A Measurement and Control Platform for Robot Joint Modules in a Radiation Environment

Abstract

The present invention belongs to the field of special robots, and provides a measurement and control platform for a robot joint module in a radiation environment. The measurement and control platform includes a radiation test chamber, a personnel test chamber, a charged irradiation test group, a non-charged irradiation test group, a charged non-irradiation test group, and a measurement and control module. The radiation test chamber is provided with a radiation source, a charged irradiation test group, and a non-charged irradiation test group, and each test group includes a joint module to be tested. The personnel test chamber is provided with a charged non-irradiation test group and a measurement and control module. The measurement and control module includes a parameter management module, a status monitoring module, a parameter performance analysis module, and a data storage module, which are used to realize the functions of remote control, data acquisition, data processing and analysis, and data storage of the test parameters of the joint module to be tested. In the present invention, the charged non-irradiation test group serves as the original data, and the test parameters of the other two groups are compared with those of the charged non-irradiation test group. The charged non-irradiation test group completes measurement and control in the personnel test chamber.

Description

Technical Field

[0001] The present invention belongs to the field of special robots, and particularly relates to a measurement and control platform for a robot joint module in a radiation environment. Background Art

[0002] As the most important core unit of a robot, the joint module integrates a servo drive controller, a large hollow servo joint motor, an accurate position feedback sensor, and a harmonic reducer that matches the output power, and is used to complete the output of the high-precision power source of the robot. It is one of the core technologies of the robot. The joint module and the joint link are assembled to form a single joint chain, and the single joint chains are connected in series or in parallel through transition elbows to form the entire robot. This topological structure of the robot makes the joint module test platform very different from the conventional motor counter-rotation platform. Usually, the traditional motor counter-rotation platform exposes the faults of the motor to be tested by running in counter-rotation for a long time in a normal environment for the durability test of the motor to be tested. During the conventional motor test, based on the principle of blocked-rotor counter-rotation simulation loading, the test bench is usually arranged horizontally with two motors "back to back". In terms of the installation method, the two motors are installed and fixed on the U-shaped support frame on the ground iron. Therefore, according to the mechanical layout and installation method of the conventional counter-rotation platform, the conventional counter-rotation test platform focuses on and pays attention to: testing the transmission accuracy, torsional stiffness, rotational stiffness, vibration and temperature of the reducer, testing the five-axis curve of the motor, and verifying the advanced control algorithm of the motor, the energy feedback process when the motor operates in the generator state, and the harmonic characteristics, etc.

[0003] However, currently, little attention has been paid to the kinematic and dynamic characteristics under the spatial counter-rotation of two motors or multiple motors. In addition, for the motor electronic control part, the traditional counter-rotation platform is generally used to test the speed regulation performance of the frequency converter. Since the frequency converter only has a speed loop and a current loop, the traditional motor counter-rotation platform pays more attention to frequency conversion speed regulation and load characteristics when testing the motor electronic control. The joint module of the robot is a servo drive control system, which not only has a speed loop, a current loop, but also a position loop. When testing the servo drive control system of the robot joint module, not only the frequency conversion speed regulation and load characteristics should be concerned, but also the dynamic following characteristics, repeated positioning accuracy, external anti-interference ability, parameter adaptability and identification ability of the robot joint module servo should be focused on, and these are exactly the core and key points examined by the robot joint module.

[0004] In the prior art, invention patent CN110057576A proposes a dynamic test platform for the leg joints of a foot-type bionic robot. The platform is used for the analysis and testing of the combined motion of three electric drive modules. It can accurately analyze the torque, speed, and power trajectory requirements of the electric drive modules for robots of different weights in squatting, standing up, walking, running, and jumping. However, the method and structure in this patent are too simple and only target foot-type robots in ordinary environments. When nuclear industrial robots are irradiated in large-scale rotary irradiation centers, it is necessary not only to examine the dynamic response characteristics of the robot joint module servo system and the kinematic and dynamic characteristics of the multi-joint modules during spatial dragging, but also to have special requirements for the redundancy of the measurement and control hardware and software platform and data transmission. Ensure that the relevant parameter data of the robot joint module under assessment can be received by the host computer in the test room.

[0005] When the robot joint module is evaluated and tested in the radiation center, there are certain requirements for the irradiation assessment dose rate. During the irradiation test, it is necessary to make an appointment in advance to calibrate the dose point / rate. The irradiation test process is long and expensive. Therefore, during a irradiation assessment test of the robot joint module, it is necessary not only to obtain the overall performance degradation of the robot joint module from a macroscopic perspective, but also to obtain as many key signals of the integrated electronic circuit inside the servo system of the robot joint module and the electrical parameters of the key components in the board-level combination circuit as possible, in order to more realistically evaluate the overall radiation resistance level and weak links of the joint module. At the same time, since most components in the electronic circuit system have annealing effects during irradiation testing, according to the relevant irradiation test assessment standards such as the US military standard MIL-STD-883D-1019.4-1019.7 and QJ10004-2008, it is required that after the irradiation source of the irradiation center is offline, the overall health status of the joint module, the integrated electronic circuit system detection, and the electrical parameter test of key components shall be completed within 2 hours. Summary of the invention

[0006] Based on the above problems and the special testing requirements of the robot joint module, the robot joint module measurement and control platform is not only required to have a certain degree of versatility and rapid mobility in the cyclotron irradiation center; at the same time, the test personnel are also required to use the joint module software test platform in the test room outside the irradiation center to achieve real-time remote control, data collection, data processing, analysis and storage functions. In addition, in order to more effectively evaluate the radiation resistance of the joint module and assess the radiation resistance reinforcement guarantee technology of the joint module, there are mutual control groups in the test method, and the test data are compared with each other, which is convenient for analyzing the cumulative dose of the joint module under different failure types.

[0007] Specifically, the present invention provides a measurement and control platform for a robot joint module in a radiation environment. The measurement and control platform for the robot joint module in the radiation environment includes a radiation test chamber, a personnel test chamber, a charged irradiation test group, a non-charged irradiation test group, a charged non-irradiation test group, and a measurement and control module;

[0008] The radiation test chamber is provided with a radiation source, a charged irradiation test group, and a non-charged irradiation test group;

[0009] Outside the radiation test chamber, there is a multi-layer spiral channel shielding wall, which further shields radiation and connects to the personnel test chamber. Inside the personnel test chamber, there is a charged non-irradiation test group;

[0010] The charged irradiation test group, the charged non-irradiation test group, and the non-charged irradiation test group all include a joint module to be tested;

[0011] The personnel test chamber is provided with a charged non-irradiation test group and a measurement and control module;

[0012] The measurement and control module includes a parameter management module, a status monitoring module, a parameter performance analysis module, and a data storage module. The measurement and control module is used to realize the functions of remote control, data acquisition, data processing analysis, and storage of the test parameters of the joint module to be tested.

[0013] Furthermore, the charged irradiation test group and the charged non-irradiation test group also include a general-purpose vertical support platform, a support surface, an electric cylinder lifting column, an electric cylinder driving motor, shielding lead blocks, universal wheels, a joint module to be tested, an equivalent load wheel, and a robot joint connecting rod;

[0014] The support surface and the electric cylinder lifting column of the general-purpose vertical support platform play a role in supporting the measurement and control hardware platform and are used to support the joint module to be tested; when the robot joint chain connecting rod is assembled and the length is fixed, the electric cylinder lifting column can meet the requirements of the multi-joint of the robot for the spatial pose adjustment of the tow; the electric cylinder driving motor is used to drive the electric cylinder to lift the lifting column; the shielding lead blocks are used for physical shielding of the electric cylinder driving motor and the data acquisition card to ensure that the electric cylinder driving motor and the data acquisition card will not have radiation failure effects; the universal wheels facilitate the transportation and assembly of the joint module sample to be tested in the multi-layer spiral channel.

[0015] Furthermore, the charged irradiation test group and the charged non-irradiation test group can also be equipped with a collision test bench. The collision test bench includes a general-purpose vertical support platform, a support surface, an electric cylinder lifting column, an electric cylinder driving motor, shielding lead blocks, universal wheels, a pillar fixing clamp, and a tubular object;

[0016] The support structure in the collision test bench is the same as that of the charged irradiation test group. The tubular object on the support structure can be connected and fastened through the strut fixing clamp. Each time, only by adjusting the handle of the fastening fixed strut clamp, the fastening of the tubular object can be achieved.

[0017] The surface of the tubular object can simulate the hard collision test and soft collision test of the joint module in the irradiation environment by sleeving anti-collision columns of different hardness materials.

[0018] Furthermore, the parameter management module can create or delete test items during the irradiation assessment test of the robot joint module, and determine the type of the input joint module and the end effector.

[0019] The parameter management module is used to input the assembly combination of the multi-joint forming the joint chain and the equivalent load of the joint module, and input the relevant rated parameters of the joint motor in the joint module, the rated parameters of the servo system, and the failure thresholds of the relevant parameters.

[0020] Furthermore, the status monitoring module includes a remote control module and a parameter data acquisition module.

[0021] Among them, the remote control module is used to remotely set the control working mode of the joint module to be measured, including the position mode, the constant speed mode, and the constant torque mode.

[0022] Power supply and signals pass through the cable to enable the charged irradiation test group to undergo irradiation test assessment according to the set mode.

[0023] The parameter data acquisition module includes low-voltage power data acquisition, servo drive data acquisition, sensing data acquisition, MCU, and communication data acquisition, and is used to simultaneously detect and visually display the parameters of the four key modules in the servo integrated electronic circuit of the joint module in real time.

[0024] The low-voltage power data acquisition, the servo drive data acquisition, the sensing data acquisition, and the MCU and communication data acquisition respectively collect the radiation test parameters of the servo integrated electronic circuit of the joint module; the servo integrated electronic circuit of the joint module includes a low-voltage power supply board, a servo drive board, a sensing board, and an MCU control board.

[0025] Furthermore, the low-voltage power data acquisition is used to obtain the parameters of the low-voltage power supply board, including the total bus current of the joint module, the temperature of the power supply board, the output voltage of the low-voltage power supply board, and the output current of the low-voltage power supply board.

[0026] The servo drive data acquisition is used to obtain the parameters of the servo drive board, including the servo following response time, the servo control signal, the three-phase current of the joint motor, the actual speed of the joint motor, the torque, the actual absolute position, the current actual efficiency, the mechanical efficiency, and the temperature of the servo drive board.

[0027] The sensing and perception data acquisition is used to obtain the parameters of the sensing and perception board, including dual encoder data, rotary hard decoding data, rotary soft decoding data, joint module force / torque, Hall sensor data, and sensor perception board temperature;

[0028] The MCU and communication data acquisition is used to obtain the parameters of the MCU control board, including complementary PWM drive signals and message transceiver data.

[0029] Furthermore, the parameter performance analysis module automatically analyzes according to the rated parameters and failure thresholds of the servo system of the joint module to be tested, combined with the data detected in real time by the status monitoring module, to obtain the cumulative total dose when parameter failures, functional failures, and catastrophic failures occur in the core circuit modules and components of the servo system of the joint module to be tested, obtain the cumulative total dose of the joint module to be tested, and form an anti-radiation hardening evaluation test report for the joint module.

[0030] Furthermore, the data storage module can select the data file saving path, and is used for historical data query, real-time data recording, online playback and pause of curve graph data, and export of query results for the data generated during the irradiation assessment test of the robot joint module.

[0031] Furthermore, the data transmission during the test of the robot joint module measurement and control platform under the radiation environment has redundancy, including a main data transmission channel and an auxiliary data transmission channel, and can perform real-time data disaster backup;

[0032] The main data transmission channel can be further described as follows: The first mixed signal composed of the charged irradiation parameter data of the robot joint module passes through a data acquisition card shielded by lead bricks, a differential transfer chip, and shielded twisted pair wires to be transmitted to the personnel test room, and is transmitted to the robot joint module measurement and control software platform in the personnel test room to realize data analysis and storage.

[0033] Furthermore, the auxiliary data transmission channel can be further described as follows: The charged irradiation parameter data of the robot joint module simultaneously passes through another socket interface to generate a second signal. After the second signal is converted into a digital signal by a digital converter, the digital signal is transmitted to a USB flash drive memory through a USB flash drive transfer circuit, and the reading and writing of the charged irradiation parameters of the robot joint module to the USB flash drive is completed for disaster safety backup. The digital converter, the USB flash drive transfer circuit, and the USB flash drive memory all use lead brick materials to shield the rays of the radiation source.

[0034] The beneficial effects achieved by the present invention are:

[0035] (1) In the present invention, the measurement and control platform can efficiently complete the parameter management, status monitoring, radiation parameter analysis, and data result storage of the robot single-joint module in a radiation environment. Similarly, the measurement and control platform can also efficiently complete the space counter-traction of the joint chain composed of multiple joints and multi-linkages in a radiation environment, meet the requirements for assessing and testing the dynamic following performance of the kinematic and dynamic outputs of each joint module, and manage the parameters, monitor the status, analyze the radiation parameters, and store the data results of each joint module on the joint chain.

[0036] (2) In the present invention, the measurement and control platform for the robot joint module has a certain generality and the advantage of fast mobility in the circular irradiation center. In a radiation environment, the measurement and control platform for the robot joint module can meet the requirements specified in the relevant operating specifications and be completed within 2 hours, which can avoid the annealing effect of the servo integrated electronic circuit of the joint module. In addition, when the measurement and control platform is performing irradiation tests, the data transmission has redundancy, with a main data transmission channel and an auxiliary data transmission channel, enabling real-time data disaster backup.

[0037] (3) In the present invention, the measurement and control platform for the robot joint module can quickly set up control group test experiments. Among them, the charged non-irradiated test group is used as the original data, and the test parameters of the other two groups are compared with those of the charged non-irradiated test group in terms of the test environment and results, ensuring the rigor and correctness of the radiation hardening evaluation test report for the joint module. Among them, the charged non-irradiated test group can complete regular measurement and control in the personnel test room, the non-charged irradiated test group can be placed on the shelf in the radiation environment platform to test the radiation effect under cold redundancy and non-charged conditions, and the charged irradiated test group is placed together with the measurement and control platform at a certain point of the dose point / rate in the irradiation center and calibrated with a radiation dose meter to test and assess the radiation effect under charged conditions. Description of the Drawings

[0038] Figure 1 Schematic side view of the structure of the measurement and control platform for the robot joint module in a radiation environment;

[0039] Figure 2 Schematic front view of the structure of the measurement and control platform for the robot joint module in a radiation environment;

[0040] Figure 3 Measurement and control platform for the robot multi-joint chain in a radiation environment;

[0041] Figure 4 Measurement and control platform for the robot single-joint chain in a radiation environment;

[0042] Figure 5 Schematic diagram of the parameter data acquisition module collecting the test parameters of the joint module;

[0043] Figure 6 Schematic diagram of the internal integrated servo integrated electronic circuit of the robot joint module;

[0044] Figure 7 Overall assembly schematic diagram of the robot joint module;

[0045] Figure 8 Measurement and control module and functional schematic diagram in the measurement and control platform of the robot joint module;

[0046] Figure 9 Schematic diagram of redundant data transmission in the measurement and control platform of the robot joint module.

[0047] Reference numerals: 1 - radiation source, 2 - shelf, 3 - cable, 4 - multi-layer spiral channel shielding wall, 5 - personnel test room, 6 - pool, 7 - non-charged irradiation test group, 8 - general-purpose vertical support platform, 9 - support surface, 10 - electric cylinder lifting column, 11 - electric cylinder drive motor, 12 - shielding lead block, 13 - universal wheel, 14 - column fixing clamp, 15 - tubular object, 16 - collision test bench, 17 - joint module to be measured, 18 - robot joint connecting rod, 19 - equivalent load wheel, 20 - low-voltage power supply board, 21 - servo drive board, 22 - sensing and perception board, and 23 - MCU control board. Detailed implementation manners

[0048] The technical solution of the present invention will be described in more detail below with reference to the accompanying drawings. The present invention includes but is not limited to the following embodiments.

[0049] As Figure 1 and Figure 2 shown, the present invention provides a measurement and control platform for a robot joint module in a radiation environment. The measurement and control platform for the robot joint module in the radiation environment includes a radiation test room, a personnel test room 5, a charged irradiation test group, a non-charged irradiation test group 7, a charged non-irradiation test group, and a measurement and control module.

[0050] As Figure 1 and Figure 2As shown, in this invention patent, when the measurement and control platform of the robot joint module is tested under a radiation environment, the calibration of the dose point, the placement of the sample, and the setting of the test control group will all affect the cumulative total dose value of the robot joint module. Therefore, in this invention patent, it is necessary to further explain that when the robot joint module is tested at the irradiation center, multiple joint modules of a certain model are selected to form a joint chain. Then, the multiple joint modules are divided into three test groups: a charged irradiation test group, a non-charged irradiation test group 7, and a charged non-irradiated test group. Among them, the charged non-irradiated test group serves as the original data, and the test parameters of the other two groups are compared with those of the charged non-irradiated test group. The charged non-irradiated test group completes measurement and control in the personnel test room 5. The non-charged irradiation test group 7 is placed on the shelf 2 in the radiation environment platform to test and evaluate the radiation effect under the condition of cold redundancy without electricity. The charged irradiation test group is placed together with the measurement and control platform at a certain point of the dose point / rate in the irradiation center, and the dose is calibrated with a radiation dose meter to test and evaluate the radiation effect under the charged condition.

[0051] As Figure 1 and Figure 2 shown, inside the radiation test room, there are a radiation source 1, a shelf 2, a water pool 6, a charged irradiation test group, and a non-charged irradiation test group 7. Outside the radiation test room, there are multiple layers of spiral channels. The shielding wall of the multiple layers of spiral channels further shields the radiation and connects to the personnel test room 5, and inside the personnel test room 5, there is a charged non-irradiated test group.

[0052] The water pool 6 is arranged at the bottom of the radiation test room for storing the radiation source 1; the radiation source 1 is arranged on the top of the water pool 6 and can move between the water pool 6 and the radiation test room through a lifting device.

[0053] As Figure 4 shown, the charged irradiation test group includes a general-purpose vertical support platform 8, a support surface 9, an electric cylinder lifting column 10, an electric cylinder drive motor 11, shielding lead blocks 12, universal wheels 13, a to-be-tested joint module 17, an equivalent load wheel 19, and a robot joint connecting rod 18.

[0054] As Figure 4As shown in the figure, the support surface 9 of the general-purpose vertical support platform 8 and the electric cylinder lifting column 10 play a role in supporting the measurement and control hardware platform, and are used to support the joint module 17 to be measured, the equivalent load wheel 19 and the robot joint connecting rod 18. When the electric cylinder lifting column 10 is in the case of the assembly and length fixation of the robot joint chain connecting rod, it can meet the requirements of the multi-joint of the robot for the spatial pose adjustment of the tow pair. The electric cylinder driving motor 11 is used to drive the electric cylinder to lift the lifting column 10. The shielding lead block 12 is used for the physical shielding of the electric cylinder driving motor and the data acquisition card, ensuring that the electric cylinder driving motor and the data acquisition card will not have radiation failure effects; the universal wheels facilitate the transportation and assembly of the joint module samples to be measured in the multi-layer spiral channel, and facilitate the entry and exit of the spiral irradiation center up to dozens of meters; among them, each universal wheel of the general-purpose vertical support platform is equipped with a foot brake. According to different dose points (rates) during the irradiation test, the general-purpose vertical support platform is moved to a certain position, and the foot brake is stepped on to lock the universal wheels, and the measurement and control hardware platform is fixed at a certain position in the irradiation center.

[0055] As Figure 3 shown in the figure, the general-purpose vertical support platform 8 is the carrier of the entire measurement and control platform, and its versatility is reflected in that it can not only be used as the measurement and control hardware platform for the robot joint module in the radiation environment, but also as the measurement and control hardware platform for the multi-joint chain composed of multiple joints and multiple connecting rods of the robot in the radiation environment.

[0056] As Figure 4 shown in the figure, the charged irradiation test group and the charged non-irradiation test group can also be additionally provided with a collision test bench 16. The collision test bench 16 includes a general-purpose vertical support platform 8, a support surface 9, an electric cylinder lifting column 10, an electric cylinder driving motor 11, a shielding lead block 12, universal wheels 13, a pillar fixing clamp 14 and a tubular object 15. The support structure in the collision test bench 16 is the same as that of the charged irradiation test group. The tubular object 15 thereon can be connected and fastened through the pillar fixing clamp 14. Each time, only the handle of the fixing pillar clamp 14 needs to be adjusted to realize the fastening of the tubular object 15. The surface of the tubular object 15 can simulate the hard collision test and soft collision test of the joint module in the irradiation environment by sleeving anti-collision columns of different hardness materials. At the same time, the torque balance conditions of the multi-joint chain robot composed of multiple joints and multiple connecting rods in the radiation environment can be explored and tested.

[0057] As Figure 1 and Figure 8 shown in the figure, the personnel test room 5 is internally provided with a charged test non-irradiation group and a measurement and control module. Among them, the measurement and control module includes a parameter management module, a status monitoring module, a parameter performance analysis module, and a data storage module; the above measurement and control module can realize the functions of remote control, data acquisition, data processing analysis and storage of the irradiation test parameters of the robot single joint module or multi-joint chain; the above measurement and control module is physically and signal-connected to the charged irradiation test group to be tested through the cable 3.

[0058] AsFigure 8 As shown in the figure, the parameter management module can create or delete test items during the irradiation assessment test of the robot joint module, and determine the type of the input joint module and the end effector. In addition, the above parameter management module can also input the assembly combination of the joint chain composed of multiple joints and the equivalent load of the joint module, and can also input the relevant rated parameters of the joint motor in the joint module, the rated parameters of the servo system, and the failure thresholds of relevant parameters. At the same time, it can also input the recorded assessment test time and the experimenter.

[0059] As Figure 8 shown in the figure, the status monitoring module includes a remote control module and a parameter data acquisition module. Among them, the remote control module can remotely set the control working mode of the robot joint module;

[0060] Among them, the remote control module is used to remotely set the control working mode of the joint module under test, including the position mode, the constant speed mode, and the constant torque mode;

[0061] The power supply and the signal pass through the cable 3 to make the charged irradiation test group accept the irradiation test assessment according to the set mode;

[0062] After setting the control mode of the joint module, the personnel outside the irradiation center can click the OK button on the measurement and control software through the PC computer in the personnel test room 5 based on the joint module irradiation test software platform. The power supply and the signal pass through the cable 3, and the robot joint module in the irradiation center can accept the irradiation test assessment according to the set mode;

[0063] The parameter data acquisition module includes low-voltage power data acquisition, servo drive data acquisition, sensing data acquisition, MCU, and communication data acquisition, and is used to simultaneously detect and visually display the parameters of the four key modules in the servo integrated electronic circuit of the joint module in real time;

[0064] The low-voltage power data acquisition, servo drive data acquisition, sensing data acquisition, and MCU and communication data acquisition respectively collect the radiation test parameters of the servo integrated electronic circuit of the joint module;

[0065] And as Figure 6 and Figure 7 shown in the figure, the servo integrated electronic circuit of the joint module includes a low-voltage power supply board 20, a servo drive board 21, a sensing board 22, and an MCU control board 23.

[0066] As Figure 5 and Figure 6 shown in the figure, the above low-voltage power data acquisition is used to obtain the parameters of the above low-voltage power supply board 20, specifically including the total bus current of the joint module, the temperature of the power supply board, the output voltage of the low-voltage power supply board 20, and the output current of the low-voltage power supply board 20;

[0067] The above servo drive data acquisition is used to obtain the parameters of the servo drive board 21, including servo following response time, servo control signal, three-phase current of the joint motor, actual rotation speed of the joint motor, torque, actual absolute position, current actual efficiency, mechanical efficiency, and servo drive board temperature;

[0068] The above sensing data acquisition is used to obtain the parameters of the sensing board 22, including dual encoder data, rotary hard decoding data, rotary soft decoding data, joint module force / torque, Hall sensor data, and sensor sensing board temperature;

[0069] The above MCU and communication data acquisition is used to obtain the parameters of the MCU control board 23, including complementary PWM drive signals and message transceiver data.

[0070] As Figure 8 shown, the parameter performance analysis module is used to automatically analyze based on the rated parameters of the joint motors inside the joint module, the rated parameters of the servo system of the joint module, and the relevant parameter failure thresholds, combined with the data detected in real time by the status monitoring module, to obtain the cumulative total dose when parameter failures, functional failures, and catastrophic failures occur in the core circuit modules and components of the joint module and the servo system, obtain the cumulative total dose of the joint module, and form an anti-radiation hardening evaluation test report for the joint module.

[0071] As Figure 8 shown, the data storage module can select the data file saving path, and can perform historical data query, real-time data recording, online playback and pause of curve graph data, and export of query results for the data generated during the irradiation assessment test of the robot joint module.

[0072] As Figure 9 shown, when testing the measurement and control platform of the robot joint module under a radiation environment, data transmission has redundancy, including a main data transmission channel and an auxiliary data transmission channel, and can perform real-time data disaster backup;

[0073] Among them, the above main data transmission channel can be further described as: the first mixed signal composed of the charged irradiation parameter data of the robot joint module is transmitted to the personnel test room through a data acquisition card shielded by lead bricks, a differential transfer chip, and shielded twisted pair wires, and is transmitted to the measurement and control software platform of the robot joint module in the personnel test room to realize data analysis and storage;

[0074] Among them, when the charged irradiation group of the joint module reaches the set cumulative radiation dose point, the radiation source 1 descends into the water pool 6 and is in an offline state. The staff can carry relevant test equipment such as a data acquisition card and enter the irradiation center to check the overall health status of the charged irradiation group of the joint module and perform face-to-face data acquisition through the test equipment;

[0075] After the radiation source 1 is offline, the staff enters the irradiation center to complete the overall health status inspection and face-to-face data collection of the joint module live irradiation group. This process needs to be completed within 2 hours as specified in the relevant operating specifications, and the annealing effect of the joint module servo integrated electronic circuit needs to be avoided.

[0076] Among them, the above-mentioned auxiliary data transmission channel can be further described as: the live irradiation parameter data of the robot joint module passes through another socket interface at the same time to generate a second signal. After the second signal is converted into a digital signal through a digital converter, the digital signal is transmitted to the U disk storage through a U disk adapter circuit, completing the reading and writing of the live irradiation parameters of the robot joint module into the U disk for disaster safety backup. The digital converter, the U disk adapter circuit and the U disk storage all use lead brick materials to shield the rays of the radiation source 1.

[0077] After the radiation source 1 is offline, the staff enters the irradiation center to complete the overall health status check and face-to-face data collection of the joint module live irradiation group, reads the USB data under the shielding lead brick, and completes the acquisition of the auxiliary data transmission channel data. In addition, the USB data reading must be completed within 2 hours as specified in the operating specifications, and the annealing effect of the joint module servo integrated electronic circuit must be avoided.

[0078] The invention is not limited to the above-mentioned specific implementation modes. A person skilled in the art can implement the invention in various other specific implementation modes according to the embodiments and the disclosure of the drawings. Therefore, any design that adopts the design structure and concept of the invention and makes some simple transformations or changes falls within the scope of protection of the invention.

Claims

1. A measurement and control platform for a robot joint module in a radiation environment, characterized in that The measurement and control platform for the robot joint module in the radiation environment includes a radiation test chamber, a personnel test chamber (5), a charged irradiation test group, a non-charged irradiation test group (7), a charged non-irradiation test group, and a measurement and control module; The radiation test chamber is provided with a radiation source (1), a charged irradiation test group, and a non-charged irradiation test group (7); A multi-layer spiral channel shielding wall (4) is provided outside the radiation test chamber, which further shields radiation through the multi-layer spiral channel shielding wall (4) and connects to the personnel test chamber (5). Inside the personnel test chamber 5, there is a charged non-irradiation test group; The charged irradiation test group, the charged non-irradiation test group, and the non-charged irradiation test group (7) all include a joint module to be tested (17); The personnel test chamber (5) is provided with a charged non-irradiation test group and a measurement and control module; The measurement and control module includes a parameter management module, a status monitoring module, a parameter performance analysis module, and a data storage module. The measurement and control module is used to realize the functions of remote control, data acquisition, data processing and analysis, and storage of the test parameters of the joint module to be tested (17).

2. The robot joint module measurement and control platform under the radiation environment according to claim 1, wherein The charged irradiation test group and the charged non-irradiation test group also include a general-purpose vertical support platform (8), a support surface (9), an electric cylinder lifting column (10), an electric cylinder driving motor (11), a shielding lead block (12), a universal wheel (13), a joint module to be tested (17), an equivalent load wheel (19), and a robot joint connecting rod (18); The support surface (9) and the electric cylinder lifting column (10) of the general-purpose vertical support platform (8) play a role in supporting the measurement and control hardware platform and are used to support the joint module to be tested (17); the electric cylinder lifting column (10) can meet the requirements of the spatial pose adjustment of the multi-joint of the robot for towing under the condition of the assembly and length fixation of the robot joint chain connecting rod; the electric cylinder driving motor (11) is used to drive the electric cylinder to lift the lifting column (10); the shielding lead block (12) is used for the physical shielding of the electric cylinder driving motor and the data acquisition card to ensure that the electric cylinder driving motor and the data acquisition card will not have radiation fault effects; the universal wheel (13) is used to transport and assemble the joint module samples to be tested in the multi-layer spiral channel.

3. The robot joint module measurement and control platform under the radiation environment according to claim 1, characterized in that The charged irradiation test group and the charged non-irradiation test group can also be equipped with a collision test bench (16). The collision test bench (16) includes a general-purpose vertical support platform (8), a support surface (9), an electric cylinder lifting column (10), an electric cylinder driving motor (11), a shielding lead block (12), a universal wheel (13), a pillar fixing clamp (14), and a tubular object (15); The support structure in the collision test bench (16) is the same as that of the charged irradiation test group. The tubular object (15) on the support structure can be connected and fastened through the pillar fixing clamp (14). Each time, only by adjusting the handle of the fastening fixed pillar clamp (14), the fastening of the tubular object (15) can be realized; The surface of the tubular object (15) can simulate the hard collision test and soft collision test of the joint module in the irradiation environment by sleeving anti-collision columns of different hardness materials.

4. The measurement and control platform for the robot joint module under the radiation environment according to claim 1, wherein The parameter management module can create or delete test items during the irradiation assessment test of the robot joint module, and determine the type of the input joint module and the end effector. The parameter management module is used to input the assembly combination of the joint chain composed of multiple joints and the equivalent load of the joint module, and input the relevant rated parameters of the joint motor in the joint module, the rated parameters of the servo system, and the failure thresholds of relevant parameters.

5. The robot joint module measurement and control platform under the radiation environment according to claim 1, wherein The status monitoring module includes a remote control module and a parameter data acquisition module. Among them, the remote control module is used to remotely set the control working mode of the joint module under test, including the position mode, the constant speed mode, and the constant torque mode. Power supply and signals pass through the cable (3) to enable the charged irradiation test group to undergo irradiation test assessment according to the set mode. The parameter data acquisition module includes low-voltage power supply data acquisition, servo drive data acquisition, sensing data acquisition, MCU, and communication data acquisition, and is used to simultaneously detect and visually display the parameters of the four key modules in the servo integrated electronic circuit of the joint module in real time. The low-voltage power supply data acquisition, the servo drive data acquisition, the sensing data acquisition, and the MCU and communication data acquisition respectively collect the radiation test parameters of the servo integrated electronic circuit of the joint module; the servo integrated electronic circuit of the joint module includes a low-voltage power supply board (20), a servo drive board (21), a sensing board (22), and an MCU control board (23).

6. The measurement and control platform for a robot joint module in a radiation environment according to claim 5, wherein, The low-voltage power supply data acquisition is used to obtain the parameters of the low-voltage power supply board (20), including the total bus current of the joint module, the temperature of the power supply board, the output voltage of the low-voltage power supply board (20), and the output current of the low-voltage power supply board (20). The servo drive data acquisition is used to obtain the parameters of the servo drive board (21), including the servo following response time, the servo control signal, the three-phase current of the joint motor, the actual speed of the joint motor, the torque, the actual absolute position, the current actual efficiency, the mechanical efficiency, and the temperature of the servo drive board. The sensing data acquisition is used to obtain the parameters of the sensing board (22), including double encoder data, rotary hard decoding data, rotary soft decoding data, joint module force / moment, Hall sensor data, and the temperature of the sensor sensing board. The MCU and communication data acquisition is used to obtain the parameters of the MCU control board (23), including complementary PWM drive signals and message transceiver data.

7. The robot joint module measurement and control platform under the radiation environment according to claim 1, characterized in that The parameter performance analysis module automatically analyzes according to the rated parameters and failure thresholds of the servo system of the joint module (17) under test, combined with the data detected in real time by the status monitoring module, to obtain the cumulative total dose when parameter failures, functional failures, and catastrophic failures occur in the core circuit modules and components in the servo system of the joint module (17) under test, obtain the cumulative total dose of the joint module (17) under test, and form an anti-radiation hardening evaluation test report of the joint module.

8. The measurement and control platform for the robot joint module in a radiation environment according to claim 1, characterized in that The data storage module can select the data file saving path, and is used for querying test historical data, recording test data in real time, online playback and pause of curve graph data, and exporting test query results for the data generated during the irradiation assessment test of the robot joint module.

9. The measurement and control platform for the robot joint module in a radiation environment according to claim 1, wherein The data transmission of the robot joint module measurement and control platform under the radiation environment has redundancy, including a main data transmission channel and an auxiliary data transmission channel, and can perform real-time data disaster backup; Among them, the main data transmission channel can be further described as follows: The first mixed signal composed of the charged irradiation parameter data of the robot joint module passes through a data acquisition card shielded by lead bricks, a differential transfer chip, and shielded twisted pair wires to be transmitted to the personnel test room (5), and is transmitted to the robot joint module measurement and control software platform in the personnel test room (5) to realize data analysis and storage.

10. The robot joint module measurement and control platform under the radiation environment according to claim 9, characterized in that, The auxiliary data transmission channel can be further described as follows: The charged irradiation parameter data of the robot joint module simultaneously passes through another socket interface to generate a second signal. After the second signal is converted into a digital signal by a digital converter, the digital signal is transmitted to a USB flash drive memory through a USB flash drive transfer circuit to complete the reading and writing of the charged irradiation parameters of the robot joint module to the USB flash drive for disaster safety backup. The digital converter, the USB flash drive transfer circuit, and the USB flash drive memory all use lead brick materials to shield the rays of the radiation source (1).

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