Operation efficiency comprehensive evaluation system suitable for industrial robot

Abstract

The invention provides an operation efficiency comprehensive evaluation system suitable for an industrial robot. The operation efficiency comprehensive evaluation system comprises a data acquisition module, an index calculation module and an efficiency evaluation module, the data acquisition module is used for acquiring operation information of multiple times of operation of the industrial robot; the index calculation module is used for processing the operation information to obtain an initial efficiency evaluation value and a sub-operation efficiency evaluation value of each sub-robot in the industrial robot; the efficiency evaluation module corrects the initial efficiency evaluation value based on the sub-operation efficiency evaluation value to obtain an operation efficiency comprehensive evaluation value; the industrial robot is comprehensively evaluated, the influence of manual operation on the efficiency of the industrial robot is reduced, and the accuracy of the calculated operation efficiency evaluation value of the industrial robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a comprehensive evaluation system for operating efficiency of industrial robots. Background Art

[0002] Automation and intelligent manufacturing technologies have become an indispensable part of modern industrial production. Industrial robots are mechanical devices used in automated production processes. They can perform various repetitive and complex tasks and are widely used in manufacturing, food, and medical industries. Industrial robots are usually composed of robotic arms, actuators, sensors, and control systems. The existing technology relies on a variety of methods and tools to evaluate the operating efficiency of industrial robots, including setting key performance indicators (KPIs) for performance analysis, real-time data collection through sensors and monitoring systems, using computer simulation and modeling to predict and optimize efficiency, implementing energy efficiency management systems to monitor energy consumption, applying fault diagnosis for timely maintenance, and using intelligent algorithms and machine learning for data analysis. However, the existing methods for calculating the operating efficiency of industrial robots are relatively simple, and because some industrial robots are composed of multiple sub-robots, there may be some manual operations between the sub-robots, which causes the calculated operating efficiency to be greatly affected, making the efficiency evaluation value inaccurate.

[0003] In view of this, the present invention proposes a comprehensive evaluation system for the operating efficiency of industrial robots, so as to conduct a comprehensive and comprehensive evaluation of industrial robots, reduce the impact of manual operation on the efficiency of industrial robots, and improve the accuracy of the calculated operating efficiency evaluation value of industrial robots. Summary of the invention

[0004] The object of the present invention is to provide a comprehensive evaluation system for the operation efficiency of an industrial robot, comprising a data acquisition module, an index calculation module and an efficiency evaluation module; the data acquisition module is used to obtain the operation information of the industrial robot after multiple operations; the index calculation module is used to process the operation information to obtain an initial efficiency evaluation value and a sub-operation efficiency evaluation value of each sub-robot in the industrial robot; the efficiency evaluation module corrects the initial efficiency evaluation value based on the sub-operation efficiency evaluation value to obtain a comprehensive evaluation value of the operation efficiency.

[0005] The present invention calculates the operating efficiency evaluation value of each sub-robot and evaluates the overall operating efficiency of the industrial robot through the sub-operating efficiency evaluation values, thereby reducing the interference of manual operation on the final result and improving the accuracy of the result.

[0006] Furthermore, the data acquisition module includes a standard energy consumption acquisition unit, an actual energy consumption acquisition unit, an effective energy consumption acquisition unit and a production data acquisition unit; the standard energy consumption acquisition unit is used to collect standard energy consumption; the actual energy consumption acquisition unit is used to collect actual energy consumption; the effective energy consumption acquisition unit is used to collect effective energy consumption; and the production data acquisition unit is used to collect production data.

[0007] Furthermore, the index calculation module includes an initial efficiency calculation unit, and the initial efficiency calculation unit calculates the initial efficiency evaluation value using the expression: Among them, F0 represents the initial efficiency evaluation value; μ1 and μ2 represent the first output weight and the second output weight respectively; E F Indicates effective energy consumption; E S represents the standard energy consumption data; Q represents the total amount of tasks completed by the industrial robot during operation; η represents the qualified rate of the task; λ1 represents the first input weight; E C Represents actual energy consumption. By comprehensively considering multiple factors (such as initial efficiency evaluation value, effective energy consumption, and total task volume, etc.), the initial efficiency evaluation value can be calculated to fully reflect the robot's operating efficiency. By introducing weights, multiple parameters can be standardized into one efficiency evaluation value, which is helpful for subsequent applications.

[0008] Further, the index calculation module includes a sub-operation efficiency calculation unit, which includes an ideal joint trajectory calculation component, an actual joint trajectory acquisition component, a joint impact acquisition component, a trajectory fitting component, a joint stability calculation component and a data processing component; the ideal joint trajectory calculation component determines the ideal joint trajectory based on the joint command information of the sub-robot; the actual joint trajectory acquisition component determines the actual joint trajectory based on the joint operation information of the sub-robot; the joint impact acquisition component is used to obtain the joint impact; the trajectory fitting component is used to determine the fit between the ideal joint trajectory and the actual joint trajectory; the joint stability calculation component determines the joint stability based on the actuator information of the end effector of the sub-robot; the data processing component is used to process the fit, the joint stability and the joint impact to obtain the sub-operation efficiency evaluation value. By calculating the joint stability, trajectory fitting and joint impact of the sub-robot, the accuracy of efficiency evaluation can be improved, dynamic performance can be evaluated and potential faults can be identified, while allowing the adaptive adjustment of the sub-robot to ensure the efficient performance of the robot in different tasks. This method can also help identify key influencing factors to optimize operations, improve safety and extend the service life of equipment.

[0009] Further, the joint command information includes a joint position sequence indicating joint movement, and the expression for calculating the ideal joint trajectory by the ideal joint trajectory calculation component is: t=P s +t 2 t t (3-2t); Among them, P t represents the position of the joint at time t in the process of the joint moving from the initial position to the specified position; P s represents the initial position; P e Indicates the specified position; t indicates the time variable; t t Represents the time parameter; t e Indicates the indicated time for joint movement.

[0010] Furthermore, the trajectory fitting component determines the fitting degree by the expression: Among them, G f represents the degree of fit between the ideal joint trajectory and the actual joint trajectory; n represents the trajectory segment variable; N represents the total number of trajectory segments; m represents the fitting point variable; M n represents the total number of fitting points of the nth trajectory; P m represents the position of the ideal joint trajectory at the mth fitting point; P m ′ represents the position of the actual joint trajectory at the mth fitting point; represents the average value of the ideal joint trajectory; P n represents the terminal position of the ideal joint trajectory in the nth segment; P n ′ represents the terminal position of the actual joint trajectory in the nth segment.

[0011] Furthermore, the expression for obtaining the joint impact by the joint impact obtaining component is: s t ≤s max ; Among them, S J represents joint impact; n represents the trajectory segment variable; N represents the total number of trajectory segments; t n Indicates the duration of the nth trajectory; s t Indicates impact of joints; Indicates the integration of time; s max Indicates the maximum impact allowed for a joint.

[0012] Furthermore, the expression for calculating the joint stability by the joint stability calculation component is: Among them, S D represents the joint stability; n represents the trajectory segment variable; N represents the total number of trajectory segments; J n represents the Jacobian matrix established based on the pose of the end effector of the nth trajectory segment; ||J n || represents the norm of the Jacobian matrix; represents the norm of the inverse matrix of the Jacobian matrix; ||*||2 represents the L2 norm; Pn represents the terminal position of the ideal joint trajectory in the nth segment; P n ′ represents the terminal position of the actual joint trajectory in the nth segment.

[0013] Furthermore, the expression for calculating the sub-operation efficiency evaluation value of the data processing component is: Among them, F M represents the sub-operation efficiency evaluation value; γ1 represents the first sub-weight; γ2 represents the second sub-weight; γ3 represents the third sub-weight.

[0014] Furthermore, the efficiency evaluation module uses the product of the initial efficiency evaluation value and the sub-operation efficiency evaluation value as the comprehensive operation efficiency evaluation value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 An exemplary schematic diagram of a comprehensive evaluation system for operating efficiency of an industrial robot provided by the present invention;

[0016] Figure 2 An exemplary schematic diagram of a sub-operation efficiency calculation unit provided by the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0018] Figure 1 An exemplary schematic diagram of a comprehensive evaluation system for operating efficiency of an industrial robot provided by the present invention.

[0019] like Figure 1 As shown, the comprehensive evaluation system for the operation efficiency of industrial robots proposed in the present invention includes a data acquisition module 2, an index calculation module 3 and an efficiency evaluation module 4.

[0020] The data acquisition module 2 is used to obtain the operation information of the industrial robot 1 during multiple operations.

[0021] Operation information may refer to information related to the operation of the industrial robot. For example, the operation information may include standard energy consumption, actual energy consumption, effective energy consumption and production data. The data acquisition module includes a standard energy consumption acquisition unit 21, an actual energy consumption acquisition unit 22, an effective energy consumption acquisition unit 23 and a production data acquisition unit 24. The standard energy consumption acquisition unit is used to collect standard energy consumption; the actual energy consumption acquisition unit is used to collect actual energy consumption; the effective energy consumption acquisition unit is used to collect effective energy consumption; and the production data acquisition unit is used to collect production data. Standard energy consumption may refer to the energy consumption of the industrial robot under specific working conditions. For example, the energy consumption of the industrial robot during multiple cycle working times under standard production conditions. Actual energy consumption may refer to the energy consumption of the industrial robot during actual work. Effective energy consumption may refer to the energy consumption of the industrial robot used to produce products. Production data may refer to data related to the production of the industrial robot. For example, production data may include production products, production time, qualification rate of production tasks and production volume.

[0022] The index calculation module 3 is used to process the operation information to obtain an initial efficiency evaluation value and a sub-operation efficiency evaluation value of each sub-robot in the industrial robot. The industrial robot may include multiple sub-robots, and the components are assembled and processed in sequence by the multiple sub-robots to obtain the final product.

[0023] The index calculation module includes an initial efficiency calculation unit 31, and the initial efficiency calculation unit calculates the initial efficiency evaluation value as follows:

[0024]

[0025] Among them, F0 represents the initial efficiency evaluation value; μ1 and μ2 represent the first output weight and the second output weight respectively; E F Indicates effective energy consumption; E S represents the standard energy consumption data; Q represents the total amount of tasks completed by the industrial robot during operation; η represents the qualified rate of the task; λ1 represents the first input weight; E C Represents the actual energy consumption. The output weight and input weight can be obtained through various feasible weight calculation methods, including but not limited to hierarchical analysis method, expert evaluation, statistical analysis and machine learning.

[0026] The index calculation module includes a sub-operation efficiency calculation unit 32, such as Figure 2 As shown, the sub-operation efficiency calculation unit includes an ideal joint trajectory calculation component 321, an actual joint trajectory acquisition component 322, a joint impact acquisition component 323, a trajectory fitting component 324, a joint stability calculation component 325 and a data processing component 326;

[0027] The ideal joint trajectory calculation component determines the ideal joint trajectory based on the joint command information of the sub-robot. The joint command information is used to indicate the movement posture of the joint. The ideal joint trajectory refers to the calculated ideal joint change trajectory. The joint command information includes a joint position sequence indicating the movement of the joint, and the joint position sequence may include multiple position information of the joint movement. The expression for calculating the ideal joint trajectory by the ideal joint trajectory calculation component is:

[0028] P t =P s +t 2 t t (3-2t);

[0029]

[0030] Among them, P t represents the position of the joint at time t in the process of the joint moving from the initial position to the specified position; P s represents the initial position; P e represents the specified position; t represents the time variable; t t Represents the time parameter; t e Indicates the indicated time of joint movement. The initial position may refer to the position when the joint starts to move. The specified position may refer to the position that the joint instruction information indicates the joint to move to, for example, the specified position is the next position of the current position in the joint position sequence.

[0031] The actual joint trajectory acquisition component determines the actual joint trajectory based on the joint operation information of the sub-robot. The joint operation information may refer to the information of the movement made by the joint according to the joint command information. The actual joint trajectory may refer to the change trajectory formed by the joint in the actual operation.

[0032] The joint impact acquisition component is used to acquire joint impact. Joint impact refers to the force or impact on the joint during the movement of the robot, which can be measured by sensors. The expression for acquiring joint impact by the joint impact acquisition component is:

[0033]

[0034] s t ≤s max ;

[0035] Among them, S J represents joint impact; n represents the trajectory segment variable; N represents the total number of trajectory segments; t n Indicates the duration of the nth trajectory; s t Indicates impact of joints; Indicates the integration of time; s max Indicates the maximum impact allowed for a joint.

[0036] The trajectory fitting component is used to determine the fit between the ideal joint trajectory and the actual joint trajectory. The fit can be used to measure whether the movement of the joint is ideal. The expression used by the trajectory fitting component to determine the fit is:

[0037]

[0038] Among them, G f represents the degree of fit between the ideal joint trajectory and the actual joint trajectory; n represents the trajectory segment variable; N represents the total number of trajectory segments; m represents the fitting point variable; M n represents the total number of fitting points of the nth trajectory; P m represents the position of the ideal joint trajectory at the mth fitting point; P m ′ represents the position of the actual joint trajectory at the mth fitting point; represents the average value of the ideal joint trajectory; P n represents the terminal position of the ideal joint trajectory in the nth segment; P n ′ represents the terminal position of the actual joint trajectory at the nth segment. The process of the joint moving from the first specified position to the next specified position can be regarded as a trajectory segment. The terminal position can refer to the position (pose) of the next specified position (pose).

[0039] The joint stability calculation component determines the joint stability based on the actuator information of the end effector of the sub-robot. The joint stability can be used to measure whether the movement of the joint is stable. The actuator information can refer to the information of the components in the robot that are responsible for performing movement and operation. The expression for calculating the joint stability by the joint stability calculation component is:

[0040]

[0041] Among them, S D represents the joint stability; n represents the trajectory segment variable; N represents the total number of trajectory segments; J n represents the Jacobian matrix established based on the pose of the end effector of the nth trajectory segment; ||J n || represents the norm of the Jacobian matrix; represents the norm of the inverse matrix of the Jacobian matrix; ||*||2 represents the L2 norm; P n represents the terminal position of the ideal joint trajectory in the nth segment; P n ' represents the terminal position of the actual joint trajectory at the nth segment of the trajectory. The posture of the end effector may refer to the posture change process of the end effector moving from the current actual posture to the next specified posture.

[0042] The data processing component is used to process the fit, the joint stability and the joint impact to obtain the sub-operation efficiency evaluation value. The expression for calculating the sub-operation efficiency evaluation value by the data processing component is:

[0043]

[0044] Among them, F M represents the sub-operation efficiency evaluation value; γ1 represents the first sub-weight; γ2 represents the second sub-weight; γ3 represents the third sub-weight. The output weight can be obtained through various feasible weight calculation methods, including but not limited to hierarchical analysis, expert evaluation, statistical analysis and machine learning.

[0045] The efficiency evaluation module 4 corrects the initial efficiency evaluation value based on the sub-operation efficiency evaluation value to obtain a comprehensive operation efficiency evaluation value. The efficiency evaluation module uses the product of the initial efficiency evaluation value and the sub-operation efficiency evaluation value as the comprehensive operation efficiency evaluation value.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A comprehensive evaluation system for the operation efficiency of industrial robots, characterized in that: It includes data collection module, index calculation module and efficiency evaluation module; The data acquisition module is used to obtain the operation information of the industrial robot during multiple operations; The index calculation module is used to process the operation information to obtain an initial efficiency evaluation value and a sub-operation efficiency evaluation value of each sub-robot in the industrial robot; The efficiency evaluation module corrects the initial efficiency evaluation value based on the sub-operation efficiency evaluation value to obtain a comprehensive operation efficiency evaluation value.

2. The comprehensive evaluation system for operating efficiency of industrial robots according to claim 1, characterized in that: The data collection module includes a standard energy consumption collection unit, an actual energy consumption collection unit, an effective energy consumption collection unit and a production data collection unit; The standard energy consumption collection unit is used to collect standard energy consumption; The actual energy consumption collection unit is used to collect actual energy consumption; The effective energy consumption collection unit is used to collect effective energy consumption; The production data collection unit is used to collect production data.

3. The comprehensive evaluation system for operating efficiency of industrial robots according to claim 2, characterized in that: The index calculation module includes an initial efficiency calculation unit, and the initial efficiency calculation unit calculates the initial efficiency evaluation value as follows: Among them, F0 represents the initial efficiency evaluation value; μ1 and μ2 represent the first output weight and the second output weight respectively; E F Indicates effective energy consumption; E S represents the standard energy consumption data; Q represents the total amount of tasks completed by the industrial robot during operation; η represents the qualified rate of the task; λ1 represents the first input weight; E C Indicates actual energy consumption.

4. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 1, characterized in that: The index calculation module includes a sub-operation efficiency calculation unit, and the sub-operation efficiency calculation unit includes an ideal joint trajectory calculation component, an actual joint trajectory acquisition component, a joint impact acquisition component, a trajectory fitting component, a joint stability calculation component and a data processing component; The ideal joint trajectory calculation component determines the ideal joint trajectory based on the joint command information of the sub-robot; The actual joint trajectory acquisition component determines the actual joint trajectory based on the joint operation information of the sub-robot; The joint impact acquisition component is used to acquire joint impact; The trajectory fitting component is used to determine the fit between the ideal joint trajectory and the actual joint trajectory; The joint stability calculation component determines the joint stability based on the actuator information of the end effector of the sub-robot; The data processing component is used to process the fitting degree, the joint stability and the joint impact to obtain the sub-operation efficiency evaluation value.

5. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 4, characterized in that: The joint command information includes a joint position sequence indicating joint movement, and the expression for calculating the ideal joint trajectory by the ideal joint trajectory calculation component is: P t =P s +t 2 t t (3-2t); Among them, P t represents the position of the joint at time t in the process of the joint moving from the initial position to the specified position; P s represents the initial position; P e Indicates the specified position; t indicates the time variable; t t Represents the time parameter; t e Indicates the indicated time for joint movement.

6. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 4, characterized in that: The trajectory fitting component determines the fitting degree by the expression: Among them, G f represents the degree of fit between the ideal joint trajectory and the actual joint trajectory; n represents the trajectory segment variable; N represents the total number of trajectory segments; m represents the fitting point variable; M n represents the total number of fitting points of the nth trajectory; P m represents the position of the ideal joint trajectory at the mth fitting point; P m ′ represents the position of the actual joint trajectory at the mth fitting point; represents the average value of the ideal joint trajectory; P n represents the terminal position of the ideal joint trajectory in the nth segment; P n ′ represents the terminal position of the actual joint trajectory in the nth segment.

7. The comprehensive evaluation system for operating efficiency of industrial robots according to claim 4, characterized in that: The expression for obtaining the joint impact by the joint impact obtaining component is: S t ≤S max ; Among them, S J represents joint impact; n represents the trajectory segment variable; N represents the total number of trajectory segments; t n Indicates the duration of the nth trajectory; s t Indicates impact of joints; Indicates the integration of time; s max Indicates the maximum impact allowed for a joint.

8. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 4, characterized in that: The expression for calculating the joint stability by the joint stability calculation component is: Among them, S D represents the joint stability; n represents the trajectory segment variable; N represents the total number of trajectory segments; J n represents the Jacobian matrix established based on the pose of the end effector of the nth trajectory segment; ||J n || represents the norm of the Jacobian matrix; represents the norm of the inverse matrix of the Jacobian matrix; ‖*||2 represents the L2 norm; P n represents the terminal position of the ideal joint trajectory in the nth segment; P n ′ represents the terminal position of the actual joint trajectory in the nth segment.

9. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 4, characterized in that: The expression for calculating the sub-operation efficiency evaluation value of the data processing component is: Among them, F M represents the sub-operation efficiency evaluation value; γ1 represents the first sub-weight; γ2 represents the second sub-weight; γ3 represents the third sub-weight.

10. The comprehensive evaluation system for operation efficiency of industrial robots according to claim 1, characterized in that: The efficiency evaluation module uses the product of the initial efficiency evaluation value and the sub-operation efficiency evaluation value as the comprehensive operation efficiency evaluation value.

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