WO2020037567A1

WO2020037567A1 - Multi-axis driver performance testing system and method and multi-axis driver for testing

Info

Publication number: WO2020037567A1
Application number: PCT/CN2018/101801
Authority: WO
Inventors: 吴宪
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2018-08-22
Filing date: 2018-08-22
Publication date: 2020-02-27
Also published as: CN111699399A

Abstract

Provided are a performance testing system (10) and method for a multi-axis driver (90), and a multi-axis driver (90) for testing, wherein the performance testing system (10) comprises: a plurality of to-be-driven devices (111), each of which corresponds to a driving end (91) of the multi-axis driver (90) respectively; a plurality of loads (121), each of which is connected with one of the to-be-driven devices (111); a testing device (13), which is connected with the plurality of loads (121), and is used to drive the loads (121); a testing terminal (14), which is connected with the testing device (13) and the multi-axis driver (90), to obtain working data of the loads (121) and of the to-be-driven devices (111), and calculates the performance of the multi-axis driver (90) according to the working data of the loads (121) and of the to-be-driven devices (111). By setting up a number of to-be-driven devices (111) and the loads (121) corresponding to the plurality of driving ends (91) of the multi-axis driver (90), the plurality of driving ends (91) of the multi-axis driver (90) are directly tested at the same time, without needing a robot body, and achieving the simultaneous testing of each driving end (91) of the multi-axis driver (90) directly, quickly, easily and efficiently.

Description

Performance testing system and method for multi-axis driver, and multi-axis driver for testing Ranch

【技术领域】[Technical Field]

The invention relates to the field of multi-axis driver testing, and in particular, to a performance testing system and method for a multi-axis driver, and a multi-axis driver for testing.

【背景技术】【Background technique】

With the rapid development of the robot manufacturing industry, manufacturers of multi-axis actuators for robots have become more and more urgent in their requirements for automated testing of products. Multi-axis drivers for mainstream robots in the market are generally integrated in the control cabinet. The multi-axis driver is provided with power and control signals by the control cabinet. The drive end of the multi-axis driver feeds back signals such as motor voltage, current, and rotation angle to the control cabinet. There are generally two types of test solutions for existing multi-axis drives: dynamometer test solutions and drive body test solutions. The dynamometer test solution controls the multi-axis drive through the control cabinet. When testing a single drive end, it is necessary to connect the physical objects such as the motor and dynamometer in order and test and record. After completing the single drive end test, manually switch the drive end to which the motor is connected. After the test of all the drivers, the test results are manually fed back and summarized. The driving body test solution needs to connect the finished robot body with the multi-axis driver, and it is necessary to realize the performance test under different load conditions by changing the mass of the actual load.

Therefore, the dynamometer test solution can only test one drive end of a multi-axis drive, which requires a long test time, complicated tests, and requires more manpower. The driving body test solution requires loading the robot body for testing. The testing cost is expensive, and testing cannot be performed during the research and development stage. There are also certain errors and limitations in the conversion between the robot body load and the driver's single-axis load in the solution, which cannot be obtained. Comprehensive test results for a single drive.

It can be seen that there are problems in the existing testing methods for multi-axis drives, and it is impossible to directly, quickly, simply and efficiently test each driving end of the multi-axis drive.

【发明内容】 [Summary of the Invention]

The technical problem mainly solved by the present invention is to provide a performance test system and method for a multi-axis driver, and a multi-axis driver for testing, which can directly, quickly, simply and efficiently test each driving end of the multi-axis driver simultaneously.

In order to solve the above technical problems, the present invention provides a performance test system for a multi-axis drive. The performance test system includes: a plurality of devices to be driven, each of which corresponds to a driving end of a multi-axis driver; multiple loads, Each load is connected to a device to be driven; test equipment is connected to multiple loads and drives the load so that the load applies a set torque to the device to be driven and obtains the working data of the load; a test terminal that connects the test equipment to multiple The shaft driver obtains the working data of the load output from the test equipment and the working data of the multi-axis driver to output the device to be driven, so as to obtain the performance of the multi-axis driver.

Among them, the test equipment is another multi-axis drive, which executes a test program to adjust the working state of the load, thereby realizing different loads to be configured for the driving device.

Among them, a plurality of devices to be driven are disposed in one device to be driven, and a plurality of loads are disposed in one load device.

Among them, the load device is a motor array, and the load is a motor.

Among them, the test equipment includes: a plurality of test driving terminals, each test driving terminal is connected to a load; a test control terminal, connecting a plurality of test driving terminals, controlling the speed and power of the test driving terminal, and obtaining the working status of the load through the test driving terminal To get the working data of the load.

The working data of the device to be driven includes voltage, current, speed, torque, and power of the device to be driven, and the working data of the load includes voltage, current, speed, torque, and power of the load.

Among them, the test control terminal includes: a processing unit connected to a plurality of test driving terminals to obtain the working data of the load through the test driving terminal; a control unit connected to the processing unit or a plurality of test driving terminals to control the working state of the processing unit or control processing The working state of the unit and the test drive end; the power supply unit connects the control unit and the processing unit, and supplies power to the control unit and the processing unit.

Among them, the number of devices to be driven, loads, and driving ends of the multi-axis driver are the same.

The test system further includes an interface unit, which connects the control unit and the processing unit, performs human-computer interaction between the control unit and the processing unit, and outputs the work data of the load obtained by the processing unit.

Among them, the braking resistor connection bus of the multi-axis driver is connected to the braking circuit connection bus of the test equipment.

In order to solve the above technical problem, the present invention further provides a multi-axis driver for testing. The multi-axis driver for testing includes: a multi-axis driver body including a plurality of driving ends; a plurality of loads connected to the plurality of driving ends respectively, and The driving end drives; multiple to-be-driven devices are respectively connected to multiple loads, and are driven by the driving end of the multi-axis driver to be tested; wherein the multi-axis driver body obtains the working data of the load through the driving end.

Among them, the number of driving ends, loads, and devices to be driven are the same, and the loads and the devices to be driven are all motors.

Among them, the braking resistor connection bus of the multi-axis driver for testing is connected to the braking resistor connection bus of the multi-axis driver to be tested.

In order to solve the above technical problems, the present invention also provides a performance testing method of a multi-axis drive. The performance testing method of the multi-axis drive includes: inserting to-be-driven devices on multiple driving ends of the multi-axis driver, each The driving device is connected with a load, and each load is connected with a test device; the working data of the load and the working data of the device to be driven are obtained, and the performance of the driving end of the multi-axis driver is calculated.

Among them, the test equipment is another multi-axis driver, which adjusts the working state of the load, so as to realize different load strengths for the devices to be driven.

The beneficial effect of the present invention is that, unlike the case of the prior art, the present invention directly and directly cooperates with a test device or another multi-axis drive by setting up a number of to-be-driven devices and loads corresponding to multiple driving ends of the multi-axis drive. At the same time, multiple drive ends of the multi-axis drive are tested, and the robot body is not required. It can be tested at the development and production stage. It can directly, quickly, simply and efficiently test each drive end of the multi-axis drive at the same time.

【附图说明】 [Brief Description of the Drawings]

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. For those of ordinary skill in the art, without drawing creative labor, the embodiments may also obtain other drawings according to these drawings, which also belong to the protection scope of the present invention.

FIG. 1 is a schematic block diagram of a structure of a first embodiment of a performance testing system for a multi-axis drive according to the present invention; FIG.

2 is a schematic block diagram of a structure of a second embodiment of a performance testing system of a multi-axis driver according to the present invention;

3 is a schematic block diagram of a structure of a third embodiment of a performance testing system of a multi-axis drive according to the present invention;

4 is a schematic structural diagram of a first embodiment of a testing multi-axis driver according to the present invention;

5 is a flowchart of a first embodiment of a method for testing performance of a multi-axis drive according to the present invention;

6 is a flowchart of a second embodiment of a method for testing performance of a multi-axis drive according to the present invention;

FIG. 7 is a flowchart of a third embodiment of a method for testing the performance of a multi-axis drive according to the present invention.

【具体实施方式】【detailed description】

The present invention is described in further detail below with reference to the drawings and embodiments. It is particularly pointed out that the following examples are only used to illustrate the present invention, but not to limit the scope of the present invention. Similarly, the following embodiments are only some of the embodiments of the present invention, but not all of them. All other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The terms "first", "second", "third", "fourth" and the like in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order Or in order. It should be understood that the data used in this way may be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in an order other than those illustrated or described herein, for example. Furthermore, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units need not be limited to those explicitly listed Those steps or units may instead include other steps or units not explicitly listed or inherent to these processes, methods, products or equipment.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a first embodiment of a performance testing system of a multi-axis drive of the present invention. As shown in FIG. 1, the performance test system 10 of the multi-axis driver of the present embodiment includes a plurality of devices to be driven 111, a plurality of loads 121, a test device 13, and a test terminal 14.

Each of the plurality of devices to be driven 111 corresponds to a driving end 91 of a multi-axis driver 90. The to-be-driven device 111 is used to connect the driving end 91 of the multi-axis driver 90, and is driven by the driving end 91 of the multi-axis driver 90. In addition, the multi-axis driver 90 may also obtain the working status of the device to be driven 111 through the driving end 91, thereby obtaining the working data of the device to be driven 111. Preferably, the number of the devices to be driven 111 is the same as the number of the driving ends 91 of the multi-axis driver 90.

Each load 121 is connected to a device to be driven 111. When the multi-axis driver 90 starts to work, its driving end 91 drives the device to be driven 111. Preferably, the number of the loads 121 is the same as the number of the devices 111 to be driven. The device to be driven 111 and the load 121 may be motors.

The test device 13 is connected to a plurality of loads 121, and each load 121 is connected to a device 111 to be driven. The test device 13 drives the load 121 to drive the load 121 so that the load 121 applies a set torque to the driving device 111. The testing device 13 can also obtain the operating data of the load 121, so as to obtain the torque applied by the load 121 to the driving device 111.

The test terminal 14 is connected to the test equipment 13 and the multi-axis driver 90 to obtain the working data of the load 121 output from the test equipment 13 and the multi-axis driver 90 to output the working data of the device 111 to be driven. The torque of each load 121, and according to the operating data of each to-be-driven device 111 of the multi-axis drive 90, the working performance of each to-be-driven device 111 under a preset driving command is obtained, that is, the preset driving command is obtained And the working performance of the device to be driven 111 under load, so that the performance of each driving end 91 is obtained, and then the performance of the multi-axis driver 90 is obtained. The performance of the multi-axis driver 90 is based on the working data of the load 121 and the device to be driven 111, and is not described in detail here.

When the multi-axis driver 90 starts to work, its driving end 91 drives the device to be driven 111, and the test equipment 13 drives the load 121. When the components are working normally, the test starts. At this time, the test device 13 obtains the working data of the load 121 according to the feedback of the load 121, and the multi-axis driver 90 obtains the working data of the device 111 to be driven through the driving end 91. Then, the working data of the load 121 and the working data of the device to be driven 111 are summarized to the test terminal 14, and the performance of the multi-axis driver 90 is obtained according to the working data of the load 121 and the working data of the device to be driven 111. The testing device 13 can number the load 121 and the corresponding drive device 111, so as to correspond to each driving end 91 of the multi-axis driver 90, so as to distinguish clearly. Preferably, the data of the load 121 is voltage, current, speed, torque and power, and the working data of the device to be driven 111 is also voltage, current, speed, torque and power to reflect the performance of the multi-axis drive 90. In addition, in other embodiments, the working data may only be a combination of three or four types of voltage, current, rotation speed, torque, and power, and may be formulated based on data that is actually required for comparative analysis. It should be noted that during the test, the rotation speed between the device to be driven 111 and the load 121 is in the same direction and the torque is reversed.

In other embodiments, the test device may be a multi-axis drive, which executes a test program to adjust the working state of the load, so as to configure different loads to be driven by the device. That is, the load can be connected to the driving end of the multi-axis driver as a test device, and the multi-axis driver as the test device can obtain the working data of the load.

In addition, in the prior art, when performing a performance test on the multi-axis driver 90, a bus of the multi-axis driver 90 needs to be connected to a braking resistor, thereby consuming bus energy when the device to be driven 111 is braked. However, in the present application, the speed of the to-be-driven device 111 is the same as that of the load 121 and the torque is reversed. Therefore, the to-be-driven device 111 does not generate braking and does not need to consume the busbar energy when the to-be-driven device 111 is braked. Therefore, in the present application, the multi-axis driver 90 and the test device 13 may be connected through a bus bar 80. In other embodiments, the braking resistor connection bus of the multi-axis driver may be connected to the braking circuit connection bus of the test equipment.

In the above manner, the number of to-be-driven devices and loads corresponding to the multiple driving ends of the multi-axis driver are established, and the testing equipment can be used to test the multiple driving ends of the multi-axis driver directly and simultaneously without the need for a robot body. Testing is carried out at the R & D and production stage, which can directly, quickly, simply and efficiently test each drive end of a multi-axis drive at the same time.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a second embodiment of a performance testing system of a multi-axis driver of the present invention. As shown in FIG. 2, the performance test system 20 of the multi-axis driver of the present embodiment includes a plurality of devices to be driven 211, a plurality of loads 221, a test device 23, and a test terminal 24.

Each of the plurality of to-be-driven devices 211 corresponds to a driving end 91 of a multi-axis driver 90. The device to be driven 211 is used to connect the driving end 91 of the multi-axis driver 90, and is driven by the driving end 91 of the multi-axis driver 90. In addition, the multi-axis driver 90 may also obtain the working status of the device to be driven 211 through the driving end 91, thereby obtaining the working data of the device to be driven 211. Preferably, the number of the devices to be driven 211 is the same as the number of the driving ends 91 of the multi-axis driver 90. In this embodiment, a plurality of devices to be driven 211 are provided in one device 21 to be driven.

Each load 221 is connected to a device to be driven 211. When the multi-axis driver 90 starts to work, its driving end 91 drives the device to be driven 211. Preferably, the number of the loads 221 is the same as the number of the devices to be driven 211. In this embodiment, a plurality of loads 221 are provided in one load device 22. Preferably, the device to be driven 21 and the load device 22 are motor arrays, and the device to be driven 211 and the load 221 are motors.

The test equipment 23 is connected to a plurality of loads 221, and each load 221 is connected to a device to be driven 211. The test device 23 drives the load 221 so that the load 221 applies a set torque to the driving device 211. The testing device 23 can also obtain the operating data of the load 221, so as to measure the torque applied by the load 221 to the driving device 211.

The test terminal 24 is connected to the test equipment 23 and the multi-axis driver 90, and obtains the work data of the load 221 output by the test equipment 23 and the work data of the to-be-driven device 211 output by the multi-axis driver 90, so as to obtain from the work data of each load 221 The torque of each load 221, and the working performance of each to-be-driven device 211 under a preset driving command is obtained based on the operating data of each to-be-driven device 211 of the multi-axis drive 90, that is, the preset driving is obtained. The command and the working performance of the device to be driven 211 under the load, so as to obtain the performance of each driving end 91, and then the performance of the multi-axis driver 90. The performance of the multi-axis driver 90 is based on the working data of the load 221 and the to-be-driven device 211, and is not described in detail here.

When the multi-axis driver 90 starts to work, its driving end 91 drives the device to be driven 211, and the test equipment 23 drives the load 221. When the components are working normally, the test starts. At this time, the testing device 23 obtains the working data of the load 221 according to the feedback of the load 221, and the multi-axis driver 90 obtains the working data of the device to be driven 211 through the driving end 91. Then, the work data of the load 221 and the work data of the device to be driven 211 are aggregated to the test terminal 24, and the performance of the multi-axis driver 90 is obtained according to the work data of the load 221 and the work data of the device to be driven 211. The testing device 23 can number the load 221 and the corresponding drive device 211, so as to correspond to each driving end 91 of the multi-axis driver 90, so as to distinguish clearly. Preferably, the data of the load 221 are voltage, current, rotation speed, torque and power, and the working data of the device to be driven 211 are also voltage, current, rotation speed, torque and power to reflect the performance of the multi-axis drive 90. In addition, in other embodiments, the working data may only be a combination of three or four types of voltage, current, rotation speed, torque, and power, and may be formulated based on data that is actually required for comparative analysis. It should be noted that during the test, the rotation speed between the device to be driven 211 and the load 221 is the same direction and the torque is reversed.

In addition, in the prior art, when performing a performance test on the multi-axis driver 90, a bus of the multi-axis driver 90 needs to be connected to a braking resistor, thereby consuming bus energy when the to-be-driven device 211 is braked. However, in the present application, the rotation speed of the to-be-driven device 211 is the same as that of the load 221 and the torque is reversed. Therefore, the to-be-driven device 211 does not generate braking and does not need to consume the busbar energy when the to-be-driven device 211 is braked. Therefore, in the present application, the multi-axis driver 90 and the test device 23 may be connected through a bus bar 80. In other embodiments, the braking resistor connection bus of the multi-axis driver may be connected to the braking circuit connection bus of the test equipment.

Referring to FIG. 3, FIG. 3 is a schematic structural diagram of a third embodiment of a performance testing system of a multi-axis drive of the present invention. As shown in FIG. 3, the performance test system 30 of the multi-axis driver of this embodiment includes a plurality of devices to be driven 311, a plurality of loads 321, a test device 33, and a test terminal 34.

Each of the plurality of to-be-driven devices 311 corresponds to a plurality of driving ends 91 of a multi-axis driver 90. The to-be-driven device 311 is used to connect the driving end 91 of the multi-axis driver 90, and is driven by the driving end 91 of the multi-axis driver 90. In addition, the multi-axis driver 90 can also obtain the working status of the device to be driven 311 through the driving end 91, thereby obtaining the working data of the device to be driven 311. Preferably, the number of the devices to be driven 311 is the same as the number of the driving ends 91 of the multi-axis driver 90. In this embodiment, a plurality of devices to be driven 311 are disposed in one device to be driven 31. In other embodiments, the device to be driven 31 may be omitted, and only a plurality of devices to be driven 311 may be provided.

Each load 321 is connected to a device to be driven 311. When the multi-axis driver 90 starts to work, its driving end 91 drives the device to be driven 311. Preferably, the number of the loads 321 is the same as the number of the devices to be driven 311. The load 321 may be a motor. In this embodiment, a plurality of loads 321 are provided in one load device 32. Preferably, the device to be driven 31 and the load device 32 are motor arrays, and the device to be driven 311 and the load 321 are motors. In other embodiments, the load device 32 may be omitted and only a plurality of loads 321 may be provided.

The test device 33 is connected to a plurality of loads 321, and each load 321 is connected to a device 311 to be driven. The test device 33 drives the load 321 so that the load 321 applies a set torque to the driving device 311. The testing device 33 can also obtain the operating data of the load 321, so as to obtain the torque applied by the load 321 to the driving device 311.

The test terminal 34 is connected to the test equipment 33 and the multi-axis driver 90 to obtain the working data of the load 321 output by the test equipment 33 and the multi-axis driver 90 to output the working data of the device 311 to be driven. The torque of each load 321, and according to the operating data of each to-be-driven device 311 of the multi-axis drive 90, the working performance of each to-be-driven device 311 under a preset driving command is obtained, that is, the preset driving command is obtained. And the working performance of the to-be-driven device 311 under the load, so that the performance of each driving end 91 is obtained, and then the performance of the multi-axis driver 90 is obtained. The performance of the multi-axis driver 90 obtained from the working data of the load 321 and the device to be driven 311 is the prior art, and details are not described herein again.

When the multi-axis driver 90 starts to work, its driving end 91 drives the to-be-driven device 311, and the test equipment 33 drives the load 321. When the components are working normally, the test starts. At this time, the test equipment 33 obtains the working data of the load 321 according to the feedback of the load 321, and the multi-axis driver 90 obtains the working data of the device to be driven 311 through the driving end 91. Then, the work data of the load 321 and the work data of the device to be driven 311 are summarized in the test terminal 34, and the performance of the multi-axis driver 90 is obtained according to the work data of the load 321 and the work data of the device to be driven 311. The testing device 33 can number the load 321 and the corresponding drive device 311, so as to correspond to each driving end 91 of the multi-axis driver 90, so as to distinguish clearly. Preferably, the data of the load 321 are voltage, current, rotation speed, torque and power, and the working data of the device to be driven 311 are also voltage, current, rotation speed, torque and power to reflect the performance of the multi-axis drive 90. In addition, in other embodiments, the working data may only be a combination of three or four types of voltage, current, rotation speed, torque, and power, and may be formulated based on data that is actually required for comparative analysis. It should be noted that, during the test, the rotation speed between the to-be-driven device 311 and the load 321 is in the same direction and the torque is reversed.

In this embodiment, the test device 33 includes a plurality of test driving terminals 331 and a test control terminal 332. Each test driving terminal 331 is connected to a load 321, and the test control terminal 332 is connected to a plurality of test driving terminals 331 and tested. The test control terminal 332 includes a processing unit 333, a control unit 334, a power supply unit 335, and an interface unit 336. The processing unit 333 is connected to a plurality of test driving terminals 331, and obtains the working data of the load 321 through the test driving terminals 331. The processing unit 333 may be a central processing unit. The control unit 334 is connected to the processing unit 333, and controls the working state of the processing unit 333, for example, on or off. In other embodiments, the control unit 334 may connect the processing unit 333 and a plurality of test driving terminals 331 to control the working states of the processing unit 333 and the test driving terminal 331. For example, the control unit 334 controls the processing unit 333 to be turned on or off, the control processing unit 333 to process signals fed back from one or more test driving terminals 331, to control the test driving terminal 331 to be turned on or off, or to provide a signal, and the like. The power supply unit 335 is connected to the control unit 334 and the processing unit 333 and supplies power to the control unit 334 and the processing unit 333. The interface unit 336 connects the control unit 334 and the processing unit 333, performs human-computer interaction between the control unit 334 and the processing unit 333, and outputs the work data of the load 321 obtained by the processing unit 333. The interface unit 336 is further connected to the test terminal 34. Preferably, the number of the device to be driven 311, the load 321, the driving end 91 of the multi-axis driver 90, and the test driving end 331 are the same.

In addition, in the prior art, when performing a performance test on the multi-axis driver 90, a bus of the multi-axis driver 90 needs to be connected to a braking resistor, thereby consuming bus energy when the to-be-driven device 311 is braked. However, in the present application, the rotation speed of the to-be-driven device 311 is the same as that of the load 321 and the torque is reversed. Therefore, the to-be-driven device 311 does not generate braking and does not need to consume the busbar energy when the to-be-driven device 311 is braked. Therefore, in the present application, the multi-axis driver 90 and the test device 33 may be connected through a bus bar 80. In other embodiments, the braking resistor connection bus of the multi-axis driver may be connected to the braking circuit connection bus of the test equipment.

In the above embodiments, the test terminal may be a computer or other terminal with a data processing function.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of a first embodiment of a testing multi-axis driver according to the present invention. In this embodiment, the test multi-axis driver 40 includes a multi-axis driver body 43, a plurality of loads 421, and a plurality of devices to be driven 411.

The multi-axis driver body 43 includes a plurality of driving ends 431. The plurality of loads 421 are respectively connected to the plurality of driving terminals 431, and the plurality of to-be-driven devices 411 are respectively connected to the plurality of loads 421. The driving end 431 drives the load 421 and limits the data such as the rotation speed, the torque, and the rotation speed. The device to be driven 411 is driven by a device to be tested. The driving end 431 feedbacks the working state of the load 421 to the multi-axis driver body 43, so that the multi-axis driver body 43 obtains the working data of the load 421 through the working state of the load 421. Working data includes voltage, current, speed, torque and power. In addition, the working data of the to-be-driven device 411 output by the equipment to be tested can be used to know the performance of the equipment to be tested. In this embodiment, a plurality of devices to be driven 411 are disposed in one device to be driven 41, and a plurality of loads 421 are disposed in one load device 42. In other embodiments, the device to be driven 41 and the load device 42 may not be provided, and only a plurality of devices to be driven 411 and a plurality of loads 421 may be provided. The load 421 may be a motor. Preferably, the number of the driving terminals 431, the loads 421, and the devices to be driven 411 is the same.

In the above manner, the number of to-be-driven devices and loads corresponding to the multiple driving ends of the multi-axis driver are established, and in cooperation with another multi-axis driver body, the multiple driving ends of the multi-axis driver are directly and simultaneously tested without the need for The robot body can be tested at the R & D and production stage. It can directly, quickly, simply and efficiently test each drive end of a multi-axis drive at the same time.

Referring to FIG. 5, FIG. 5 is a flowchart of a first embodiment of a method for testing performance of a multi-axis drive according to the present invention. In this embodiment, the performance testing method of the multi-axis driver includes steps:

In step S51, a plurality of driving ends of the multi-axis driver are respectively connected with the to-be-driven devices, each of the to-be-driven devices is connected with a load, and each load is connected with a test device.

In step S52, the working data of the load and the working data of the device to be driven are obtained, and the performance of the multi-axis driver is calculated. The operating data of loads or devices to be driven include voltage, current, speed, torque and power when they are operating. The test equipment can be another multi-axis drive, which can adjust the working state of the load, such as speed, torque, etc., so as to achieve different load strengths for the driving device. Alternatively, the test equipment includes a plurality of test driving terminals and a test control terminal. Each test drive end is connected to a load, and the test control end is connected to multiple test drive ends and tested. In a preferred embodiment, the test control terminal includes a processing unit, a control unit, and a power supply unit. The processing unit is connected to a plurality of test driving ends, and the working data of the load is obtained through the test driving ends. The control unit is connected to the processing unit or a plurality of test driving ends, and controls the working status of the processing unit, or controls the working status of the processing unit and the testing driving end. The power supply unit connects the control unit and the processing unit, and supplies power to the control unit and the processing unit. In other words, in this embodiment, the test equipment used is the test equipment or the test multi-axis driver in the four embodiments described above.

Referring to FIG. 6, FIG. 6 is a flowchart of a second embodiment of a performance testing method of a multi-axis driver according to the present invention. In this embodiment, the performance testing method of the multi-axis driver includes steps:

In step S61, the plurality of driving ends of the multi-axis driver are respectively connected with the to-be-driven devices, each of the to-be-driven devices is connected with a load, and each load is connected with the test equipment.

In step S62, it is detected whether the load is operating normally. If it is detected that the load is working normally, it proceeds to step S63 or standby. If it is detected that the load is not working normally, the process proceeds to step S64.

In step S63, the working data of the load and the working data of the device to be driven are obtained, and the performance of the driving end of the multi-axis driver is calculated. This step is similar to step S52 in the previous embodiment, and details are not described herein again.

Referring to FIG. 7, FIG. 7 is a flowchart of a third embodiment of a method for testing performance of a multi-axis drive according to the present invention. In this embodiment, the performance testing method of the multi-axis driver includes steps:

In step S71, it is detected whether the device to be driven works normally. If the device to be driven is operating normally, it proceeds to step S72 or standby. If the device to be driven does not work normally, the process proceeds to step S74.

In step S72, the devices to be driven are respectively connected to multiple driving ends of the multi-axis driver. Each device to be driven is connected to a load, and each load is connected to a test device.

In step S73, the load data and the operating data of the device to be driven are acquired, and the performance of the driving end of the multi-axis driver is calculated. This step is similar to step S63 in the previous embodiment, and is not repeated here.

In step S74, a signal indicating that the device to be driven is abnormal is issued.

The beneficial effect of the present invention is that, unlike the case of the prior art, the present invention directly sets up the number of to-be-driven devices and loads corresponding to the multiple driving ends of the multi-axis driver, cooperates with the test equipment or another multi-axis driver body, and directly Moreover, the multiple driving ends of the multi-axis driver are tested at the same time, and the robot body is not required. The testing can be performed at the R & D and production stage, and the driving ends of the multi-axis driver can be tested simultaneously, directly, quickly, simply and efficiently.

The above description is only an embodiment of the present invention, and thus does not limit the scope of the patent of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related technologies The same applies to the fields of patent protection of the present invention.

Claims

A performance test system for a multi-axis drive is characterized in that the performance test system includes:

A plurality of devices to be driven, each of which corresponds to a driving end of a multi-axis driver;

Multiple loads, each said load being connected to said to-be-driven device;

Testing equipment, connecting a plurality of the loads, and driving the loads, so that the loads apply a set torque to the device to be driven, and obtain working data of the loads;

The test terminal is connected to the test equipment and the multi-axis driver, and obtains the work data of the load output by the test equipment and the work data of the device to be driven output by the multi-axis driver, so as to obtain the multi-axis drive. Performance of shaft drives.
The performance test system for a multi-axis drive according to claim 1, wherein the test equipment is another multi-axis drive that executes a test program to adjust the working state of the load, thereby realizing The drive is configured with different loads.
The performance test system for a multi-axis drive according to claim 1, wherein a plurality of the devices to be driven are disposed in a device to be driven, and a plurality of the loads are disposed in a load device.
The performance test system for a multi-axis drive according to claim 3, wherein the load device is a motor array and the load is a motor.
The performance test system for a multi-axis drive according to claim 1, wherein the test equipment comprises:

Multiple test driving ends, each of which is connected to one of the loads;

The test control terminal is connected to a plurality of test drive terminals, controls the rotation speed and power of the test drive terminals, and obtains the working status of the load through the test drive terminals to obtain the working data of the loads.
The performance test system for a multi-axis drive according to claim 5, wherein the working data of the device to be driven includes voltage, current, speed, torque, and power of the device to be driven, and the working data of the load Including voltage, current, speed, torque and power of the load.
The performance test system for a multi-axis drive according to claim 6, wherein the test control end comprises:

A processing unit, connected to a plurality of the test driving ends, and obtaining working data of the load through the test driving ends;

A control unit, which is connected to the processing unit or a plurality of the test driving ends, and controls a working state of the processing units, or controls the working states of the processing units and the test driving ends;

The power supply unit is connected to the control unit and the processing unit, and supplies power to the control unit and the processing unit.
The performance test system for a multi-axis drive according to claim 7, wherein the number of the devices to be driven, the load, and the driving ends of the multi-axis drive are the same.
The performance test system for a multi-axis drive according to claim 7, wherein the test system further comprises an interface unit that connects the control unit and the processing unit, and performs the control unit and the processing unit. Human-computer interaction, and outputting the work data of the load obtained by the processing unit.
The performance test system for a multi-axis driver according to claim 1, wherein a braking resistor connection bus of the multi-axis driver is connected to a braking circuit connection bus of the test equipment.
A multi-axis driver for testing is characterized in that the multi-axis driver for testing includes:

Multi-axis driver body, including multiple drive ends;

A plurality of loads, which are respectively connected to a plurality of the driving ends and are driven by the driving ends;

A plurality of devices to be driven, each of which is connected to a plurality of said loads, and is driven by a driving end of a multi-axis driver to be tested;

The multi-axis driver body obtains the working data of the load through the driving end.
The multi-axis driver for testing according to claim 11, wherein a plurality of the devices to be driven are provided in a device to be driven, and a plurality of the loads are provided in a load device.
The multi-axis driver for testing according to claim 11, wherein the number of the driving end, the load, and the device to be driven are the same, and the load and the device to be driven are all motors.
The multi-axis driver for testing according to claim 11, wherein the braking resistor connection bus of the multi-axis driver for testing is connected to the braking resistor connection bus of the multi-axis driver to be tested.
A performance test method for a multi-axis drive, characterized in that the performance test method for the multi-axis drive includes:

A plurality of driving ends of the multi-axis driver are respectively connected with a device to be driven, each of the devices to be driven is connected to a load, and each of the loads is connected to a test device;

Acquire the working data of the load and the working data of the device to be driven, and calculate the performance of the driving end of the multi-axis driver.
The method for testing the performance of a multi-axis drive according to claim 15, wherein the test equipment is another multi-axis drive, and the working state of the load is adjusted so as to configure different loads for the device to be driven strength.
The performance test method for a multi-axis drive according to claim 15, wherein the test equipment comprises:

Multiple test driving ends, each of which is connected to one of the loads;

The test control terminal is connected to a plurality of test drive terminals, controls the rotation speed and power of the test drive terminals, and obtains the working status of the load through the test drive terminals to obtain the working data of the loads.
The performance test method for a multi-axis drive according to claim 17, wherein the test control end comprises:

A processing unit, connected to a plurality of the test driving ends, and obtaining working data of the load through the test driving ends;

A control unit, which is connected to the processing unit or a plurality of the test driving ends, and controls a working state of the processing units, or controls the working states of the processing units and the test driving ends;

The power supply unit is connected to the control unit and the processing unit, and supplies power to the control unit and the processing unit.