Method and device for evaluating performance of industrial robot, electronic equipment and storage medium

Abstract

The present application relates to the technical field of industrial automation, and discloses an industrial robot performance evaluation method and device, electronic equipment and storage medium. In the present application, the industrial robot performance evaluation method comprises: collecting actual current data of each joint included in the industrial robot after the industrial robot continuously operates for a preset time; determining the relationship between the current and the fundamental frequency multiple according to the actual current data of the industrial robot, wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; and determining the evaluation result of the industrial robot performance according to the relationship between the current and the fundamental frequency multiple. The present application can realize automatic testing of the industrial robot performance in a simple and fast manner, quickly verify the assembly condition of components such as motors and reducers of the industrial robot, and determine whether the use of components such as motors and reducers is reasonable through data analysis.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a method, apparatus, electronic device, and storage medium for evaluating the performance of an industrial robot. Background Technology

[0002] When assembling components such as motors and reducers for industrial robots, on the one hand, the motors and reducers themselves may have problems such as abnormal precision; on the other hand, the assembly techniques of the assemblers may also vary. These factors may lead to noise, vibration, and other issues when the assembled industrial robot is in use.

[0003] However, the inventors of this invention have discovered that current technical methods for evaluating the assembly status of industrial robots are cumbersome, and no evaluation method can simultaneously assess the performance of components such as reducers and motors. Therefore, providing a simple and quick method for evaluating the operational status of industrial robots after assembly has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a method, apparatus, electronic device, and storage medium for evaluating the performance of industrial robots, so as to achieve automatic testing of the performance of industrial robots in a simple and quick manner.

[0005] To achieve the above objectives, embodiments of the present invention provide a method for evaluating the performance of an industrial robot, comprising: after the industrial robot has been running continuously for a preset time, collecting actual current data of each joint of the industrial robot; determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot; wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; and determining the evaluation result of the performance of the industrial robot based on the relationship between the current and the fundamental frequency multiple.

[0006] To achieve the above objectives, embodiments of the present invention also provide an industrial robot performance evaluation device, comprising: an actual current acquisition module, used to acquire actual current data of each joint of the industrial robot after the industrial robot has been running continuously for a preset time; a current-fundamental frequency relationship determination module, used to determine the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot; wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; and an evaluation result determination module, used to determine the evaluation result of the industrial robot performance based on the relationship between the current and the fundamental frequency multiple.

[0007] To achieve the above objectives, embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described method for evaluating the performance of an industrial robot.

[0008] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for evaluating the performance of an industrial robot.

[0009] In an embodiment of the present invention, firstly, after the industrial robot has been running continuously for a preset time, the actual current data of each joint of the industrial robot is collected; based on the actual current data of the industrial robot, the relationship between the current and the fundamental frequency multiple is determined; wherein, the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; based on the relationship between the current and the fundamental frequency multiple, the evaluation result of the industrial robot's performance is determined. The industrial robot performance evaluation method provided by the present invention can achieve automatic testing of industrial robot performance in a simple and quick manner. It can not only quickly verify the assembly status of components such as the industrial robot motor and reducer, but also determine the rationality of the use of components such as the motor and reducer through data analysis.

[0010] In some embodiments, collecting the actual current data of each joint of the industrial robot includes: collecting the actual current data of the industrial robot during the time period when the industrial robot is running at a constant speed.

[0011] In some embodiments, determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot includes: performing a fast Fourier transform on the actual current data to obtain the relationship curve between the current and the frequency; converting the frequency into a multiple of the actual rotation frequency, and obtaining the relationship between the current and the fundamental frequency multiple.

[0012] In some embodiments, determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot includes: determining the actual rotational frequency of the industrial robot based on the theoretical value of the industrial robot's speed percentage and the rated rotational speed of the industrial robot.

[0013] In some embodiments, determining the performance evaluation result of the industrial robot based on the relationship between the current and the fundamental frequency multiple includes: if the amplitude of the current at the 0th harmonic increases with time, then the motor of the industrial robot is determined to be abnormal.

[0014] In some embodiments, determining the evaluation result of the industrial robot's performance based on the relationship between the current and the fundamental frequency multiple includes: if the slope of the curve characterizing the relationship between the current and the fundamental frequency multiple at the second harmonic exceeds a preset threshold, then the reducer of the industrial robot is determined to be abnormal.

[0015] In some embodiments, after the industrial robot has been running continuously for a preset time, the actual current data of each joint of the industrial robot is collected, which further includes: obtaining the rated current, rated torque and rated speed of the motor of the industrial robot; and obtaining the actual current data of the industrial robot according to the current line number in a preset file. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with the corresponding pictures in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a flowchart illustrating a method for evaluating the performance of an industrial robot according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of an industrial robot performance evaluation device according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of an electronic device according to another embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0021] It should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0022] One embodiment of the present invention relates to a method for evaluating the performance of an industrial robot.

[0023] In this embodiment, the method for evaluating the performance of the industrial robot includes: after the industrial robot has been running continuously for a preset time, collecting actual current data of each joint of the industrial robot; determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot; wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; and determining the evaluation result of the performance of the industrial robot based on the relationship between the current and the fundamental frequency multiple.

[0024] The following details the implementation of the industrial robot performance evaluation method in this embodiment. This content is for illustrative purposes only and is not essential for implementing this solution. The specific process is as follows: Figure 1 As shown, the steps may include the following:

[0025] Step 101: After the industrial robot has been running continuously for a preset time, collect the actual current data of each joint of the industrial robot.

[0026] The actual current data observed after an industrial robot has run continuously for a preset time reflects its current operating status and performance. Therefore, this step involves collecting current data from the industrial robot after it has run continuously for the preset time.

[0027] In some embodiments, the step 101, which involves collecting the actual current data of each joint of the industrial robot, includes: collecting the actual current data of the industrial robot during the period when the industrial robot is running at a constant speed. Collecting the actual current data of the industrial robot during the period when the industrial robot is running at a constant speed avoids collecting data when the industrial robot is running unstable, thereby ensuring the reliability of the data.

[0028] Specifically, when collecting current data, you can first click "Run," which will display the original waveform of the current. Furthermore, when the current is running at a constant speed, you can enter the start and end points of the data collection at the uniform speed segment. This ensures that the collected current data is all within the uniform speed segment of the industrial robot's operation.

[0029] In some embodiments, before collecting the actual current data of the industrial robot after the industrial robot has been running continuously for a preset time as included in step 101, the method may further include: obtaining the rated current, rated torque, and rated speed of the motor of the industrial robot; and obtaining the actual current data of the industrial robot according to the current line number in a preset file.

[0030] It should be noted that obtaining the rated current, rated torque, and rated speed mentioned here may include obtaining the aforementioned parameters for each axis of the industrial robot to evaluate the operating performance of each axis. Furthermore, the preset file mentioned above may be a TDMS file.

[0031] Step 102: Determine the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot; wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot.

[0032] In some embodiments, step 102, determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot, may include: performing a fast Fourier transform on the actual current data to obtain the relationship curve between the current and the frequency; converting the frequency into a multiple of the actual rotation frequency, and obtaining the relationship between the current and the fundamental frequency multiple.

[0033] Performing a fast Fourier transform (FFT) on actual current data can convert the time-domain signal into a frequency-domain signal, thereby obtaining the curve of the current amplitude changing with frequency.

[0034] In some embodiments, step 102, which involves determining the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot, may include: determining the actual rotational frequency of the industrial robot based on the theoretical value of the industrial robot's speed percentage and the rated rotational speed of the industrial robot.

[0035] Understandably, determining the actual rotation frequency of the industrial robot allows us to determine the fundamental frequency of the robot's motor. Furthermore, dividing the horizontal axis of the current amplitude versus frequency curve by the fundamental frequency yields the relationship between the current and the fundamental frequency multiple.

[0036] Step 103: Determine the evaluation result of the industrial robot's performance based on the relationship between the current and the fundamental frequency multiple.

[0037] In some embodiments, step 103, which includes determining the evaluation result of the industrial robot's performance based on the relationship between the current and the fundamental frequency multiple, may include: if the amplitude of the current at the 0th harmonic increases with time, then the motor of the industrial robot is determined to be abnormal.

[0038] In some other embodiments, step 103, which includes determining the evaluation result of the industrial robot's performance based on the relationship between the current and the fundamental frequency multiple, may further include: if the slope of the curve characterizing the relationship between the current and the fundamental frequency multiple at the second harmonic exceeds a preset threshold, then the reducer of the industrial robot is determined to be abnormal.

[0039] Specifically, for the curve characterizing the relationship between current and the fundamental frequency multiple, the 0th harmonic reflects the average frictional force of the industrial robot. Generally, the current amplitude tends to decrease with time. Therefore, if the current amplitude increases with time at the 0th harmonic, it indicates an abnormality in the brake of the industrial robot motor.

[0040] Furthermore, at the first harmonic (or fundamental frequency), generally speaking, the larger the load, the greater the current amplitude. Therefore, the amplitude variation at the first harmonic can be used as a reference to determine whether there are any abnormalities in the performance of the industrial robot.

[0041] Furthermore, at the second harmonic, the current amplitude generally increases gradually with time. However, if the trend of current amplitude change is too large, i.e., the slope of the curve relating current to the fundamental frequency multiple at the second harmonic exceeds a preset threshold, it indicates an abnormality in the reducer, possibly due to oil leakage, insufficient oil, or damage. Additionally, the amplitude change at the second harmonic can be used for assembly monitoring, specifically to check if the harmonic reducer is assembled correctly. When the current amplitude at the second harmonic exceeds the threshold, it is generally considered that there is an assembly problem. To resolve the assembly issue, consider disassembling the HD reducer, rotating it 90° or 180°, and then reinstalling it. It should be noted that if the second harmonic amplitude remains high after repeated testing, it may be due to poor concentricity or coaxiality of the reducer itself. Therefore, in this case, the reducer must be replaced. It is worth mentioning that the preset thresholds and preset limits mentioned above can all be determined based on experience.

[0042] In addition, the fourth harmonic frequency reflects the motor's torque pulse. Therefore, if the current amplitude at the fourth harmonic frequency exceeds the preset threshold, it will affect the low-speed vibration of the industrial robot.

[0043] In this embodiment, firstly, after the industrial robot has been running continuously for a preset time, the actual current data of each joint of the industrial robot is collected; based on the actual current data of the industrial robot, the relationship between the current and the fundamental frequency multiple is determined; wherein, the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; based on the relationship between the current and the fundamental frequency multiple, the evaluation result of the industrial robot's performance is determined. The industrial robot performance evaluation method provided by this invention can achieve automatic testing of industrial robot performance in a simple and quick manner. It can not only quickly verify the assembly status of components such as the industrial robot motor and reducer, but also determine the rationality of the use of components such as the motor and reducer through data analysis.

[0044] The industrial robot performance evaluation method provided in this embodiment analyzes the actual usage of the motor reducer by converting the frequency of the motor current and observing the amplitude corresponding to each frequency. Combining the operating characteristics of the motor and reducer, the method collects the speed and current of each joint of the industrial robot body during movement, calculates its average friction force, brake force, harmonic reducer's own mass and installation coaxiality, motor torque pulses, and operational smoothness, and then uses data analysis to quickly evaluate the operating status of the industrial robot's motor and reducer. Furthermore, this embodiment only requires collecting motor current data, thus eliminating the need for additional hardware costs. In other words, the industrial robot performance evaluation method provided in this embodiment can evaluate robot performance through automated testing software without increasing hardware costs, providing strong support and assistance for industrial robot assembly and related personnel.

[0045] One embodiment of the present invention relates to an evaluation device for the performance of an industrial robot, such as... Figure 2 As shown, it includes:

[0046] The actual current acquisition module 201 is used to acquire the actual current data of each joint of the industrial robot after the industrial robot has been running continuously for a preset time.

[0047] The current-fundamental frequency relationship determination module 202 is used to determine the relationship between the current and the fundamental frequency multiple based on the actual current data of the industrial robot; wherein, the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot;

[0048] The evaluation result determination module 203 is used to determine the evaluation result of the industrial robot's performance based on the relationship between the current and the fundamental frequency multiple.

[0049] In some embodiments, the actual current acquisition module 201 can also be used to acquire the actual current data of the industrial robot during the period when the industrial robot is running at a constant speed.

[0050] In some embodiments, the current-fundamental frequency relationship determination module 202 can also be used to perform a fast Fourier transform on the actual current data to obtain the relationship curve between the current and the frequency; convert the frequency into a multiple of the actual rotation frequency, and obtain the relationship between the current and the fundamental frequency multiple.

[0051] In some embodiments, the current-frequency relationship determination module 202 can also be used to determine the actual rotation frequency of the industrial robot based on the theoretical value of the industrial robot's speed percentage and the rated rotation speed of the industrial robot.

[0052] In some embodiments, the evaluation result determination module 203 can also be used to determine that the motor of the industrial robot is abnormal if the amplitude of the current at the 0th harmonic increases with time.

[0053] In some embodiments, the evaluation result determination module 203 can also be used to determine that the reducer of the industrial robot is abnormal if the slope of the curve characterizing the relationship between the current and the fundamental frequency multiple exceeds a preset threshold at the second harmonic.

[0054] In one example, the industrial robot performance evaluation device may further include: a current data acquisition module (not shown in the figure), used to acquire the rated current, rated torque and rated speed of the motor of the industrial robot; and to acquire the actual current data of the industrial robot according to the current line number in a preset file.

[0055] The industrial robot performance evaluation device provided in this embodiment first collects the actual current data of each joint of the industrial robot after the industrial robot has been running continuously for a preset time; based on the actual current data of the industrial robot, it determines the relationship between the current and the fundamental frequency multiple; wherein the fundamental frequency multiple is a multiple of the actual rotation frequency of the industrial robot; based on the relationship between the current and the fundamental frequency multiple, it determines the evaluation result of the industrial robot performance. The industrial robot performance evaluation method provided by this invention can achieve automatic testing of industrial robot performance in a simple and quick manner. It can not only quickly verify the assembly status of components such as motors and reducers of the industrial robot, but also determine whether the use of components such as motors and reducers is reasonable through data analysis.

[0056] It is worth mentioning that all modules involved in the above embodiments of the present invention are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention; however, this does not mean that other units are absent from this embodiment.

[0057] Embodiments of the present invention also provide an electronic device, such as... Figure 3 As shown, it includes at least one processor 301; and a memory 302 communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions executable by the at least one processor 301, the instructions being executed by the at least one processor 301 to enable the at least one processor 301 to perform the above-described industrial robot performance evaluation method.

[0058] The memory 302 and processor 301 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 301 and memory 302 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 301 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 301.

[0059] Processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 302 can be used to store data used by processor 301 during operation.

[0060] The above-mentioned products can perform the methods provided in the embodiments of this application, and have the corresponding functional modules and beneficial effects of performing the methods. For technical details not described in detail in this embodiment, please refer to the methods provided in the embodiments of this application.

[0061] Embodiments of this application also provide a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the aforementioned method for evaluating the performance of an industrial robot.

[0062] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0063] The above embodiments are provided for those skilled in the art to implement and use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of this application. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should conform to the maximum scope of the innovative features mentioned in the claims.

Claims

1. A method for evaluating performance of an industrial robot, characterized by, The method comprises: collecting actual current data of each joint included in the industrial robot after the industrial robot continuously runs for a preset time; determining a relationship between current and fundamental frequency multiple according to the actual current data of the industrial robot, wherein the fundamental frequency multiple is a multiple of an actual rotation frequency of the industrial robot; determining an evaluation result of the performance of the industrial robot according to the relationship between current and fundamental frequency multiple. The method further comprises: performing fast Fourier transform on the actual current data to obtain a relationship curve between current and frequency; converting the frequency into a multiple of the actual rotation frequency and obtaining the relationship between current and fundamental frequency multiple.

2. The method of evaluating the performance of an industrial robot according to claim 1, characterized in that, The method further comprises: collecting the actual current data of each joint included in the industrial robot during a time period in which the industrial robot runs at a constant speed.

3. The method of evaluating performance of an industrial robot according to claim 1, characterized in that, The method further comprises: determining the actual rotation frequency of the industrial robot according to a rated rotation speed of the industrial robot based on a theoretical value of a speed percentage of the industrial robot.

4. The method of evaluating performance of an industrial robot according to claim 1, characterized in that, The method further comprises: determining that a motor of the industrial robot is abnormal if an amplitude of the current at 0 multiple frequency increases over time.

5. The method of evaluating the performance of an industrial robot according to claim 4, characterized in that, The method further comprises: determining that a speed reducer of the industrial robot is abnormal if a slope of a curve representing the relationship between current and fundamental frequency multiple at 2 multiple frequency exceeds a preset threshold.

6. The method of evaluating the performance of an industrial robot according to claim 3, characterized in that, The method further comprises: obtaining a rated current, a rated torque and a rated rotation speed of a motor of the industrial robot before collecting the actual current data of the industrial robot after the industrial robot continuously runs for a preset time. The method further comprises:

7. An evaluation device for the performance of an industrial robot, characterized in that obtaining the actual current data of the industrial robot according to a current row in a preset file. The method comprises: an actual current collecting module configured to collect actual current data of each joint included in the industrial robot after the industrial robot continuously runs for a preset time; a current fundamental frequency relationship determining module configured to determine a relationship between current and fundamental frequency multiple according to the actual current data of the industrial robot, wherein the fundamental frequency multiple is a multiple of an actual rotation frequency of the industrial robot; an evaluation result determining module configured to determine an evaluation result of the performance of the industrial robot according to the relationship between current and fundamental frequency multiple. The method further comprises: performing fast Fourier transform on the actual current data to obtain a relationship curve between current and frequency; 8. An electronic device, comprising: converting the frequency into a multiple of the actual rotation frequency and obtaining the relationship between current and fundamental frequency multiple. The method comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of evaluating performance of an industrial robot as claimed in any one of claims 1 to 6.

9. A computer readable storage medium storing a computer program, characterized in that, The computer program, when executed by a processor, implements the method of evaluating performance of an industrial robot as claimed in any one of claims 1 to 6.

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