Collaborative vibration test system and method based on multiple seven-axis collaborative robots

Abstract

The present invention relates to a collaborative vibration excitation test system and method based on multiple seven-axis collaborative robots. The mobile robot is placed on a comprehensive use road surface. A three-dimensional displacement sensor, a three-dimensional velocity sensor and a three-dimensional acceleration sensor are respectively arranged on the measured points at various locations on the body of the mobile robot. The three-dimensional displacement sensor and each sensor are connected to a host computer through an automatic data acquisition instrument. The automatic data acquisition instrument respectively acquires displacement values, velocity values ​​and acceleration values ​​of the three-dimensional displacement sensor, the three-dimensional velocity sensor and the three-dimensional acceleration sensor, and uploads the acquired data to the host computer. Seven-axis collaborative robots are respectively connected to multiple measured points of the mobile robot. The multiple seven-axis collaborative robots are respectively connected to the host computer and a programmable logic controller. The programmable logic controller and the multiple seven-axis collaborative robots interact and communicate with each other, and the mobile robot is accelerated and collaboratively excited to realize an automated vibration test.

Description

Technical Field

[0001] The present invention relates to a system and method for distinguishing manually collected vibration spectra from multi-dimensional displacement vibration tests, and in particular to a collaborative vibration excitation test system based on multiple seven-axis collaborative robots and an automated test method using the collaborative vibration excitation test system. Background Art

[0002] The vibration resistance of a mobile robot is an important indicator for measuring its durability. The vibration spectrum is sampled by a three-dimensional displacement sensor plus a data acquisition instrument and vibration stress is applied to the mobile robot through a vibration table. This method is simple and effective and can quickly perform vibration tests on mobile robots.

[0003] The common vibration spectrum sampling method of the three-axis displacement sensor plus data acquisition instrument usually only collects the vibration amplitude of the mobile robot in the X, Y, and Z directions, while the vibration velocity, vibration acceleration, and rotational vibration amplitude R around the X, Y, and Z directions are not collected. x , R y , R z The test results are not very suitable for practical applications. In addition, the common three-dimensional displacement sensor plus data acquisition instrument vibration spectrum sampling method basically needs to be done manually, and the degree of automation is not high. Summary of the invention

[0004] The object of the present invention is to provide a collaborative vibration excitation test system and method based on multiple seven-axis collaborative robots.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is: a collaborative vibration test system and method based on multiple seven-axis collaborative robots, including a mobile robot to be tested, a three-dimensional displacement sensor, a three-dimensional velocity sensor, a three-dimensional acceleration sensor, an automatic data acquisition instrument, multiple seven-axis collaborative robots, a programmable logic controller, a host computer and offline programming software, the mobile robot is placed on a comprehensive use road surface, and the three-dimensional displacement sensor, the three-dimensional velocity sensor, and the three-dimensional acceleration sensor are respectively provided on the measured points at various locations on the body of the mobile robot, and the three-dimensional displacement sensor, the three-dimensional velocity sensor, and the three-dimensional acceleration sensor are automatically The data acquisition instrument is connected to the host computer. The automatic data acquisition instrument respectively acquires the displacement value, velocity value and acceleration value of the three-dimensional displacement sensor, the three-dimensional velocity sensor and the three-dimensional acceleration sensor, and uploads the acquired data to the host computer. The host computer calculates the rotation amplitude, rotation velocity value and rotation acceleration value around the three directions of X, Y and Z; the seven-axis collaborative robots are respectively connected to the multiple measured points of the mobile robot, and the multiple seven-axis collaborative robots are respectively connected to the host computer and the programmable logic controller. The programmable logic controller and the multiple seven-axis collaborative robots interact and communicate with each other, and the mobile robot is accelerated and cooperatively excited to realize the automated vibration test.

[0006] Furthermore, three three-axis displacement sensors, three three-axis velocity sensors, and three three-axis acceleration sensors are respectively pasted at each of the measured points, wherein every three three-axis displacement sensors form a group and are distributed at right angles; every three three-axis velocity sensors form a group and are distributed at right angles; every three three-axis acceleration sensors form a group and are distributed at right angles.

[0007] Furthermore, the automatic data acquisition instrument collects displacement values, velocity values, and acceleration values ​​respectively measured by a three-dimensional displacement sensor, a three-dimensional velocity sensor, and a three-dimensional acceleration sensor when the mobile robot runs along a prescribed path.

[0008] Furthermore, the host computer calculates the displacement values ​​measured by each of the three three-way displacement sensors in the same group to obtain the rotation amplitude R around the X, Y, and Z directions. x , R y , R z .

[0009] Furthermore, the host computer calculates the speed values ​​measured by the three-way speed sensors in each group to obtain the rotation speed values ​​V around the X, Y, and Z directions. x 、V y 、V z .

[0010] Furthermore, the host computer calculates the acceleration values ​​measured by each group of three three-way acceleration sensors to obtain the rotation acceleration values ​​A around the X, Y, and Z directions.x , A y , A z .

[0011] Furthermore, the end of the seven-axis collaborative robot is connected to the measured point of the mobile robot.

[0012] Furthermore, the programmable logic controller executes according to the compiled robot master control logic program, and simultaneously issues a test start instruction to multiple seven-axis collaborative robots and their matching electric control cabinets, and the multiple seven-axis collaborative robots begin collaborative excitation.

[0013] A collaborative vibration excitation test method based on multiple seven-axis collaborative robots, using a collaborative vibration excitation test system based on multiple seven-axis collaborative robots, the method comprising the following steps:

[0014] Step 1: Place the mobile robot to be tested on a comprehensive use road surface;

[0015] Step 2: uniformly select multiple measured points on the mobile robot body, and then paste a three-dimensional displacement sensor, a three-dimensional velocity sensor, and a three-dimensional acceleration sensor at each measured point; wherein every three three-dimensional displacement sensors are grouped together and distributed at right angles; every three three-dimensional velocity sensors are grouped together and distributed at right angles; every three three-dimensional acceleration sensors are grouped together and distributed at right angles;

[0016] Step 4: The mobile robot starts to run along the prescribed path, collects the displacement value, velocity value, and acceleration value measured by each sensor through an automated data acquisition instrument, and uploads the data to the host computer;

[0017] Step 5: The host computer calculates the displacement values ​​measured by each group of three three-way displacement sensors to obtain the rotation amplitude R around the X, Y, and Z directions. x , R y , R z ; Calculate the speed values ​​measured by each group of three three-way speed sensors to obtain the rotation speed value V around the X, Y, and Z directions x 、V y 、V z ; Calculate the acceleration values ​​measured by each group of three three-way acceleration sensors to obtain the rotation acceleration value A around the X, Y, and Z directions x , A y , A z ;

[0018] Step 6: Install multiple seven-axis collaborative robots, and connect the terminals of the multiple seven-axis collaborative robots to multiple measured points of the mobile robot respectively;

[0019] Step 7: Calculate the acceleration factor, and compile the cooperative excitation cycle program of each seven-axis collaborative robot through the host computer and offline programming software. The program includes the position and posture of the motion target point, the motion speed, and the motion acceleration, and then import the program into the robot's electrical control cabinet;

[0020] Step 8: Use the programmable logic controller to compile the robot's overall control logic program;

[0021] Step 9: The programmable logic controller executes the master control logic program and simultaneously issues a test start command to multiple seven-axis collaborative robots, and the robots begin collaborative vibration;

[0022] Step 10: After completing the specified number of test cycles, the accelerated test ends;

[0023] Step 11: Remove the mobile robot, check whether there is any fault, and quickly evaluate the vibration durability.

[0024] The present invention has the following beneficial effects:

[0025] The present invention uses a three-dimensional displacement sensor and a data acquisition instrument to completely collect the vibration amplitude, vibration velocity, and vibration acceleration of four (or more) measured points on the mobile robot body in the X, Y, and Z directions. The rotational vibration amplitude R around the X, Y, and Z directions is solved. x , R y , R z , the rotation speed value V around the X, Y, and Z directions x 、V y 、V z , the rotation acceleration value A around the X, Y, and Z directions x , A y , A z Then, the mobile robot was accelerated and cooperatively excited using the interactive communication between four seven-axis collaborative robots and a programmable logic controller to achieve automated vibration testing and rapid vibration durability evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a mobile robot vibration amplitude, vibration velocity, and vibration acceleration acquisition system provided by the present invention;

[0027] Figure 2 A schematic diagram of a collaborative vibration excitation test system based on multiple seven-axis collaborative robots provided by the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0029] This embodiment takes the SIASUN mobile robot, the KUKA seven-axis collaborative robot and its electric control cabinet, the Inelta three-axis displacement sensor, the Qiaokang Company three-axis velocity sensor, the PCB three-axis acceleration sensor, the SIEMENS automatic data acquisition instrument, the SIEMENS programmable logic controller, the DELL workstation and the KUKA robot offline programming software as examples to illustrate the present invention.

[0030] like Figure 1 As shown, the present invention provides a mobile robot vibration amplitude, vibration velocity, and vibration acceleration acquisition system, which includes a mobile robot 1 to be tested. The mobile robot 1 is placed on a typical comprehensive-use road surface 2. Twelve three-dimensional displacement sensors 3, 12 three-dimensional velocity sensors 4, and 12 three-dimensional acceleration sensors 5 are arranged at four locations on the body of the mobile robot 1; all of the above sensors are connected to an automatic data acquisition instrument 6; and the automatic data acquisition instrument 6 is connected to a host computer 7.

[0031] like Figure 2 As shown, the present invention provides a collaborative vibration excitation test system based on multiple seven-axis collaborative robots, including four seven-axis robots 8 connected to their matching electric control cabinets 10; the four electric control cabinets 10 are connected to the host computer 7; and the four electric control cabinets 10 are connected to the programmable logic controller 9.

[0032] The present invention provides a method comprising the following steps:

[0033] The mobile robot 1 to be tested is placed on a typical comprehensive use road surface 2. Four (or more) test points are evenly selected on the body of the mobile robot 1, and then a three-dimensional displacement sensor 3, a three-dimensional velocity sensor 4, and a three-dimensional acceleration sensor 5 are pasted at each test point. Among them, every three three-dimensional displacement sensors are grouped together and distributed at right angles. Every three three-dimensional velocity sensors are grouped together and distributed at right angles. Every three three-dimensional acceleration sensors are grouped together and distributed at right angles. All sensors are connected to an automated data acquisition instrument 6. The mobile robot 1 starts running along the prescribed path, and the displacement value, velocity value, and acceleration value measured by each sensor are collected by the data acquisition instrument 6. The data collected by the data acquisition instrument 6 is uploaded to the host computer 7. The displacement values ​​measured by each of the three three-dimensional displacement sensors 3 in the same group are calculated on the host computer 7, and the rotation amplitude R around the X, Y, and Z directions can be calculated. x , R y , Rz The speed values ​​measured by the three-dimensional speed sensors 4 in each group are calculated on the host computer, and the rotation speed values ​​V around the X, Y, and Z directions can be calculated. x 、V y 、V z The acceleration values ​​measured by the three-dimensional acceleration sensors 5 in each group are calculated on the host computer, and the rotation acceleration values ​​A around the X, Y, and Z directions can be calculated. x , A y , A z . Four seven-axis collaborative robots 8 are installed firmly, and the ends of the seven-axis collaborative robots 8 are connected to the measured points of the mobile robot 1 respectively. Calculate the acceleration factor, and compile the cooperative excitation cycle program of each seven-axis collaborative robot 8 through the host computer 7 and offline programming software. The program includes the position and posture of the moving target point, the moving speed, and the moving acceleration, and then import the program into the robot electric control cabinet. The robot master control logic program is compiled through the programmable logic controller 9. The programmable logic controller 9 executes the master control logic program and simultaneously issues the test start instruction to the four electric control cabinets 10 and their seven-axis collaborative robots 8. The seven-axis collaborative robot 8 starts cooperative excitation. Since the seven-axis collaborative robot 8 has collision detection and force sensing functions, it can achieve flexible contact to a certain extent and avoid rigid collision. After completing the specified number of test cycles, the test ends. Remove the mobile robot 1, check whether there is a fault, and evaluate the vibration durability. Finally, the complete six-dimensional multi-point sampling of the vibration spectrum and the automated test of the coordinated precise excitation of multiple collaborative robots are realized.

Claims

1. A collaborative vibration test system based on multiple seven-axis collaborative robots, comprising a mobile robot to be tested, a three-axis displacement sensor, a three-axis velocity sensor, a three-axis acceleration sensor, an automatic data acquisition instrument, multiple seven-axis collaborative robots, a programmable logic controller, a host computer and offline programming software, characterized in that: The mobile robot is placed on a comprehensive road surface, and three-dimensional displacement sensors, three-dimensional velocity sensors, and three-dimensional acceleration sensors are respectively provided on the measured points of the mobile robot body. The three-dimensional displacement sensor, three-dimensional velocity sensor, and three-dimensional acceleration sensor are connected to a host computer through an automatic data acquisition instrument. The automatic data acquisition instrument respectively collects the displacement value, velocity value, and acceleration value of the three-dimensional displacement sensor, the three-dimensional velocity sensor, and the three-dimensional acceleration sensor, and uploads the collected data to the host computer, which calculates the rotation amplitude, rotation velocity value, and rotation acceleration value around the three directions of X, Y, and Z; seven-axis collaborative robots are respectively connected to multiple measured points of the mobile robot, and multiple seven-axis collaborative machines The person is connected to the host computer and the programmable logic controller respectively, and the programmable logic controller and multiple seven-axis collaborative robots communicate interactively to perform accelerated collaborative excitation on the mobile robot to realize automated vibration testing; three three-dimensional displacement sensors, three three-dimensional velocity sensors, and three three-dimensional acceleration sensors are respectively pasted at each of the measured points, wherein each three three-dimensional displacement sensors form a group and are distributed at right angles; each three three-dimensional velocity sensors form a group and are distributed at right angles; each three three-dimensional acceleration sensors form a group and are distributed at right angles; the automated data acquisition instrument collects displacement values, velocity values, and acceleration values ​​measured by the three-dimensional displacement sensors, the three-dimensional velocity sensors, and the three-dimensional acceleration sensors when the mobile robot runs along a specified path.

2. The collaborative vibration excitation test system based on multiple seven-axis collaborative robots according to claim 1 is characterized in that: The host computer calculates the displacement values ​​measured by the three-axis displacement sensors in each group to obtain the rotation amplitude R around the X, Y, and Z directions. x , R y , R z .

3. The collaborative vibration excitation test system based on multiple seven-axis collaborative robots according to claim 1 is characterized in that: The host computer calculates the speed values ​​measured by the three-way speed sensors in each group to obtain the rotation speed values ​​V around the X, Y, and Z directions. x 、V y 、V z .

4. The collaborative vibration excitation test system based on multiple seven-axis collaborative robots according to claim 1 is characterized in that: The host computer calculates the acceleration values ​​measured by each group of three three-way acceleration sensors to obtain the rotation acceleration values ​​A around the X, Y, and Z directions. x , A y , A z .

5. The collaborative vibration excitation test system based on multiple seven-axis collaborative robots according to claim 1 is characterized in that: The end of the seven-axis collaborative robot is connected to the measured point of the mobile robot.

6. The collaborative vibration excitation test system based on multiple seven-axis collaborative robots according to claim 1 is characterized in that: The programmable logic controller executes according to the compiled robot master control logic program, and simultaneously sends a test start instruction to multiple seven-axis collaborative robots and their matching electric control cabinets, and the multiple seven-axis collaborative robots begin collaborative excitation.

7. A collaborative vibration test method based on multiple seven-axis collaborative robots, using the collaborative vibration test system based on multiple seven-axis collaborative robots according to claim 1, characterized in that: The method comprises the following steps: Step 1: Place the mobile robot to be tested on a comprehensive use road surface; Step 2: uniformly select multiple measured points on the mobile robot body, and then paste a three-dimensional displacement sensor, a three-dimensional velocity sensor, and a three-dimensional acceleration sensor at each measured point; wherein every three three-dimensional displacement sensors are grouped together and distributed at right angles; every three three-dimensional velocity sensors are grouped together and distributed at right angles; every three three-dimensional acceleration sensors are grouped together and distributed at right angles; Step 4: The mobile robot starts to run along the prescribed path, collects the displacement value, velocity value, and acceleration value measured by each sensor through an automated data acquisition instrument, and uploads the data to the host computer; Step 5: The host computer calculates the displacement values ​​measured by each group of three three-way displacement sensors to obtain the rotation amplitude R around the X, Y, and Z directions. x , R y , R z ; Calculate the speed values ​​measured by each group of three three-way speed sensors to obtain the rotation speed value V around the X, Y, and Z directions x 、V y 、V z ; Calculate the acceleration values ​​measured by each group of three three-way acceleration sensors to obtain the rotation acceleration value A around the X, Y, and Z directions x , A y , A z ; Step 6: Install multiple seven-axis collaborative robots, and connect the terminals of the multiple seven-axis collaborative robots to multiple measured points of the mobile robot respectively; Step 7: Calculate the acceleration factor, and compile the cooperative excitation cycle program of each seven-axis collaborative robot through the host computer and offline programming software. The program includes the position and posture of the motion target point, the motion speed, and the motion acceleration, and then import the program into the robot's electrical control cabinet; Step 8: Use the programmable logic controller to compile the robot's overall control logic program; Step 9: The programmable logic controller executes the master control logic program and simultaneously issues a test start command to multiple seven-axis collaborative robots, and the robots begin collaborative vibration; Step 10: After completing the specified number of test cycles, the accelerated test ends; Step 11: Remove the mobile robot, check whether there is any fault, and quickly evaluate the vibration durability.

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