed output signal such as a frequency-division output signal of an encoder. In this embodiment, the high-speed signal input module 22 can support signals with frequencies of 1HZ to 1MHZ, and the high-speed signal output module 23 can output signals with frequencies of 1HZ to 5 MHZ. It will be appreciated that in other embodiments, signal input or output modules supporting other frequency range signals may be used.

The analog quantity signal input module 34 and the analog quantity signal output module 35 are respectively connected to an analog quantity signal output port and an analog quantity signal input port of the system under test 100, and provide an analog quantity signal output and collect an analog quantity signal output by the system under test 100 according to functions supported by the system under test 100.

The IO module 36 is connected to the system under test 100, specifically, a DO output port of the system under test 100 is connected to an input port of the IO module 36, and a DI input port of the system under test 100 is connected to an output port of the IO module 36, so that DI/DO of the system under test 100 can be detected. In this embodiment, the IO module 36 is further externally connected to devices, including a status indicator device, an emergency stop device, and the like, where the status indicator device is a status indicator light 361.

The status indicator light 361 can give different indications according to the control instruction fed back from the PLC controller 21, for example, a green light is turned on during a normal test; when the PLC 21 detects a fault or an abnormal condition occurs in the test, the red light can be lightened to give an alarm effect to the tester.

The emergency stop device comprises a relay 362, a contactor 363 and a button 364, the emergency stop device can enable a tester to stop the tested system 100 emergently through a programmed PLC program or directly cut off the power supply of the tested system 100 when the tester finds that the test is abnormal, the button 364 is connected with the IO module 36, the IO module 36 is connected with the relay 362, and the relay 362 is connected with the contactor 363. After the button 364 is pressed, the IO module 36 controls the relay 362, and the relay 362 drives the contactor 363 to disconnect the power supply line of the system under test 100. The tester can remotely power on and power off without approaching the tested system 100, and the safety is higher.

The external resistor 5 can protect the system under test 100 under certain conditions. The external resistor 5 is installed on the cabinet 4, and for the system 100 to be tested which can be externally connected with the resistor, the external resistor 5 is connected to the external resistor interface of the system 100 to be tested. The resistance power value of the external resistor 5 may be determined according to the situation of a commonly used system 100 to be tested, as a more specific example, in the testing process, in order to compatibly test all power sections of the same series of systems 100 to be tested, and considering that the temperature rise of the resistor cannot be too high, a value 2 times the power of the maximum power system 100 to be tested may be selected, for example, the maximum power of the system 100 to be tested is 2KW, the connectable minimum resistance value is 50 Ω, and at this time, a resistor of 4KW or 50 Ω may be selected as the external resistor 5. Because the external resistor 5 of the present embodiment is detachably mounted on the cabinet 4, the external resistor 5 of different specifications can be flexibly replaced when facing different tested systems 100. In some specific embodiments, the external resistor 5 can be switched to different circuits through a relay or a switch, so that not only can redundant energy in the running process of a system be consumed, but also the motor can be switched to a related circuit consuming the generated energy of the motor in the stopping process of the motor, and therefore the motor is protected more safely in the testing process.

The servo testing device provided by the embodiment is stable and efficient, high in reusability, capable of meeting the requirements of multiple functional tests, and convenient for testers to operate by connecting various devices to the IO module 36 externally.

The foregoing is a more detailed description of embodiments of the present invention, and the specific embodiments are not to be considered in a limiting sense. In the above embodiments, the connection relation mentioned may be a direct connection, and in some cases, may also be an indirect connection, for example, a switch or a relay is also connected. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims (11)

1. A servo test device, servo test device is connected with the system under test, its characterized in that, servo test device includes:

the intelligent cabinet comprises a power supply module, a controller, a functional module and a cabinet body;

the power supply module is connected with the controller and supplies power to the servo testing device;

the controller is connected with the functional module and used for controlling the functional module;

the power module, the controller and the functional module are detachably mounted on the cabinet body;

and the tested system is connected with the functional module.

2. The servo test apparatus of claim 1 wherein the functional module comprises:

the multi-protocol communication module is in communication connection with the tested system;

the multi-protocol communication module comprises at least one of the following communication sub-modules:

the communication submodule of the EtherCAT protocol, the communication submodule of the CANOpen protocol and the communication submodule of the Modbus protocol.

3. The servo test apparatus of claim 1 wherein the functional module comprises: a high-speed signal output module;

and the high-speed signal output module is connected with a high-speed signal input port of the tested system and outputs a high-speed signal, and the frequency range of the high-speed signal is 1 Hz-5 MHz.

4. The servo test apparatus of claim 1 wherein the functional module comprises: a high-speed signal input module;

the high-speed signal input module is connected with a high-speed signal output port of the tested system and used for collecting signals output by the high-speed signal output port, and the frequency range of the signals received by the high-speed signal input module is 1 Hz-1 MHz.

5. The servo test apparatus of claim 1 wherein the functional module comprises: an analog quantity signal output module;

and the analog quantity signal output module is connected with an analog quantity signal input port of the tested system and outputs an analog quantity signal.

6. The servo test apparatus of claim 1 wherein the functional module comprises: an analog quantity signal input module;

the analog quantity signal input module is connected with an analog quantity signal output port of the tested system and used for collecting the analog quantity signal output by the analog quantity output port.

7. The servo test apparatus of claim 1 wherein the servo test apparatus comprises an interactive device, the interactive device being connected to the controller;

the interaction device comprises at least one of:

a display screen for displaying data;

and the key unit is used for inputting instructions.

8. The servo test apparatus of claim 1 wherein the cabinet further comprises: terminal blocks and/or air switches.

9. The servo test apparatus of claim 1,

the functional module also comprises an IO module, an input port of the IO module is connected with a DO output port of the tested system, an output port of the IO module is connected with a DI input port of the tested system,

and/or the presence of a gas in the gas,

the servo testing device further comprises an external resistor, and the external resistor is detachably mounted on the cabinet body.

10. The servo test apparatus of claim 9 wherein the IO module has an external device, the external device comprising at least one of:

the emergency stop device comprises a relay, a contactor and a button, the relay and the button are connected with the IO module, the contactor is connected with a power supply of the system to be tested, and the relay is connected with the contactor;

and the state indicating equipment is connected with the IO module.

11. The servo test apparatus of claim 9, wherein the functional module of the servo test apparatus comprises an IO module, and the servo test apparatus comprises an external resistor;

the IO module has external device, external device includes resistance auto-change over device, resistance auto-change over device includes the relay, the relay with IO module and external resistance connection, resistance auto-change over device be used for with external resistance switches to different circuits.

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