A sampling evaluation system and method for testing transmission speed of a robot module

Abstract

The invention relates to the technical field of robot module testing, and discloses a sampling evaluation system and method for robot module transmission speed testing. The invention collects acceleration data and displacement data of goods in three directions of x, y and z during a robot arm transmission speed test by using an acceleration acquisition module and a path acquisition module respectively; collects the weight of goods by using a gravity acquisition module, and sequentially performs four-stage tests on the robot arm transmission speed according to the weight of the goods, and obtains the acceleration data of the goods in three directions of x, y and z in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than a set threshold, it indicates that there is a risk in the current robot arm state. Otherwise, the potential risk coefficient of the robot arm transmission process is calculated by using a formula to avoid failure to discover potential risks during the test process, resulting in accidents during use. Then, the potential risk analysis results are continuously verified to avoid misjudgment and losses.

Description

Technical Field

[0001] The present invention relates to the technical field of robot module testing, and in particular to a sampling evaluation system and method for robot module transmission speed testing. Background Art

[0002] A grasping robot is a robot that can automatically grasp, carry or manipulate objects. In the industrial field, grasping robots have been widely used and have become an important part of automated production lines and intelligent manufacturing. The robotic arm, as an actuator, is the most important module of the grasping robot. Therefore, the present invention provides a sampling and evaluation system and method for testing the transmission speed of a robot module to test the state of the robotic arm and avoid problems during actual use.

[0003] The existing sampling and evaluation system mainly judges the corresponding speed parameters against the set standard values. When it is detected that the speed parameter exceeds the standard value, it means that there is an abnormality in the speed parameter, that is, there is a risk in the robotic arm. This method can only judge the obvious fault points in the test process, and cannot timely discover the potential risks in the entire test process. Moreover, the test process will be interfered by various factors. The existing sampling and evaluation system cannot verify the potential risks discovered and determine whether the potential risk analysis results are normal. Summary of the invention

[0004] The purpose of the present invention is to provide a sampling evaluation system and method for testing the transmission speed of a robot module to solve the above-mentioned technical problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A sampling and evaluation system for testing the transmission speed of a robot module, characterized in that it comprises an acceleration acquisition module, a path acquisition module, a gravity acquisition module and an evaluation and analysis module;

[0007] The acceleration acquisition module acquires the acceleration data of the cargo in the x, y and z directions during the transmission process of the robot arm through a three-axis acceleration sensor;

[0008] The path acquisition module acquires the displacement data of the cargo in the x, y and z directions during the transmission process of the robot arm through the displacement sensor;

[0009] The gravity acquisition module uses a gravity sensor to obtain the weight of the cargo during the transmission process of the robotic arm;

[0010] An evaluation and analysis module, used to evaluate the state of the robot arm based on the data acquired by the acceleration acquisition module, the path acquisition module and the gravity acquisition module;

[0011] The working process of the evaluation and analysis module includes:

[0012] The test of the robot arm transmission speed is divided into 4 test stages according to the weight of the cargo;

[0013] Obtain the acceleration of the cargo in the x, y, and z directions in each test phase;

[0014] Obtain the displacement data of the cargo in the x, y, and z directions in each test phase;

[0015] Evaluate the state of the robot arm based on acceleration data and displacement data;

[0016] The process of dividing the test into four phases includes:

[0017] Get the mass M of the goods and compare the mass M of the goods with the preset target value , and Compare, among them, < < ;

[0018] When M≤ When , the transmission speed of the test robot arm is in the first stage;

[0019] when <M≤ When , the transmission speed of the test robot arm is in the second stage;

[0020] when <M≤ When , the transmission speed of the test robot arm is in the third stage;

[0021] When M> When the transmission speed of the test robot arm is in the fourth stage.

[0022] The working process of evaluating the state of the robot arm includes:

[0023] Obtain the acceleration data of the cargo in the x, y, and z directions in the i-th stage, and fit the acceleration curves of the cargo in the x, y, and z directions over time respectively , and ;

[0024] If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, the current state of the robot arm continues to be judged;

[0025] The process of continuing to determine the current state of the robot arm includes:

[0026] The potential risk factor of the robot arm transmission process is calculated by the following formula :

[0027] ;

[0028] In the formula, , and They are the influencing parameters in the three directions of x, y and z, , and are the weight coefficients of the parameters affecting the three directions of x, y and z respectively;

[0029] The potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm.

[0030] As a further description of the solution of the present invention, the x-direction influencing parameter is obtained by the following formula:

[0031] ,

[0032] The y-direction influencing parameter is obtained by the following formula:

[0033] ,

[0034] The z-direction influencing parameter is obtained by the following formula:

[0035] ,

[0036] Where, i∈[1,4]; is the starting time of the i-th stage, is the end time of the i-th stage, is the total duration of the i-th stage, , and They are the standard curves of the acceleration of the cargo in the x, y, and z directions over time in the i-th stage, is the weight coefficient corresponding to the i-th stage.

[0037] As a further description of the solution of the present invention, the weight coefficient , and The acquisition process includes:

[0038] Get the displacement of goods in the x, y, and z directions , and ;

[0039] The weight coefficient is calculated by the following formula :

[0040] ,

[0041] The weight coefficient is calculated by the following formula :

[0042] ,

[0043] The weight coefficient is calculated by the following formula :

[0044] ,

[0045] In the formula, is the displacement-weight conversion function.

[0046] As a further description of the solution of the present invention, the weight coefficient corresponding to the i-th stage is is determined by the mass M of the goods, and .

[0047] As a further description of the scheme of the present invention, when there is a potential risk in the current state of the robot arm, the robot arm is continued to be tested in the fourth stage to obtain the acceleration change curve of the cargo in the three directions of x, y, and z in the fourth stage over time. , and ;

[0048] The curve of the combined acceleration of the cargo over time in the fourth stage is calculated by the following formula:

[0049] ,

[0050] The combined acceleration influence parameter is calculated by the following formula :

[0051] ,

[0052] In the formula, The fourth stage is the initial time. The fourth stage ends. The total duration of the fourth stage is It is the standard curve of combined acceleration for stage 4 goods;

[0053] The combined acceleration affects the parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

[0054] A method for using a sampling evaluation system for testing a transmission speed of a robot module, the method comprising the following steps:

[0055] Step S1, respectively collecting acceleration data and displacement data of the cargo in the x, y, and z directions during the mechanical arm transmission speed test through the acceleration collection module and the path collection module;

[0056] Step S2: The weight of the cargo is collected by the gravity collection module, and the transmission speed of the robot arm is tested in four stages according to the weight of the cargo;

[0057] Step S3, obtaining the acceleration data of the cargo in the three directions of x, y, and z in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, proceed to step S4;

[0058] Step S4: Calculate by formula Potential risk factor of the robot arm transmission process ;

[0059] Step S5: Potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm, and the process goes to step S6;

[0060] Step S6: Continue to perform the fourth stage test on the robot arm and calculate the fourth stage combined acceleration influence parameters ;

[0061] Step S7: Combine acceleration influence parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

[0062] Beneficial effects of the present invention:

[0063] The present invention collects the acceleration data and displacement data of the cargo in the three directions of x, y and z during the test of the transmission speed of the robot arm through the acceleration acquisition module and the path acquisition module respectively; collects the weight of the cargo through the gravity acquisition module, and performs 4-stage tests on the transmission speed of the robot arm in turn according to the weight of the cargo, and obtains the acceleration data of the cargo in the three directions of x, y and z in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, the potential risk coefficient of the transmission process of the robot arm is calculated by the formula , avoid failure to discover potential risks during the testing process, resulting in accidents during use, and then continue to verify the results of the potential risk analysis to avoid misjudgment and losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The present invention will be further described below in conjunction with the accompanying drawings.

[0065] Figure 1 It is a structural schematic diagram of a sampling and evaluation system for testing the transmission speed of a robot module provided by the present invention. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] See also Figure 1 As shown, the present invention is a sampling and evaluation system for testing the transmission speed of a robot module, comprising an acceleration acquisition module, a path acquisition module, a gravity acquisition module and an evaluation and analysis module;

[0068] The acceleration acquisition module acquires the acceleration data of the cargo in the x, y and z directions during the transmission process of the robot arm through a three-axis acceleration sensor;

[0069] The path acquisition module acquires the displacement data of the cargo in the x, y and z directions during the transmission process of the robot arm through the displacement sensor;

[0070] The gravity acquisition module uses a gravity sensor to obtain the weight of the cargo during the transmission process of the robotic arm;

[0071] The evaluation and analysis module is used to evaluate the state of the robot arm based on the data obtained by the acceleration acquisition module, the path acquisition module and the gravity acquisition module.

[0072] Through the above technical solution, this embodiment collects the acceleration data and displacement data of the goods in the x, y, and z directions during the test of the transmission speed of the robot arm through the acceleration acquisition module and the path acquisition module respectively; collects the weight of the goods through the gravity acquisition module, and performs 4 stage tests on the transmission speed of the robot arm in turn according to the weight of the goods, and obtains the acceleration data of the goods in the x, y, and z directions in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, it is calculated by the formula Potential risk factor of the robot arm transmission process , avoid failure to discover potential risks during the testing process, resulting in accidents during use, and then continue to verify the results of the potential risk analysis to avoid misjudgment and losses.

[0073] The working process of the evaluation and analysis module includes:

[0074] The test of the robot arm transmission speed is divided into 4 test stages according to the weight of the cargo;

[0075] Obtain the acceleration of the cargo in the x, y, and z directions in each test phase;

[0076] Obtain the displacement data of the cargo in the x, y, and z directions in each test phase;

[0077] The robot arm status is evaluated based on the acceleration data and displacement data.

[0078] The process of dividing the test into four phases includes:

[0079] Get the mass M of the goods and compare the mass M of the goods with the preset target value , and Compare, among them, < < ;

[0080] When M≤ When , the transmission speed of the test robot arm is in the first stage;

[0081] when <M≤ When , the transmission speed of the test robot arm is in the second stage;

[0082] when <M≤ When , the transmission speed of the test robot arm is in the third stage;

[0083] When M> When the transmission speed of the test robot arm is in the fourth stage.

[0084] Through the above technical solution, the working process of the evaluation and analysis module in this embodiment includes: dividing the transmission speed of the test robot arm into 4 test stages according to the weight of the cargo; when M≤ When , the transmission speed of the test robot arm is in the first stage; when <M≤ When , the transmission speed of the test robot arm is in the second stage; when <M≤ When M> When the transmission speed of the test robot arm is in the fourth stage.

[0085] The working process of evaluating the state of the robot arm includes:

[0086] Obtain the acceleration data of the cargo in the x, y, and z directions in the i-th stage, and fit the acceleration curves of the cargo in the x, y, and z directions over time respectively , and ;

[0087] If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robotic arm. Otherwise, the current state of the robotic arm continues to be judged.

[0088] The process of continuing to determine the current state of the robot arm includes:

[0089] The potential risk factor of the robot arm transmission process is calculated by the following formula :

[0090] ;

[0091] In the formula, , and They are the influencing parameters in the three directions of x, y and z, , and are the weight coefficients of the parameters affecting the three directions of x, y and z respectively;

[0092] The potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm.

[0093] Through the above technical solution, this embodiment obtains the acceleration data of the goods in the x, y, and z directions in the i-th stage, and fits the acceleration change curves of the goods in the x, y, and z directions over time respectively. , and If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, Calculate the potential risk factor of the robot arm transmission process and convert the potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm.

[0094] The x-direction influencing parameter is obtained by the following formula:

[0095] ,

[0096] The y-direction influencing parameter is obtained by the following formula:

[0097] ,

[0098] The z-direction influencing parameter is obtained by the following formula:

[0099] ,

[0100] Where, i∈[1,4]; is the starting time of the i-th stage, is the end time of the i-th stage, is the total duration of the i-th stage, , and They are the standard curves of the acceleration of the cargo in the x, y, and z directions over time in the i-th stage, is the weight coefficient corresponding to the i-th stage.

[0101] Through the above technical solution, this embodiment will be the acceleration of the goods in the x, y, z directions over time curve , and The standard curves of the acceleration of the cargo in the x, y, and z directions over time in the i-th stage , and Compare and calculate the influencing parameters in the x, y, and z directions based on the weight of the goods at each stage.

[0102] The weight coefficient , and The acquisition process includes:

[0103] Get the displacement of goods in the x, y, and z directions , and ;

[0104] The weight coefficient is calculated by the following formula :

[0105] ,

[0106] The weight coefficient is calculated by the following formula :

[0107] ,

[0108] The weight coefficient is calculated by the following formula :

[0109] ,

[0110] In the formula, is the displacement-weight conversion function.

[0111] Through the above technical solution, this embodiment obtains the displacement of the goods in the three directions of x, y and z through the path acquisition module. , and , and then through the displacement-weight conversion function , respectively calculate the weight coefficient , and .

[0112] In the above embodiment, the displacement-weight conversion function The dependent variables are , and , the independent variables are , and , dependent variable , and They are obtained by multiplying the corresponding independent variables by the corresponding conversion coefficients, wherein the conversion coefficients are obtained by substituting historical data into the trained neural network model.

[0113] The weight coefficient corresponding to the i-th stage is determined by the mass M of the goods, and .

[0114] When there is a potential risk in the current state of the robot arm, continue to test the robot arm in the fourth stage to obtain the acceleration curve of the cargo in the x, y, and z directions over time in the fourth stage. , and ;

[0115] The curve of the combined acceleration of the cargo over time in the fourth stage is calculated by the following formula:

[0116] ,

[0117] The combined acceleration influence parameter is calculated by the following formula :

[0118] ,

[0119] In the formula, The fourth stage is the initial time. The fourth stage ends. The total duration of the fourth stage is It is the standard curve of combined acceleration for stage 4 goods;

[0120] The combined acceleration affects the parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

[0121] Through the above technical solution, when the evaluation and analysis module determines that there is a potential risk in the current state of the robot arm, the robot arm will continue to be tested in the fourth stage, and the acceleration curve of the cargo in the three directions of x, y, and z in the fourth stage will be obtained. , and , and calculate the curve of the combined acceleration changing with time in the fourth stage , and then calculate the curve of the combined acceleration changing with time in the fourth stage Compare with the combined acceleration standard curve of the fourth stage goods to calculate the combined acceleration impact parameters , the combined acceleration affects the parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

[0122] A method for using a sampling evaluation system for testing a transmission speed of a robot module, the method comprising the following steps:

[0123] Step S1, respectively collecting acceleration data and displacement data of the cargo in the x, y, and z directions during the mechanical arm transmission speed test through the acceleration collection module and the path collection module;

[0124] Step S2: The weight of the cargo is collected by the gravity collection module, and the transmission speed of the robot arm is tested in four stages according to the weight of the cargo;

[0125] Step S3, obtaining the acceleration data of the cargo in the three directions of x, y, and z in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, proceed to step S4;

[0126] Step S4: Calculate by formula Potential risk factor of the robot arm transmission process ;

[0127] Step S5: Potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm, and the process goes to step S6;

[0128] Step S6: Continue to perform the fourth stage test on the robot arm and calculate the fourth stage combined acceleration influence parameters ;

[0129] Step S7: Combine acceleration influence parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

[0130] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A sampling and evaluation system for testing the transmission speed of a robot module, characterized in that: It includes acceleration acquisition module, path acquisition module, gravity acquisition module and evaluation and analysis module; The acceleration acquisition module acquires the acceleration data of the cargo in the x, y and z directions during the transmission process of the robot arm through a three-axis acceleration sensor; The path acquisition module acquires the displacement data of the cargo in the x, y and z directions during the transmission process of the robot arm through the displacement sensor; The gravity acquisition module uses a gravity sensor to obtain the weight of the cargo during the transmission process of the robotic arm; An evaluation and analysis module, used to evaluate the state of the robot arm based on the data acquired by the acceleration acquisition module, the path acquisition module and the gravity acquisition module; The working process of the evaluation and analysis module includes: The test of the robot arm transmission speed is divided into 4 test stages according to the weight of the cargo; Obtain the acceleration of the cargo in the x, y, and z directions in each test phase; Obtain the displacement data of the cargo in the x, y, and z directions in each test phase; Evaluate the state of the robot arm based on acceleration data and displacement data; The process of dividing the test into four phases includes: Get the mass M of the goods and compare the mass M of the goods with the preset target value , and Compare, among them, < < ; When M≤ When , the transmission speed of the test robot arm is in the first stage; when <M≤ When , the transmission speed of the test robot arm is in the second stage; when <M≤ When , the transmission speed of the test robot arm is in the third stage; When M> When , the transmission speed of the test robot arm is in the fourth stage; The working process of evaluating the state of the robot arm includes: Obtain the acceleration data of the cargo in the x, y, and z directions in the i-th stage, and fit the acceleration curves of the cargo in the x, y, and z directions over time respectively , and ; If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, the current state of the robot arm continues to be judged; The process of continuing to determine the current state of the robot arm includes: The potential risk factor of the robot arm transmission process is calculated by the following formula : ； In the formula, , and They are the influencing parameters in the three directions of x, y and z, , and They are the weight coefficients of the parameters affecting the three directions of x, y and z respectively; The potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm; The x-direction influencing parameter is obtained by the following formula: ； The y-direction influencing parameter is obtained by the following formula: ； The z-direction influencing parameter is obtained by the following formula: ； Where, i∈[1,4]; is the starting time of the i-th stage, is the end time of the i-th stage, is the total duration of the i-th stage, , and They are the standard curves of the acceleration of the cargo in the x, y, and z directions over time in the i-th stage, is the weight coefficient corresponding to the i-th stage; When there is a potential risk in the current state of the robot arm, continue to test the robot arm in the fourth stage to obtain the acceleration curve of the cargo in the x, y, and z directions over time in the fourth stage. , and ; The curve of the combined acceleration of the cargo over time in the fourth stage is calculated by the following formula: ； The combined acceleration influence parameter is calculated by the following formula : ； In the formula, The fourth stage initial time, The fourth stage ends. The total duration of the fourth stage is It is the standard curve of combined acceleration for stage 4 goods; The combined acceleration affects the parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

2. A sampling and evaluation system for testing the transmission speed of a robot module according to claim 1, characterized in that: The weight coefficient , and The acquisition process includes: Get the displacement of goods in the x, y, and z directions , and ; The weight coefficient is calculated by the following formula : The weight coefficient is calculated by the following formula : The weight coefficient is calculated by the following formula : Where f is the displacement-weight conversion function.

3. A sampling and evaluation system for testing the transmission speed of a robot module according to claim 2, characterized in that: The weight coefficient corresponding to the i-th stage is determined by the mass M of the goods, and .

4. A method for using the sampling and evaluation system for testing the transmission speed of a robot module according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: Step S1, respectively collecting acceleration data and displacement data of the cargo in the x, y, and z directions during the mechanical arm transmission speed test through the acceleration collection module and the path collection module; Step S2: The weight of the cargo is collected by the gravity collection module, and the transmission speed of the robot arm is tested in four stages according to the weight of the cargo; Step S3, obtaining the acceleration data of the cargo in the x, y, and z directions in the i-th stage. If the acceleration in a certain direction at a certain moment is greater than the set threshold, it means that there is a risk in the current state of the robot arm. Otherwise, proceed to step S4; Step S4: Calculate by formula Potential risk factor of the robot arm transmission process ; Step S5: Potential risk factor and setting potential risk factor thresholds Compare, if Greater than , it means that there is a potential risk in the current state of the robot arm, and the process goes to step S6; Step S6: Continue to perform the fourth stage test on the robot arm and calculate the fourth stage combined acceleration influence parameters ; Step S7: Combine acceleration influence parameters Compared with the set threshold, if the combined acceleration affects the parameter If it is greater than the set threshold, the potential risk analysis result is normal; otherwise, the potential risk analysis result is abnormal and the test continues.

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