Industrial robot demonstrator testing method based on electric fast transient pulse train
An industrial robot, transient pulse technology, applied in the direction of measuring electrical variables, instruments, measuring electricity, etc., can solve the problems of lack of test methods for industrial robot teach pendants, less research on teach pendant interference, etc., to achieve high innovation and Engineering applicability, high practical effect
Active Publication Date: 2020-06-16
HANGZHOU DIANZI UNIV
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Problems solved by technology
Previously, researchers focused on radiation, surge and conduction as the research objects, and conducted a lot of theoretical analysis. However, there were few studies on the EFT burst interference of the teach pendant, and there was a lack of industrial robot display based on EFT bursts. teaching device test method
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[0019] The present invention will be further described below in conjunction with accompanying drawing.
[0020] The test method of the industrial robot teaching device based on the electric fast transient burst, the specific steps are as follows:
[0021] Step 1, such as figure 1 As shown, connect the L, N, GND ports of the switching power supply 1 to the power port of the junction box, connect the I / O port of the tested teaching device 6 to the I / O port of the junction box 3, and connect the pulse input port of the oscilloscope 4 Connected to the I / O port of the junction box; the communication port of the junction box 3 is connected to the Ethernet port of the host computer 2; the L1 port, N port, and PE port of the coupling decoupling network 5 are connected to the L, N, and GND of the switching power supply 1 The ports are connected separately. The coupling and decoupling network 5 includes a coupling device and a decoupling device for filtering out clutter signals, and c...
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The invention discloses an industrial robot demonstrator testing method based on an electric fast transient pulse train. The electrical fast transient pulse train is a common electromagnetic interference type with great harmfulness for an industrial robot control power supply system. The industrial robot demonstrator testing method comprises the steps of: dividing an interference degree of the fast transient pulse train of a tested demonstrator into three levels; and controlling a robot executing mechanism to do trajectory planning motion under three set different interference pulse parameterworking conditions through using the tested demonstrator, and judging the interference degree level of the tested demonstrator by the electric fast transient pulse train under each working condition,wherein if the interference degree level of the tested demonstrator by the electric fast transient pulse train under a certain working condition is not level I, the tested demonstrator is reset through using an upper computer before the tested demonstrator does motion under the next working condition. According to the industrial robot demonstrator testing method, the anti-interference performanceof the demonstrator is evaluated by recording a packet loss frequency occurrence rate between the demonstrator and the upper computer, an oscilloscope curve and whether the demonstrator works normallyor not, and reliability research can be conducted on the demonstrator more deeply.
Description
technical field [0001] The invention belongs to the technical field of electromagnetic compatibility testing, and in particular relates to a testing method for an industrial robot teaching device based on electric fast transient pulse groups. Background technique [0002] The teaching pendant is a necessary component of the industrial robot system. The operator can control the robot to perform welding, handling, cutting and spraying by operating the touch screen buttons and rotating the pulse knob. However, the teach pendant may be affected by electromagnetic interference in a complex electromagnetic environment, and its reliability is the key to the reliable operation of the entire robot system. [0003] Electrical fast transient bursts, as a common type of electromagnetic interference in industrial robot control power supply systems, have very rich harmonic components, which may cause serious electromagnetic interference to the power supply system of the teach pendant. Th...
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IPC IPC(8): G01R31/00G09B25/02
CPCG01R31/001G09B25/02
Inventor 张巨勇张崟李蓉许嘉钦尹爱国
Owner HANGZHOU DIANZI UNIV