A robot environmental performance testing system and testing method

Abstract

The invention discloses a robot environmental performance test system and test method, the system includes an industrial computer, which is used to send an operating condition instruction to a robot component to be tested, so that the component to be tested operates according to the operating condition parameters in the operating condition instruction; wherein the industrial computer stores the operating condition parameters and environmental simulation parameters of the robot component to be tested; an environmental simulation unit, which is used to receive the environmental simulation instruction sent by the industrial computer and simulate the test environment; a temperature acquisition unit, which is used to acquire the operating temperature of the component to be tested in the test environment, and the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; a PLC terminal unit, which is used to acquire the terminal signal of the component to be tested, and the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested in the test environment according to the terminal signal. It can reduce labor costs and improve the efficiency and accuracy of the test.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a robot environmental performance testing system and testing method. Background Art

[0002] Robotics is a comprehensive technology developed in modern science. It is the product of the intersection of multiple disciplines such as mechanical and electronic engineering, computers, automatic control, and artificial intelligence. It is one of the current hot spots in scientific and technological development. The emergence of robots has greatly changed human production and living styles. It is another major step forward in human development. It is widely sold all over the world and used in various industries.

[0003] Industrial robots often need to undergo a series of type tests before leaving the factory, among which climate and environmental tests are a very important type of test. The test items of the climate and environmental tests of industrial robots mainly include testing whether the robot can work normally in test environments such as high temperature environment, low temperature environment, constant humid and hot environment, temperature change environment and alternating humid and hot environment; in addition, it is also necessary to monitor the temperature rise of core components in different climate environments. At present, the above tests are mainly performed manually. The testers invest a lot of time and energy in climate and environmental tests. The test tasks are heavy, repetitive and boring, and errors are prone to occur, which reduces the efficiency and accuracy of the robot's environmental performance test. Summary of the invention

[0004] The embodiments of the present invention provide a robot environmental performance testing system and a testing method to reduce labor costs while improving testing efficiency and accuracy.

[0005] In a first aspect, an embodiment of the present invention provides an environmental performance testing system for a robot, comprising:

[0006] An industrial computer, the industrial computer is connected to the robot, and the industrial computer is used to send an operating condition instruction to the component to be tested of the robot, so that the component to be tested operates according to the operating condition parameters in the operating condition instruction; wherein the industrial computer stores the operating condition parameters and environmental simulation parameters of the component to be tested of the robot;

[0007] An environmental simulation unit connected to the industrial computer, the environmental simulation unit is used to receive an environmental simulation instruction sent by the industrial computer, and simulate the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction;

[0008] A temperature acquisition unit connected to the industrial computer, the temperature acquisition unit is used to acquire the operating temperature of the component to be tested in the test environment simulated by the environmental simulation unit according to the temperature acquisition instruction sent by the industrial computer, and feed the operating temperature back to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature;

[0009] A PLC terminal unit is connected to the industrial computer and the component to be tested. The PLC terminal unit is used to collect the terminal signal of the component to be tested according to the terminal signal collection instruction sent by the industrial computer, and feed the terminal signal back to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested under the test environment according to the terminal signal.

[0010] Optionally, the robot's environmental performance test system also includes:

[0011] A safety detection unit connected to the industrial computer, the safety detection unit is used to collect the withstand voltage test data and insulation test data of the component under test after the test environment test according to the safety detection instruction sent by the industrial computer when the component under test stops running under the preset working condition, and feed back the withstand voltage test data and the insulation test data to the industrial computer;

[0012] The safety detection unit is also used to collect the withstand voltage test data and insulation test data of the component under test according to the safety detection instruction sent by the industrial computer after the component under test completes the storage test, and feed back the withstand voltage test data and the insulation test data to the industrial computer.

[0013] Optionally, a power supply unit is further included, wherein the power supply unit is used to supply power to the component under test, and the PLC terminal unit is also used to control the electrical connection status between the component under test and the power supply unit and between the component under test and the safety detection unit.

[0014] Optionally, the normally closed relay is connected to the component to be tested and is also connected to a power supply unit; the PLC terminal unit is used to control the opening and closing of the normally closed relay to control the electrical connection state between the power supply unit and the component to be tested;

[0015] The normally open relay is connected to the safety detection unit and is also connected to the component to be tested; the PLC terminal unit is used to control the opening and closing of the normally open relay to control the electrical connection state between the safety detection unit and the component to be tested;

[0016] Wherein, the normally open relay and the normally closed relay are turned on at staggered times.

[0017] Optionally, the component to be tested includes a robotic arm;

[0018] The power supply unit includes a robot arm control cabinet, and the robot arm control cabinet is used to send the working condition instruction to the robot arm and supply power to the robot arm at the same time.

[0019] Optionally, the component to be tested includes a robotic arm control cabinet.

[0020] Optionally, the industrial computer includes: a human-machine interface and parameter configuration unit, an operation logic unit, a bottom-level communication unit and a database unit;

[0021] The human-machine interface and parameter configuration unit is used to receive input automatic test start and stop information, operating condition parameters of the robot's test component, and environmental simulation parameters;

[0022] The database unit is used to store the operating condition parameters and environmental simulation parameters of the component to be tested;

[0023] The operation logic unit is used to store the operation logic of the environmental performance test;

[0024] The underlying communication unit includes a temperature measurement program subunit, an environmental simulation program subunit, a terminal program subunit, a safety program subunit and a robotic arm controller program subunit; the temperature measurement program subunit is connected to the temperature acquisition unit, the environmental simulation program subunit is connected to the environmental simulation unit, the terminal program subunit is connected to the PLC terminal unit, the safety program subunit is connected to the safety detection unit, and the robotic arm controller program subunit is connected to the robotic arm control cabinet of the robot.

[0025] In a second aspect, an embodiment of the present invention provides a method for testing environmental performance of a robot, comprising:

[0026] The industrial computer sends a working condition instruction to the component to be tested of the robot, so that the component to be tested operates according to the operating condition parameters in the working condition instruction; wherein the industrial computer is connected to the robot, and the industrial computer stores the operating condition parameters and environmental simulation parameters of the component to be tested of the robot;

[0027] The environment simulation unit receives the environment simulation instruction sent by the industrial computer, and simulates the test environment of the component to be tested according to the environment simulation parameters in the environment simulation instruction; the environment simulation unit is connected to the industrial computer;

[0028] The temperature acquisition unit receives the temperature acquisition instruction sent by the industrial computer, acquires the operating temperature of the component to be tested under the test environment simulated by the environmental simulation unit according to the temperature acquisition instruction, and feeds back the operating temperature to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; the temperature acquisition unit is connected to the industrial computer;

[0029] The PLC terminal unit receives the terminal signal acquisition instruction sent by the industrial computer, acquires the terminal signal of the component to be tested according to the terminal signal acquisition instruction, and feeds the terminal signal back to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested under the test environment according to the terminal signal; the PLC terminal unit is connected to the industrial computer.

[0030] Optionally, the environmental performance test method of the robot also includes:

[0031] When the component to be tested stops running under the preset working condition, the safety detection unit collects the withstand voltage test data and the insulation test data of the component to be tested according to the safety detection instruction sent by the industrial computer, and feeds back the withstand voltage test data and the insulation test data to the industrial computer; the safety detection unit is connected to the industrial computer.

[0032] Optionally, the environmental performance test method of the robot also includes:

[0033] After the component to be tested completes the storage test, the safety detection unit collects the withstand voltage test data and the insulation test data of the component to be tested according to the safety detection instruction sent by the industrial computer, and feeds back the withstand voltage test data and the insulation test data to the industrial computer.

[0034] Optionally, before collecting the withstand voltage test data and the insulation test data of the component to be tested according to the safety inspection instruction sent by the industrial computer, and feeding back the withstand voltage test data and the insulation test data to the industrial computer, the method further includes:

[0035] The PLC terminal unit controls the disconnection of the normally closed relay connected between the component to be tested and the power supply unit to achieve electrical isolation between the two; at the same time, it controls the conduction of the normally open relay connected between the component to be tested and the safety detection unit to achieve electrical connection between the two, so that the safety detection unit can perform safety detection on the component to be tested.

[0036] The embodiment of the present invention provides an environmental performance test system and a test method for a robot, wherein an industrial computer sends an environmental simulation instruction to an environmental simulation unit, so that the environmental simulation unit can simulate the test environment of a component to be tested according to the environmental simulation parameters in the environmental simulation instruction; the industrial computer is also used to send an operating condition instruction to the component to be tested of the robot, so that the component to be tested runs according to the operating condition parameters in the operating condition instruction; the industrial computer is also used to automatically collect the operating temperature of the component to be tested in the simulated test environment through a temperature collection unit after the component to be tested runs for a preset time according to the operating condition parameters in the operating condition instruction, so as to detect the operating temperature rise performance of the component to be tested according to the operating temperature; and collect terminal signals of the component to be tested through a PLC terminal unit, so as to detect the digital input and output functions and communication functions of the component to be tested in the test environment according to the terminal signals; and after the performance is tested in the working state or after the storage test, the withstand voltage test data and insulation test data of the component to be tested in the test environment are collected through a safety detection unit, instead of manually performing environmental performance test experiments in the prior art, thereby reducing labor costs and improving test efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural block diagram of an environmental performance testing system for a robot provided by an embodiment of the present invention;

[0038] Figure 2 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention;

[0039] Figure 3 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention;

[0040] Figure 4 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention;

[0041] Figure 5 It is a software structure diagram of a robot environmental performance testing system provided by an embodiment of the present invention;

[0042] Figure 6 is a flow chart of a method for testing the environmental performance of a robot provided by an embodiment of the present invention;

[0043] Figure 7 is a flow chart of another method for testing environmental performance of a robot provided by an embodiment of the present invention;

[0044] Figure 8 It is a flow chart of another method for testing the environmental performance of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] The embodiment of the present invention provides a robot environmental performance testing system. Figure 1 is a structural block diagram of a robot environmental performance test system provided by an embodiment of the present invention, with reference to Figure 1 , the environmental performance test system includes:

[0047] The industrial computer 10 is connected to the robot and is used to send an operating condition instruction to the robot's component 50 to make the component 50 to be tested operate according to the operating condition parameters in the operating condition instruction; wherein the industrial computer 10 stores the operating condition parameters and environmental simulation parameters of the robot's component 50 to be tested;

[0048] The environment simulation unit 20 is connected to the industrial computer 10, and is used to receive the environment simulation instruction sent by the industrial computer 10, and simulate the test environment of the component to be tested 50 according to the environment simulation parameters in the environment simulation instruction;

[0049] The temperature acquisition unit 30 is connected to the industrial computer 10. The temperature acquisition unit 30 is used to acquire the operating temperature of the component to be tested 50 in the test environment simulated by the environment simulation unit 20 according to the temperature acquisition instruction sent by the industrial computer 10, and feed the operating temperature back to the industrial computer 10; the industrial computer 10 is also used to detect the operating temperature rise performance of the component to be tested 50 according to the operating temperature;

[0050] The PLC terminal unit 40 is connected to the industrial computer 10. The PLC terminal unit 40 is used to collect the terminal signal of the component under test 50 according to the terminal signal collection instruction sent by the industrial computer 10, and feed the terminal signal back to the industrial computer 10; the industrial computer 10 is also used to detect the digital input and output function and communication function of the component under test 50 in the test environment according to the terminal signal.

[0051] Specifically, the industrial computer 10 stores the operating condition parameters and environmental simulation parameters of the robot's test component 50; the operating condition parameters and environmental simulation parameters are adjustable. The operating condition parameters specify the operating mode of the robot's test component 50. For example, if the robot's test component 50 is a robotic arm, the operating condition parameters can specify the robot's robotic arm's grasping method, the robotic arm's running trajectory, etc. The environmental simulation parameters specify the test environment of the test component 50, such as high temperature environment, low temperature environment, constant humid heat environment, temperature change environment and other test environments. Evaluate the performance of the robot in extreme environments. After the robot is manufactured, it should operate normally at any temperature and humidity. Therefore, when designing, it must be considered that the robot meets the environmental adaptability requirements at foreseeable humidity and temperature.

[0052] The industrial computer 10 can be a PC. The industrial computer 10 can be used as a robot controller or connected to the robot controller. After receiving the automatic test start information, the industrial computer 10 sends an operating condition instruction to the robot's component to be tested or the robot's controller, so that the component to be tested 50 runs according to the operating condition parameters in the operating condition instruction. Before, after or synchronously sending the operating condition instruction to the robot, an environmental simulation instruction is sent to the environmental simulation unit 20. After receiving the environmental simulation instruction, the environmental simulation unit 20 simulates the test environment of the component to be tested 50 according to the environmental simulation parameters in the environmental simulation instruction. Preferably, before sending the operating condition instruction to the robot, the environmental simulation unit 20 sends the environmental simulation instruction, so that the environmental simulation unit 20 can simulate the test environment of the component to be tested 50, and then the component to be tested 50 runs according to the operating condition parameters in the operating condition instruction in the set test environment.

[0053] After the component to be tested 50 runs for a preset time in the set test environment according to the operating condition parameters in the operating condition instruction, the industrial computer 10 automatically sends a temperature acquisition instruction to the temperature acquisition unit 30, and the temperature acquisition unit 30 is used to realize the acquisition of the operating temperature of the component to be tested 50 in combination with a thermocouple. The temperature acquisition unit 30 feeds back the operating temperature to the industrial computer 10, and the industrial computer 10 is also used to detect the operating temperature rise performance of the component to be tested 50 according to the operating temperature. When the industrial computer 10 sends the operating condition instruction to the component to be tested 50 of the robot so that the component to be tested 50 runs according to the operating condition parameters in the operating condition instruction, it also sends a terminal signal acquisition instruction to the PLC terminal unit 40; the PLC terminal unit 40 is used to collect the terminal signal of the component to be tested 50 according to the terminal signal acquisition instruction sent by the industrial computer 10, and feed the terminal signal back to the industrial computer 10; the industrial computer 10 is also used to detect the digital input and output function and communication function of the component to be tested 50 in the test environment according to the terminal signal. The temperature acquisition unit may acquire the operating temperature of the component under test 50 at the same time as the PLC terminal unit 40 acquires the terminal signal of the component under test 50 or at different times.

[0054] The robot environmental performance test system provided by the embodiment of the present invention sends an environmental simulation instruction to the environmental simulation unit through an industrial computer, so that the environmental simulation unit can simulate the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction; the industrial computer is also used to send an operating condition instruction to the component to be tested of the robot, so that the component to be tested runs according to the operating condition parameters in the operating condition instruction; the industrial computer is also used to automatically collect the operating temperature of the component to be tested in the simulated test environment through the temperature collection unit after the component to be tested runs for a preset time according to the operating condition parameters in the operating condition instruction, so as to detect the operating temperature rise performance of the component to be tested according to the operating temperature; and collect the terminal signal of the component to be tested through the PLC terminal unit, so as to detect the digital input and output function and communication function of the component to be tested in the test environment according to the terminal signal. Instead of manually performing environmental performance test experiments in the prior art, the labor cost is reduced, and the efficiency and accuracy of the test are improved.

[0055] Optional, Figure 2 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention, with reference to Figure 2 The environment simulation unit 20 includes a temperature box controller 22 and a temperature box 21. The temperature box controller 22 is connected to the industrial computer 10. The temperature box controller 22 is also connected to the temperature box 21. The temperature box controller 22 is used to control the temperature and humidity of the temperature box 21 according to the environment simulation instruction sent by the industrial computer 10, so that the temperature box 21 simulates the test environment of the part to be tested. The PLC terminal unit 40 includes a PLC controller 41 and its terminal module 42. The terminal module 42 may include, for example, an IO terminal for detecting the digital input and output function of the component to be tested 50 and a 485 communication terminal for detecting the communication function of the component to be tested 50. The IO terminal and the 485 communication terminal in the terminal module 42 are respectively connected to the IO terminal and the 485 communication terminal of the component to be tested 50. The PLC controller 41 is connected to the industrial computer 10. The PLC controller 41 sends the terminal signal detected by the terminal module 42 to the industrial computer 10.

[0056] Optional, reference Figure 2 , the robot's environmental performance test system also includes:

[0057] The safety detection unit 60 is connected to the industrial computer 10. The safety detection unit 60 collects the withstand voltage test data and insulation test data of the component to be tested 50 after the above-mentioned working test (such as operating temperature rise performance test, digital input and output function and communication function test) according to the safety detection instruction sent by the industrial computer 10, and feeds back the withstand voltage test data and the insulation test data to the industrial computer 10.

[0058] Specifically, the safety detection unit 60 is connected to the industrial computer 10. The safety detection unit 60 collects the withstand voltage test data and insulation test data of the component to be tested 50 in the test environment according to the safety detection instruction sent by the industrial computer 10, and feeds back the withstand voltage test data and the insulation test data to the industrial computer 10, thereby realizing the safety detection of the component to be tested 50. The safety detection unit 60 includes a safety tester, which has withstand voltage test and insulation test functions, and is used to detect whether insulation failure occurs after the working test of the robot arm or the robot arm control cabinet. The environmental performance test system of the robot provided by the embodiment of the present invention can also realize automatic testing of the safety performance of the robot after the working test in different climate environments through the safety detection unit 60. The working test includes the operating temperature rise performance test, digital input and output function and communication function test under the operating conditions, and also includes the safety performance test after the working test.

[0059] Optional, reference Figure 2 The safety detection unit 60 is used to collect the withstand voltage test data and insulation test data of the component under test 50 according to the safety detection instruction sent by the industrial computer 10 after the component under test 50 completes the storage test, and feed back the withstand voltage test data and insulation test data to the industrial computer 10.

[0060] Specifically, the test items of the climate environment test of the industrial robot also include testing whether the robot can be stored normally in test environments such as high temperature environment, low temperature environment and alternating hot and humid environment. The storage test requires testing the insulation characteristics and powering on to determine whether there is an abnormality. The storage test can be understood as a test in which the component to be tested 50 is placed in the test environment simulated by the environmental simulation unit 20 for a preset time in a non-working state to simulate the storage state of the component to be tested 50 in different climate environments. The safety detection unit 60 is used to provide a higher withstand voltage test voltage and / or insulation test voltage to the component to be tested 50 according to the safety detection instruction sent by the industrial computer 10 after the component to be tested 50 is placed in the test environment (storage environment) simulated by the environmental simulation unit 20 for a preset time in a non-working state, collect the withstand voltage test data and / or insulation test data of the component to be tested 50, and feed the withstand voltage test data and / or insulation test data back to the industrial computer 10 to complete the test of the storage test of the component to be tested 50. That is, the safety inspection unit 60 can directly collect the withstand voltage test data and insulation test data of the component to be tested 50, and only perform safety inspection, without the need to perform operating temperature rise performance test, digital input and output function test, communication function test and other working tests before the safety inspection. The environmental performance test system of the robot provided by the embodiment of the present invention can also automatically test the storage conditions of the robot in different climate environments through the safety inspection unit 60.

[0061] Optional, reference Figure 2, and also includes a power supply unit 70, which is used to supply power to the component under test 50. The PLC terminal unit 40 is also used to control the on / off of the electrical connection between the component under test 50 and the power supply unit 70 and between the component under test 50 and the safety detection unit 60.

[0062] Specifically, the power supply unit 70 supplies power to the component under test 50 so that the component under test 50 is powered on and operates. The terminal module 42 in the PLC terminal unit 40 includes a plurality of terminals. At least one of the plurality of terminals can output a signal for controlling the electrical connection state between the safety detection unit 60 and the component under test 50. At least one of the plurality of terminals can output a signal for controlling the electrical connection state between the component under test 50 and the power supply unit 70. By controlling the conduction state between the component under test 50 and the power supply unit 70 and the conduction state between the safety detection unit 60 and the component under test 50 through the PLC terminal unit 40, the switching between the test of the working performance of the component under test 50 and the test of the safety performance can be realized.

[0063] Optional, reference Figure 2 The PLC terminal unit 40 is connected to the component to be tested 50 through the normally closed relay 71, and the normally closed relay 71 is also connected to the power supply unit 70; the PLC terminal unit 40 is used to control the opening and closing of the normally closed relay 71 to control the conduction state between the power supply unit 70 and the component to be tested 50; the PLC terminal unit 40 is connected to the safety detection unit 60 through the normally open relay 61, and the normally open relay 61 is also connected to the component to be tested 50; the PLC terminal unit 40 is used to control the opening and closing of the normally open relay 61 to control the conduction state between the safety detection unit 60 and the component to be tested 50; wherein the normally closed relay 71 and the normally open relay 61 are turned on at different times. The development and design of the normally closed relay 71 switch and the normally open relay 61 realize the safe and automatic test of the insulation withstand voltage characteristics.

[0064] Specifically, the power supply unit 70 supplies power to the component under test 50 so that the component under test 50 is powered on and operates, and a normally closed relay 71 is connected between the power supply unit 70 and the component under test 50. When the normally closed relay 71 is turned on, the power supply unit 70 supplies power to the component under test 50, and when the normally closed relay 71 is turned off, the power supply unit 70 stops supplying power to the component under test 50, and the normally closed relay 71 is in a conducting state under normal circumstances. A normally open relay 61 is connected between the safety detection unit 60 and the component under test 50, and when the normally open relay 61 is turned on, the safety detection unit 60 can perform safety detection on the component under test 50; when the normally open relay 61 is turned off, the electrical isolation of the safety detection unit 60 and the component under test 50 is achieved. The normally closed relay 71 is in a conducting state under normal circumstances, and the normally open relay 61 is in a disconnected state under normal circumstances. The PLC terminal unit 40 can control the conducting state of the normally open relay 61 and the normally closed relay 71, wherein the normally closed relay 71 and the normally open relay 61 are turned on at different times. Preferably, the normally open relay 61 and the normally closed relay 71 can receive control of the same DO channel in the terminal module 42, which can ensure that the normally open relay 61 and the normally closed relay 71 are switched at the same time and reduce the number of terminals used in the terminal module 42.

[0065] Optional, Figure 3 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention, with reference to Figure 3 , the component to be tested 50 includes a mechanical arm 51;

[0066] The power supply unit 70 includes a robot arm control cabinet 52 , and the robot arm control cabinet 52 is used to send a working condition instruction to the robot arm 51 and supply power to the robot arm 51 at the same time.

[0067] For example, a specific robot arm 51 is used as an example, and the end thereof contains a tool IO board, which provides a 24V output and input interface and a 485 communication interface. In the climate environment test, it is necessary to monitor the 24V output and input interface and the 485 communication function. The PLC controller 41 and its terminal module 42 are used to test the IO function and communication function of the robot arm, and are also used to control the opening and closing of the normally open relay 61 and the normally closed relay 71.

[0068] On the one hand, the robot control cabinet 52 is used to supply power to the robot 51. A normally closed relay 71 switch is connected in series on the positive and negative poles of the power supply cable, and is connected to one side of its contact end. The other side of the normally closed relay 71 switch contact end is connected to the positive and negative poles of the power supply interface of the robot 51, and the coil ends of the two normally closed relays 71 switches are controlled by the same DO channel in the PLC terminal module 42. On the other hand, it is used to send control instructions to the robot 51 to complete the operation of the target trajectory, and can be electrically isolated from the robot 51 through the normally closed relay 71. The safety tester has the functions of withstand voltage test and insulation test. Its high voltage end is connected to one side of the contact end of the two normally open relays 61, and the other side of the contact end of the two normally open relays 61 is respectively connected to the positive and negative poles of the power supply interface of the robot, and the coil ends of the two normally open relays 61 are controlled by the same DO channel in the PLC terminal module 42; the low voltage end of the safety tester is connected to the PE end or grounding point of the component 50 to be tested.

[0069] It should be noted that, in general, the normally closed relay 71 switch and the normally open relay 61 switch are not controlled by the terminal module 42. At this time, the control cabinet can freely supply power to the robot 51, and the safety tester is electrically disconnected from the robot 51. During the safety test, the PC controls the PLC terminal module 42 to drive the normally closed relay 71 switch and the normally open relay 61 switch to work at the same time, disconnecting the electrical connection between the control cabinet and the robot 51 and establishing the electrical connection between the safety tester and the robot 51 at the same time. In order to ensure safe switching and avoid the situation where the robot 51 is electrically connected to the control cabinet and the safety tester at the same time, the normally closed relay 71 switch and the normally open relay 61 switch use the same terminal for drive control.

[0070] Optional, Figure 4 is a structural block diagram of another robot environmental performance testing system provided by an embodiment of the present invention, with reference to Figure 4 The component to be tested 50 includes a robot arm control cabinet 52 .

[0071] Specifically, the robot's component 50 includes a robot arm control cabinet 52. The robot arm control cabinet 52 is tested for environmental performance. The power supply unit 70 can be a 220V power supply. The component 50 can also be other components of the robot. The component 50 to be tested is not limited here.

[0072] Optional, Figure 5 is a software structure diagram of a robot environmental performance test system provided by an embodiment of the present invention, with reference to Figure 5 , the industrial computer 10 includes: a human-machine interface and parameter configuration unit 14, an operation logic unit 13, a bottom communication unit 12 and a database unit 11;

[0073] The human-machine interface and parameter configuration unit 14 is used to receive the input automatic test start and stop information, the operating condition parameters of the robot's test component, and the environmental simulation parameters;

[0074] The database unit 11 is used to store the operating condition parameters and environmental simulation parameters of the component to be tested;

[0075] The operation logic unit 13 is used to store the operation logic of the environmental performance test;

[0076] The bottom communication unit 12 includes a temperature measurement program subunit 121, an environment simulation program subunit 122, a terminal program subunit 123, a safety program subunit 124 and a robot arm controller program subunit 125; the temperature measurement program subunit 121 is connected to the temperature acquisition unit 30, the environment simulation program subunit 122 is connected to the environment simulation unit 20, the terminal program subunit 123 is connected to the PLC terminal unit 40, the safety program subunit 124 is connected to the safety detection unit 60, and the robot arm controller program subunit 125 is connected to the robot arm control cabinet 52.

[0077] Specifically, the industrial computer 10 includes a PC, which is developed using Python language. The PC is used to integrate all components of the automatic test system. The PC includes: a human-machine interface and parameter configuration unit 14, an operation logic unit 13, a bottom communication unit 12 and a database unit 11. The bottom communication unit 12 includes a temperature measurement program subunit 121, an environmental simulation program subunit 122, a terminal program subunit 123, a safety program subunit 124 and a robot controller program subunit 125. The human-machine interface and parameter configuration unit 14 can complete the automatic test start and stop operation and the setting of the robot arm operating conditions before the automatic test, the selection and configuration of the instrument, and the setting of the environmental climate. The database unit 11 contains the operating conditions of various robot arms, environmental climate conditions and a variety of instruments and equipment, which can meet the testing requirements of various robot arms. In addition, it also includes a fault library for indicating various system problems. The operation logic unit 13 contains a complete automatic test process. The test details of each item of the climate environment can refer to the provisions of GBT 2423.

[0078] Exemplary, reference Figure 5, the environmental simulation program subunit 122 and the safety program subunit 124 both use the Modbus_tcp library and the USB interface of the PC to transmit signals and communicate with the corresponding environmental simulation unit 20 and the safety monitoring unit 60 through the USB to 485 cable. The temperature measurement program subunit 121, the terminal program subunit 123 and the robot controller program subunit 125 all use the RJ45 interface of the PC to transmit signals and communicate with the corresponding temperature acquisition unit 30, the PLC terminal unit 40 and the robot control cabinet 52 through the network cable. Among them, the temperature measurement program subunit 121 uses the Modbus_tcp library to communicate with the temperature acquisition instrument, the terminal program subunit 123 uses the dedicated German Beckhoff pyads library and its TwinCAT3 software (hereinafter referred to as TC3) kernel to exchange data, and the TC3 kernel controls the relevant terminals through the ethercat protocol. The robot controller program subunit 125 communicates with the robot controller through the socket mechanism. The temperature collector should be one that supports modbus_tcp communication control; the temperature chamber should be one that supports modbus_rtu communication control; the safety tester should be one that supports modbus_rtu communication control.

[0079] The embodiment of the present invention also provides a method for testing the environmental performance of a robot. Figure 6 is a flowchart of a method for testing the environmental performance of a robot provided by an embodiment of the present invention, with reference to Figure 6 , environmental performance test methods include:

[0080] S110. The robot's component to be tested receives the working condition instruction sent by the industrial computer, and operates according to the operating condition parameters in the working condition instruction; wherein the industrial computer is connected to the robot, and the industrial computer stores the operating condition parameters and environmental simulation parameters of the robot's component to be tested.

[0081] S120, the environmental simulation unit receives the environmental simulation instruction sent by the industrial computer, and simulates the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction; the environmental simulation unit is connected to the industrial computer.

[0082] S130, the temperature acquisition unit receives the temperature acquisition instruction sent by the industrial computer, acquires the operating temperature of the component to be tested under the test environment simulated by the environmental simulation unit according to the temperature acquisition instruction, and feeds back the operating temperature to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; the temperature acquisition unit is connected to the industrial computer.

[0083] S140, the PLC terminal unit receives the terminal signal acquisition instruction sent by the industrial computer, acquires the terminal signal of the component to be tested according to the terminal signal acquisition instruction, and feeds back the terminal signal to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested in the test environment according to the terminal signal; the PLC terminal unit is connected to the industrial computer.

[0084] The robot environmental performance test system provided by the embodiment of the present invention sends an environmental simulation instruction to the environmental simulation unit through an industrial computer, so that the environmental simulation unit can simulate the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction; the industrial computer is also used to send an operating condition instruction to the component to be tested of the robot, so that the component to be tested runs according to the operating condition parameters in the operating condition instruction; the industrial computer is also used to automatically collect the operating temperature of the component to be tested in the simulated test environment through the temperature collection unit after the component to be tested runs for a preset time according to the operating condition parameters in the operating condition instruction, so as to detect the operating temperature rise performance of the component to be tested according to the operating temperature; and collect the terminal signal of the component to be tested through the PLC terminal unit, so as to detect the digital input and output function and communication function of the component to be tested in the test environment according to the terminal signal. Instead of manually performing environmental performance test experiments in the prior art, the labor cost is reduced, and the efficiency and accuracy of the test are improved.

[0085] Figure 7 is a flowchart of another method for testing the environmental performance of a robot provided by an embodiment of the present invention, with reference to Figure 7 , environmental performance test methods include:

[0086] S210, the robot's component to be tested receives the working condition instruction sent by the industrial computer, and operates according to the operating condition parameters in the working condition instruction; wherein the industrial computer is connected to the robot, and the industrial computer stores the operating condition parameters and environmental simulation parameters of the robot's component to be tested.

[0087] S220, the environmental simulation unit receives the environmental simulation instruction sent by the industrial computer, and simulates the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction; the environmental simulation unit is connected to the industrial computer.

[0088] S230, the temperature acquisition unit receives the temperature acquisition instruction sent by the industrial computer, and acquires the operating temperature of the component to be tested under the test environment simulated by the environmental simulation unit according to the temperature acquisition instruction, and feeds back the operating temperature to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; the temperature acquisition unit is connected to the industrial computer.

[0089] S240, the PLC terminal unit receives the terminal signal acquisition instruction sent by the industrial computer, and acquires the terminal signal of the component to be tested according to the terminal signal acquisition instruction, and feeds back the terminal signal to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested in the test environment according to the terminal signal; the PLC terminal unit is connected to the industrial computer.

[0090] S250, before the industrial computer sends the safety detection instruction, it will control the component under test to stop running under the preset working conditions, and then control the normally closed relay connected between the component under test and the power supply unit to disconnect through the PLC terminal unit, and at the same time control the normally open relay connected between the component under test and the safety detection unit to enable the safety detection unit to perform safety detection on the component under test.

[0091] S260, the safety detection unit collects the withstand voltage test data and the insulation test data of the component to be tested according to the instruction sent by the industrial computer, and feeds back the withstand voltage test data and the insulation test data to the industrial computer; the safety detection unit is connected to the industrial computer.

[0092] The environmental performance testing method of the robot provided by the embodiment of the present invention can also automatically test the safety performance of the robot under different test conditions through the safety detection unit.

[0093] Figure 8 is a flowchart of another method for testing the environmental performance of a robot provided by an embodiment of the present invention, with reference to Figure 8 , the environmental performance test method is executed by an industrial computer, and the method includes:

[0094] S310, determine whether the connection with the selected test instrument and the robot is successful, if unsuccessful, execute S320, if successful, execute S330.

[0095] S320. Display reminder information on the question interface.

[0096] S330. Send instrument parameter configuration, operating condition parameters and / or environmental simulation parameters.

[0097] S340, controlling the environment simulation unit to simulate the test environment according to the environment simulation parameters.

[0098] S350, determine the type of environmental test. If the environmental test type is a working test, execute step S360; if the environmental test type is a storage test, execute step S3110.

[0099] S360, controlling the component to be tested to operate according to the operating condition parameters.

[0100] S370: Determine the waiting time for collecting the operating temperature.

[0101] S380, determine whether the preset waiting time is met, if so, execute step S390; if not, return to execute S370.

[0102] S390, controlling the temperature acquisition unit to acquire the operating temperature of the component to be tested in the test environment, saving the operating temperature, and detecting the operating temperature rise performance of the component to be tested according to the operating temperature.

[0103] S3100, control the PLC terminal unit to collect terminal signals of the component under test, and detect the digital input and output functions and communication functions of the component under test in the test environment according to the terminal signals; enter the execution step S3130.

[0104] S3110, determine the storage waiting time.

[0105] S3120, determine whether the storage waiting time meets the preset storage time, if so, execute step S3130, if not, return to execute step S3110.

[0106] S3130, controlling the normally closed relay connected between the component to be tested and the power supply unit to be disconnected through the PLC terminal unit; and controlling the normally open relay connected between the component to be tested and the safety detection unit to be turned on.

[0107] S3140, control the safety inspection unit to collect the withstand voltage test data and the insulation test data of the component to be tested, and detect the withstand voltage performance and the insulation performance of the component to be tested under the test environment according to the withstand voltage test data and the insulation test data.

[0108] S3150, determine whether all test items are completed, if not, return to step S330, if completed, execute step S3160.

[0109] S3160. Output the test report and stop the test.

[0110] The environmental performance test method of the robot provided by the embodiment of the present invention can automatically complete the test items of the robot climate environment test, and the tests include high temperature test (working and storage), low temperature test (working and storage), constant damp heat test (working), temperature change test (working) and alternating damp heat test (storage). During the working test, the communication function and data output function of the robot's tested component, safety performance and temperature rise of the tested component are detected to see if they are normal. In the storage test, the safety performance of the tested component is detected and powered on to determine whether there is an abnormality. Instead of manually performing environmental performance test in the prior art, the labor cost is reduced, and the efficiency and accuracy of the test are improved. In addition, it is also possible to determine whether the transmission cable is worn and loose by judging whether the PLC terminal unit controls the disconnection of the normally closed relay connected between the tested component and the power supply unit, and whether the control of the conduction of the normally open relay connected between the tested component and the safety detection unit is successful.

[0111] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot environmental performance testing system, characterized in that: include: An industrial computer, the industrial computer is connected to the robot, and the industrial computer is used to send an operating condition instruction to the component to be tested of the robot, so that the component to be tested operates according to the operating condition parameters in the operating condition instruction; wherein the industrial computer stores the operating condition parameters and environmental simulation parameters of the component to be tested of the robot; An environmental simulation unit connected to the industrial computer, the environmental simulation unit is used to receive an environmental simulation instruction sent by the industrial computer, and simulate the test environment of the component to be tested according to the environmental simulation parameters in the environmental simulation instruction; A temperature acquisition unit connected to the industrial computer, the temperature acquisition unit is used to acquire the operating temperature of the component to be tested in the test environment according to the temperature acquisition instruction sent by the industrial computer, and feed the operating temperature back to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; A PLC terminal unit is connected to the industrial computer and the component to be tested. The PLC terminal unit is used to collect the terminal signal of the component to be tested according to the terminal signal collection instruction sent by the industrial computer, and feed the terminal signal back to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested under the test environment according to the terminal signal; Also includes: A safety detection unit connected to the industrial computer; A power supply unit, the power supply unit is used to supply power to the component under test; the PLC terminal unit is also used to control the electrical connection state between the component under test and the power supply unit and between the component under test and the safety detection unit; A normally closed relay is connected to the component to be tested and is also connected to the power supply unit; the PLC terminal unit is used to control the opening and closing of the normally closed relay to control the conduction state of the power supply unit and the component to be tested; A normally open relay is connected to the safety detection unit and also to the component to be tested; the PLC terminal unit is used to control the opening and closing of the normally open relay to control the conduction state of the safety detection unit and the component to be tested; wherein the normally open relay and the normally closed relay are turned on at staggered times, and the normally open relay and the normally closed relay receive control of the same DO channel in the PLC terminal unit.

2. The robot environmental performance testing system according to claim 1, characterized in that: The safety detection unit is used to collect the withstand voltage test data and insulation test data of the component under test after the test environment test according to the safety detection instruction sent by the industrial computer when the component under test stops running under the preset working condition, and feed back the withstand voltage test data and the insulation test data to the industrial computer; The safety detection unit is also used to collect the withstand voltage test data and insulation test data of the component under test according to the safety detection instruction sent by the industrial computer after the component under test completes the storage test, and feed back the withstand voltage test data and the insulation test data to the industrial computer.

3. The robot environmental performance testing system according to claim 1, characterized in that: The component to be tested includes a robotic arm; The power supply unit includes a robot arm control cabinet, and the robot arm control cabinet is used to send the working condition instruction to the robot arm and supply power to the robot arm at the same time.

4. The robot environmental performance testing system according to claim 1, characterized in that: The component to be tested includes a robot arm control cabinet, and a robot arm is selected as a load.

5. The robot environmental performance testing system according to claim 2, characterized in that: The industrial computer includes: a human-machine interface and parameter configuration unit, an operation logic unit, a bottom-level communication unit and a database unit; The human-machine interface and parameter configuration unit is used to receive input automatic test start and stop information, operating condition parameters of the robot's test component, and environmental simulation parameters; The database unit is used to store the operating condition parameters and environmental simulation parameters of the component to be tested; The operation logic unit is used to store the automatic test operation logic of the environmental performance test; The underlying communication unit includes a temperature measurement program subunit, an environmental simulation program subunit, a terminal program subunit, a safety program subunit and a robotic arm controller program subunit; the temperature measurement program subunit is connected to the temperature acquisition unit, the environmental simulation program subunit is connected to the environmental simulation unit, the terminal program subunit is connected to the PLC terminal unit, the safety program subunit is connected to the safety detection unit, and the robotic arm controller program subunit is connected to the robotic arm control cabinet of the robot.

6. A method for testing the environmental performance of a robot, characterized in that: The method is performed by the robot environmental performance testing system according to any one of claims 1 to 5, comprising: The industrial computer sends a working condition instruction to the component to be tested of the robot, so that the component to be tested operates according to the operating condition parameters in the working condition instruction; wherein the industrial computer is connected to the robot, and the industrial computer stores the operating condition parameters and environmental simulation parameters of the component to be tested of the robot, and the robot includes a robotic arm control cabinet and a robotic arm; The environment simulation unit receives the environment simulation instruction sent by the industrial computer, and simulates the test environment of the component to be tested according to the environment simulation parameters in the environment simulation instruction; the environment simulation unit is connected to the industrial computer; The temperature acquisition unit receives the temperature acquisition instruction sent by the industrial computer, acquires the operating temperature of the component to be tested under the test environment simulated by the environmental simulation unit according to the temperature acquisition instruction, and feeds back the operating temperature to the industrial computer; the industrial computer is also used to detect the operating temperature rise performance of the component to be tested according to the operating temperature; the temperature acquisition unit is connected to the industrial computer; The PLC terminal unit receives the terminal signal acquisition instruction sent by the industrial computer, acquires the terminal signal of the component to be tested according to the terminal signal acquisition instruction, and feeds the terminal signal back to the industrial computer; the industrial computer is also used to detect the digital input and output function and communication function of the component to be tested under the test environment according to the terminal signal; the PLC terminal unit is connected to the industrial computer.

7. The method for testing the environmental performance of a robot according to claim 6, characterized in that: Also includes: The safety detection unit collects the withstand voltage test data and the insulation test data of the component under test according to the safety detection instruction sent by the industrial computer when the component under test stops running under the preset working condition, and feeds back the withstand voltage test data and the insulation test data to the industrial computer; The safety detection unit is connected to the industrial computer; It also includes: after the component to be tested completes the storage test, the safety detection unit collects the withstand voltage test data and the insulation test data of the component to be tested according to the safety detection instruction sent by the industrial computer, and feeds back the withstand voltage test data and the insulation test data to the industrial computer.

8. The method for testing the environmental performance of a robot according to claim 6, characterized in that: Before collecting the withstand voltage test data and the insulation test data of the component to be tested according to the safety inspection instruction sent by the industrial computer, and feeding back the withstand voltage test data and the insulation test data to the industrial computer, the method further includes: The PLC terminal unit controls the disconnection of the normally closed relay connected between the component under test and the power supply unit to achieve electrical isolation between the component under test and the power supply unit; and at the same time controls the conduction of the normally open relay connected between the component under test and the safety detection unit to enable the safety detection unit to perform safety detection on the component under test.

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