Robot simulation load test method, electronic equipment, device and system

A technology for simulating loads and testing methods, applied in the field of robotics, can solve the problems of ignoring the servo driver test, ignoring whether the servo driver matches the servo motor, ignoring whether the servo motor matches the robot, etc., to shorten the research and development cycle, save research and development costs, Versatile effect

Active Publication Date: 2022-04-22
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, the load test before the robot is put into production is mostly only for the test of the robot servo motor, ignoring whether the servo motor matches the robot, ignoring the test of the servo driver, and ignoring whether the servo driver matches the servo motor

Method used

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  • Robot simulation load test method, electronic equipment, device and system
  • Robot simulation load test method, electronic equipment, device and system
  • Robot simulation load test method, electronic equipment, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] A robot simulation load testing method, which is carried out with a set of towing test bench, the towing test bench includes a simulated robot motor 13, a torque sensor 12 and a load motor 11 sequentially connected on the same axis, a servo drive 14 to be tested and a simulated robot Motor 13 is electrically connected, such as figure 2 As shown, the robot simulation load testing method includes the following steps:

[0057] S1: giving a first instruction to the servo driver 14 to be tested, so as to simulate the first axis of the robot to execute the first action. The first action refers to the simulated robot grabbing an object of a certain weight at a certain position and moving to another position. For example, the weight of the target object, the position before the robot moves, and the position where the robot will move are input in the industrial computer 18 used in the test. In fact, during the test, the simulated robot motor 13 is always on the towing test pl...

Embodiment 2

[0066] A robot simulation load test method, the test method is carried out with 5 sets of towing test benches, the servo driver 14 to be tested is electrically connected to 5 simulated robot motors 13. Steps include:

[0067] S1: giving a first instruction to the servo driver 14 to be tested, so as to simulate the robot to perform the first action.

[0068] S2: Obtain the theoretical position of each simulated robot motor 13 after performing the first action, and obtain 5 theoretical positions.

[0069] S3: Generate 5 first moments according to 5 theoretical positions.

[0070] S4: Command each load motor 11 to output at the corresponding first torque at the same time.

[0071] S5: Obtain the second torque measured by each torque sensor 12 to obtain 5 second torques.

[0072] S6: Simultaneously adjust the output of each load motor 11 until the difference between each second torque and the corresponding first torque is less than the allowable range.

[0073] S7: keep the si...

Embodiment 3

[0078] A robot simulation load testing method, the testing method is carried out with 6 sets of towing test benches, and the servo drive 14 to be tested is electrically connected to 6 simulation robot motors 13. Steps include:

[0079] S0: Obtain the shell weight of each axis of the robot and the weight of the servo motor of each axis of the robot.

[0080] S1: Issue a first instruction to the servo driver 14 to be tested to simulate the robot to perform the first action, wherein the first instruction is a speed instruction, and the steps of generating the first instruction include:

[0081] S11: Determine the joints simulated by the motors of each simulated robot.

[0082] S12: Calculate a number of motion speeds according to the first action combined with the simulated joints of each simulated robot motor. First of all, it is clear which axis of the robot is simulated by each simulated robot motor 13. After the first action is input in the industrial computer 18, the indus...

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Abstract

The invention discloses a robot simulation load testing method, electronic equipment, a device and a system, belonging to the field of robots. The method includes: issuing a first instruction to a servo driver to be tested; obtaining the theoretical position after the first action of the simulated robot motor; according to The theoretical position generates the first torque; instructs the load motor to output at the first torque; obtains the second torque measured by the torque sensor; adjusts the output of the load motor until the difference between the second torque and the first torque is less than the allowable range; Test whether the servo driver is overloaded; this method does not need to install the robot motor on the robot, and does not need to install the servo driver to be tested on the robot. It can also simulate the working scene for the simulated load test on the preset robot, without repeatedly installing the robot or building The towing test bench can easily test the load of the robot. It is suitable for robots with various structures. It has strong versatility, which is conducive to shortening the research and development cycle and saving research and development costs.

Description

technical field [0001] The invention relates to a robot simulation load testing method, electronic equipment, a device and a system, belonging to the field of robots. Background technique [0002] In recent years, with the rapid development of automation technology, industrial robots, CNC machine tools, and automated production lines are gradually replacing manual operations. More and more scenarios require the use of servo drives to drive servo motors. Robots need to be tested for electrical performance, function and load performance before they are put into production. Among them, the load performance test of robots is particularly important. In the prior art, the load test before the robot is put into production is mostly only for the test of the servo motor of the robot, ignoring whether the servo motor matches the robot, ignoring the test of the servo driver, and ignoring whether the servo driver matches the servo motor. Contents of the invention [0003] In order to...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 刘星锦胡荏邓锦祥
Owner JIHUA LAB
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