Device and method for detecting shaking degree of tail end of industrial robot body

Abstract

The invention discloses a device and method for detecting the shaking degree of the tail end of an industrial robot body. The system belongs to the technical field of robot performance testing and comprises a robot control cabinet, a robot body, a jitter detection device and a local server. The method comprises the operation steps that the device is fixed to the tail end of an industrial robot and connected with a local server and a robot controller; sending the generated vibration data to a local server; regenerating a track, and traversing data generated in the movement process of all the tracks; setting a root-mean-square threshold value, a sample length and various initial position lengths, and repeatedly searching and intercepting the test data to obtain a jitter sample; a result is stored in a local server, and a detection report is generated. According to the invention, subjective feeling of human eyes on vibration of the industrial robot can be converted into objective quantitative measurement; meanwhile, the device adopts a wireless communication mode, supports simultaneous acquisition and comparative analysis of a plurality of devices, reduces the arrangement difficulty of a general sensor, and is not influenced by the movement of the detected robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot performance testing, and relates to a performance testing method focusing on vibration data analysis, a device for implementing the method, and an electronic device integrating the method; specifically, it relates to a method and device for detecting the degree of jitter of the end of an industrial robot body. Background Art

[0002] Industrial robots play an indispensable role in modern manufacturing and automation. They efficiently and accurately perform diverse tasks such as assembly, handling, welding, etc., which greatly promotes the improvement of production efficiency and product quality. However, with the continuous expansion of robot application areas and the increase in operation complexity, ensuring their motion stability and accuracy has become a crucial challenge. Among the many factors that affect the performance of robots, end jitter, as a key indicator, affects the performance of robots. Since robots experience jitter and resonance at low speeds, the human eye reacts slowly to rapidly changing phenomena, especially when switching quickly between high and low speeds. It may not be possible to accurately capture all the details, and it takes a lot of time. A time-saving device is needed to replace manual labor to do this work.

[0003] Newly produced industrial robots undergo a series of exit tests before leaving the factory, including objective accuracy tests, safety tests, etc., as well as subjective tests such as abnormal noise and jitter. Given that traditional jitter test methods are incapable of dealing with complex and changeable industrial robots, there is an urgent need for a more flexible and efficient device to complete the test, so as to achieve early detection and rapid response to potential faults of industrial robots before they leave the factory, thereby improving testing and maintenance efficiency and ensuring exit quality. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to propose a more flexible and efficient method and device for detecting the degree of jitter of the end of an industrial robot body, so as to realize the detection of the jitter state of the robot body and solve the limitations of the prior art, such as installation environment restrictions, high layout costs and cumbersome operations.

[0005] The technical solution of the present invention is: a device for detecting the degree of vibration of the end of an industrial robot body according to the present invention comprises a robot control cabinet and a robot body connected to each other by wires,

[0006] A vibration detection device is connected to the robot body;

[0007] A wireless communication module, a data processing unit, an alarm device and an acceleration sensor are arranged inside the vibration detection device;

[0008] A power switch, a red indicator light and a green indicator light are arranged on the outer wall of the vibration detection device.

[0009] A fixing hole is also provided on the outer wall of the vibration detection device.

[0010] Furthermore, the fixing hole of the vibration detection device is connected to the robot body through an installed connecting device;

[0011] The power switch is respectively connected to the wireless communication module, the data processing unit, the alarm device and the acceleration sensor through line connections;

[0012] The red indicator light and the green indicator light are connected to the data processing unit through lines.

[0013] Furthermore, a local server is also included, and the jitter detection device is connected to the local server via a wireless signal.

[0014] Furthermore, the method for detecting the degree of vibration of the end of the industrial robot body is characterized in that the detection steps are as follows:

[0015] Step (1): device deployment and communication establishment;

[0016] Step (2): parameter acquisition and motion area division;

[0017] Step (3): preliminary collection of vibration data;

[0018] Step (4): Depth test of key areas;

[0019] Step (5): abnormal trajectory identification;

[0020] Step (6): Generation of test report and early warning.

[0021] Furthermore, in step (1), the device has one or more acceleration sensors for fixing at the end of the industrial robot under test, and establishes a connection with a local server and a robot control cabinet through a wireless communication module; after setting the corresponding parameters, a stable data transmission link is established with the local server and the robot body controller through wireless transmission.

[0022] Furthermore, in step (2), the parameter acquisition and motion zone division are specifically as follows: the robot joint rigidity is obtained according to the static torque data of each axis collected in advance in the database, the motion space is divided according to the body rigidity parameters and the DH parameters and motion range of the robot body, a plurality of starting positions are randomly determined in each motion zone, a motion trajectory is generated and automatically runs.

[0023] Furthermore, in step (3), the preliminary collection of vibration data specifically includes: automatically collecting vibration data generated by the robot body during operation in different motion zones, and sending it to a local server, calculating the vibration intensity based on the collected data, and filtering out motion zones that exceed the threshold according to preset screening rules.

[0024] Furthermore, in step (4), the key area depth test is specifically: regenerating a plurality of trajectories in the motion area screened out based on step (3), automatically traversing all trajectories according to a preset speed range, automatically collecting all vibration data generated during the body movement, and sending it to the local server.

[0025] Furthermore, in step (5), the abnormal trajectory identification specifically includes: setting a root mean square threshold, a sample length, and a plurality of initial position lengths, repeatedly searching and intercepting the test data, and obtaining a jitter sample that fully reflects each motion condition;

[0026] Taking Morlet wavelet as the wavelet basis function, the terminal jitter time-frequency diagram is obtained through CWT calculation; the vibration intensity, peak-to-peak amplitude, skewness index and kurtosis index of different speeds and trajectories are calculated one by one, and the score of each trajectory is obtained based on the preset scoring model.

[0027] Furthermore, in step (6), the test report generation and warning are specifically: the result of step (5) is stored in the local server and compared with the local template to automatically generate a test report;

[0028] Automatically generate a detailed inspection report containing the robot's vibration intensity, abnormal trajectory information description and location information;

[0029] When the test result does not exceed the set threshold, the green indicator light on the surface of the device is always on; once the test result exceeds the set threshold, a command is sent to the device through the wireless communication module, triggering the red indicator light (6) on the surface of the device to light up, thereby realizing the visualization of the test result.

[0030] The beneficial effects of the present invention are as follows: the method and device for detecting the degree of jitter at the end of the industrial robot body in the present invention have the following advantages: first, the fixed position and mode can be determined according to the different load states of the product under test; second, the local server is wirelessly connected to the surrounding environment; then, the jitter test results and abnormal trajectories of the robot under test are directly given by comparing with historical data of the same model without presetting the relevant jitter indicators of the product under test; finally, the jitter condition of the robot under test can be intuitively judged through the indicator light on the surface of the equipment, which is convenient for the next step of maintenance and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a scene schematic diagram of the device of the present invention;

[0032] Figure 2 It is a schematic front view of the installation of the device of the present invention;

[0033] Figure 3 is a schematic diagram of a planar installation side view of the device of the present invention;

[0034] Figure 4 is a schematic top view of the track partition of the device of the present invention;

[0035] Figure 5 It is a flow chart of a method for detecting the degree of shaking of the end of an industrial robot body in the method of the present invention;

[0036] Figure 6 is a flow chart of data processing of the method of the present invention;

[0037] In the figure, 1 is the robot control cabinet, 2 is the robot body, 3 is the jitter detection device, 4 is the local server, 5 is the power switch, 6 is the red indicator light, 7 is the green indicator light, 8 is the fixing hole, and 9 is the connecting device. DETAILED DESCRIPTION

[0038] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0039] As shown in the figure, a device for detecting the degree of vibration of the end of an industrial robot body according to the present invention comprises a robot control cabinet 1 and a robot body 2 connected to each other by wires.

[0040] A vibration detection device 3 is connected to the robot body 2;

[0041] The vibration detection device 3 is internally provided with a wireless communication module, a data processing unit, an alarm device, an acceleration sensor and other related equipment;

[0042] A power switch 4, a red indicator light 5 and a green indicator light 6 are arranged on the outer wall of the vibration detection device 3.

[0043] A fixing hole 7 is also provided on the outer wall of the vibration detection device 3 .

[0044] Furthermore, the fixing hole 7 of the vibration detection device 3 is connected to the robot body 2 through the installed connecting device 9;

[0045] The power switch 4 is connected to the wireless communication module, the data processing unit, the alarm device and the acceleration sensor respectively through line connections;

[0046] The red indicator light 5 and the green indicator light 6 are connected to the data processing unit via lines.

[0047] Furthermore, a local server 4 is included, and the jitter detection device 3 is connected to the local server 4 via a wireless signal.

[0048] Specifically, the wireless communication module is used to perform data transmission with the local server 4;

[0049] The data processing unit is used to perform calculation tasks such as vibration signal preprocessing, trajectory generation, acceleration analysis, etc.;

[0050] The alarm device, such as an easily detectable module such as an LED light or a buzzer, is used to send out a warning signal when an abnormality is detected;

[0051] The user interaction interface (local server 4) optionally provides an interface for setting parameters, viewing test reports, and receiving warning information.

[0052] The device can obtain the robot joint rigidity according to the static torque data of each axis collected in advance in the database, divide the motion space according to the body rigidity parameters and the DH parameters and motion range of the robot body 2, automatically generate the motion trajectory based on the mechanical rigidity characteristics and posture characteristics and run automatically, so as to avoid unstable evaluation results due to experience differences of different personnel, which is more comprehensive and efficient than manual teaching programming; and send the data to the local server 4 for analysis by wireless transmission, so as to avoid the limitation of the trajectory of the robot body 2 due to the wired connection. The inspection personnel can not only intuitively judge whether there is an abnormal situation through the signal light on the device, but also view the detailed analysis report through the networked device, USB storage device or other data transmission methods.

[0053] Set the RMS threshold, sample length, and multiple initial position lengths, and repeatedly search and intercept the test data to obtain jitter samples that fully reflect each motion condition; use Morlet wavelet as the wavelet basis function and calculate the terminal jitter time-frequency diagram through CWT. Calculate the vibration intensity, peak-to-peak amplitude, skewness index, and kurtosis index of different speeds and trajectories one by one, and obtain the score of each trajectory based on the preset scoring model. Filter out the motion area that exceeds the threshold according to the corresponding product custom coefficient and preset screening rules.

[0054] The device can regenerate multiple trajectories based on the filtered motion area content, and automatically traverse all trajectories at each speed based on the preset speed range to be detected, so as to quickly and automatically determine whether there is abnormal low-speed jitter or resonance.

[0055] In addition to finding the trajectory of abnormal results, the device can also customize thresholds based on user needs and product characteristics, and compare them with the product's vibration data. When the calculated results exceed the preset threshold, the device will issue an over-limit prompt through an indicator light.

[0056] A method for detecting the degree of vibration of an industrial robot body end comprises the following steps:

[0057] S1: Device deployment and communication establishment step. The detection device has one or more acceleration sensors, which are used to be fixed on the surface of the end load of the industrial robot. According to the surface state of different loads, glue, magnetic base or threaded fixing method can be selected;

[0058] After assembly, the robot control cabinet 1, the jitter detection device 3 and the local server 4 are connected via wireless transmission, and a button is pressed to power on, so as to establish a stable data transmission link via wireless transmission;

[0059] S2: Parameter acquisition and motion zone division step, supporting the local server 4 to automatically read the body parameters in the robot control cabinet 1 by external signal triggering or timed automatic triggering; then the local server 4 divides a plurality of motion areas according to the rigidity characteristics and posture characteristics of the body machinery through an algorithm, randomly determines a plurality of starting positions in each motion area, generates a motion trajectory and automatically runs, and uploads the trajectory to the robot control cabinet 1 to control its automatic operation;

[0060] S3: a preliminary vibration data collection step, which automatically collects vibration data generated by the robot during operation in different motion zones, and sends the data to the local server 4, calculates the vibration intensity based on the collected data, and selects motion zones that exceed the threshold according to preset screening rules;

[0061] S4: key area in-depth testing step, regenerating several trajectories in the motion area screened out based on S3, automatically traversing all trajectories according to the preset speed range, automatically collecting all vibration data generated during the robot's motion, and sending it to the local server 4 as a basis for the robot's jitter analysis;

[0062] S5: Abnormal trajectory identification step; set the RMS threshold, sample length, and multiple initial position lengths, and repeatedly search and intercept the test data to obtain jitter samples that fully reflect each motion condition. Using Morlet wavelet as the wavelet basis function, the terminal jitter time-frequency diagram is obtained through CWT calculation;

[0063] The vibration severity, peak-to-peak amplitude, skewness index and kurtosis index of different speeds and different trajectories are calculated one by one, and the score of each trajectory is obtained based on the preset scoring model. These trajectories with abnormal scores indicate some potential faults or problems of the robot body 1; see Figure 6 ;

[0064] S6: Test report generation and early warning step, test report generation and early warning step, the result of step S5 is stored in the local server 4, and a detailed test report containing information such as the robot vibration intensity, abnormal trajectory information description and location is automatically generated; when the test result does not exceed the set threshold, the green indicator light 7 on the surface of the device is always on; once the test result exceeds the set threshold, an instruction is sent to the device through the wireless communication module, triggering the red indicator light 6 on the surface of the device to light up, thereby realizing the visualization of the test result.

[0065] The detection method and device for the degree of vibration of the end of the industrial robot body 1 can, firstly, determine the fixed position and mode according to the surface state of different loads; secondly, use wireless transmission to connect to the local server according to the surrounding environment; then, directly analyze the collected data without presetting the relevant motion indicators of the tested product; finally, intuitively judge the fault state of the equipment through the indicator light on the surface of the equipment, so that the user can respond quickly.

Claims

1. A device for detecting the degree of vibration of the end of an industrial robot body, characterized in that: It includes a robot control cabinet and a robot body connected to each other by wires. A vibration detection device is connected to the robot body; A wireless communication module, a data processing unit, an alarm device and an acceleration sensor are arranged inside the vibration detection device; A power switch, a red indicator light and a green indicator light are arranged on the outer wall of the vibration detection device. A fixing hole is also provided on the outer wall of the vibration detection device.

2. The device for detecting the degree of vibration of the end of an industrial robot body according to claim 1, characterized in that: The fixing hole of the vibration detection device is connected to the robot body through an installed connecting device; The power switch is respectively connected to the wireless communication module, the data processing unit, the alarm device and the acceleration sensor through line connections; The red indicator light and the green indicator light are connected to the data processing unit through lines.

3. The device for detecting the degree of vibration of the end of an industrial robot body according to claim 1, characterized in that: It also includes a local server, and the jitter detection device is connected to the local server via a wireless signal.

4. A method for detecting the degree of vibration of the end of an industrial robot body according to any one of claims 1 to 3, characterized in that: The detection steps are as follows: Step (1): device deployment and communication establishment; Step (2): parameter acquisition and motion area division; Step (3): preliminary collection of vibration data; Step (4): Depth test of key areas; Step (5): abnormal trajectory identification; Step (6): Generation of test report and early warning.

5. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (1), the device has one or more acceleration sensors for fixing at the end of the industrial robot under test, and establishes a connection with a local server and a robot control cabinet through a wireless communication module; after setting the corresponding parameters, a stable data transmission link is established with the local server and the robot body controller through wireless transmission.

6. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (2), the parameter acquisition and motion zone division are specifically as follows: the robot joint rigidity is obtained according to the static torque data of each axis collected in advance in the database, the motion space is divided according to the body rigidity parameters and the DH parameters and motion range of the robot body, a plurality of starting positions are randomly determined in each motion zone, a motion trajectory is generated and the motion is automatically run.

7. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (3), the preliminary collection of vibration data specifically includes: automatically collecting vibration data generated by the robot body during operation in different motion zones, and sending it to a local server, calculating the vibration intensity based on the collected data, and filtering out motion zones that exceed the threshold according to preset screening rules.

8. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (4), the key area depth test is specifically: regenerating a number of trajectories in the motion area screened out based on step (3), automatically traversing all trajectories according to a preset speed range, automatically collecting all vibration data generated during the movement of the robot body, and sending it to the local server.

9. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (5), the abnormal trajectory identification specifically includes: setting a root mean square threshold, a sample length, and multiple initial position lengths, repeatedly searching and intercepting the test data, and obtaining jitter samples that fully reflect various motion conditions; Taking Morlet wavelet as the wavelet basis function, the terminal jitter time-frequency diagram is obtained through CWT calculation; the vibration intensity, peak-to-peak amplitude, skewness index and kurtosis index of different speeds and trajectories are calculated one by one, and the score of each trajectory is obtained based on the preset scoring model.

10. The method for detecting the degree of vibration of the end of an industrial robot body according to claim 4, characterized in that: In step (6), the test report generation and warning are specifically: the result of the step is stored in the local server, and compared with the local template to automatically generate a test report; Automatically generate a detailed inspection report containing the robot's vibration intensity, abnormal trajectory information description and location information; When the test result does not exceed the set threshold, the green indicator light on the surface of the device is always on; once the test result exceeds the set threshold, an instruction is sent to the device through the wireless communication module, triggering the red indicator light on the surface of the device to light up on the local server, thereby realizing the visualization of the test results.

Images