Servo motor test system and method based on data identification

Abstract

The invention discloses a servo motor test system and method based on data identification, and relates to the technical field of servo motor testing, and the system comprises a database which stores historical test data and a test model of a servo motor, and provides a reference standard for testing; the image monitoring module is used for identifying the position of the servo motor and sending a detection instruction to the detection module based on an identification result; and the image monitoring module identifies the output part of the servo motor during detection of the servo motor, acquires image data of the output part when the output part moves, and respectively records a timestamp II and a timestamp III of starting and stopping of the output part. According to the invention, comprehensive evaluation of the performance of the servo motor is realized through cooperative work, the image monitoring module can accurately identify the position of the servo motor and collect image data of the output part of the motor in real time, and start delay and action completion time are calculated in combination with timestamps, so that the accuracy of test data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor testing, and specifically to a servo motor testing system and method based on data recognition. Background Art

[0002] Servo motors are widely used in high-precision fields such as automation equipment, robots, and precision machining. The stability of their performance directly affects the overall operation quality and lifespan of the equipment. With the development of industrial intelligence, the requirements for the performance detection and quality assessment of servo motors are increasing day by day; Most traditional servo motor testing methods are based on the measurement of single physical parameters, such as current, voltage, torque, etc., and they cover fewer quality characteristic factors of servo motors; After retrieval, Chinese Patent (Publication No.: CN114019373B) discloses an efficient servo motor automatic testing system. This patent includes: a power supply module for supplying direct current; a temperature detection and amplification module for detecting the temperature signal of the servo motor, amplifying it, and outputting it to the temperature comparison module; a temperature comparison module for sampling the amplified temperature signal and sending a signal to the temperature switch protection module when the temperature exceeds the threshold; a temperature switch protection module for forming a self-locking circuit.

[0003] And currently, although some servo motor testing systems on the market have adopted databases to store test data and establish historical test models, these models are usually only used for simple pass / fail determination and cannot dynamically adjust detection parameters or perform multi-dimensional matching analysis, resulting in lower test accuracy and reliability under different loads and working conditions. Therefore, the present invention proposes a servo motor testing system and method based on data recognition. Summary of the Invention

[0004] The purpose of the present invention is to provide a servo motor testing system and method based on data recognition to solve the problems mentioned in the above background art.

[0005] The present invention can be achieved through the following technical solutions: A servo motor testing system based on data recognition includes at least one group of image monitoring modules, at least one group of detection modules, a processing module, and a database; The database establishes corresponding test models based on the historical test data and experience of servo motors of corresponding models; The image monitoring module and the detection module are respectively matched with a test station of a servo motor. After the servo motor enters the test station, the image monitoring module first identifies the position of the servo motor. After successful identification, it sends a detection instruction to the detection module. Based on the detection instruction, the detection module connects with the servo motor to facilitate its testing; The detection module includes an electronic control unit, a temperature monitoring unit, and a working monitoring unit; The electronic control unit is set with at least one group of voltage and current values as detection signals. And each time the electronic control unit transmits a detection signal, it monitors the input voltage and current through the corresponding sensor to ensure that the input signal is stable and meets the design specifications. At the same time, the electronic control unit records the corresponding timestamp Ⅰ and transmits the timestamp Ⅰ to the processing module; The image monitoring module is used to identify the output part of the servo motor. And when the output part of the servo motor moves, it collects the image data of the output part of the servo motor. And when the output part of the servo motor starts and stops moving, the image monitoring module records the corresponding timestamp Ⅱ and timestamp Ⅲ respectively. Subsequently, the image monitoring module transmits the image data and timestamp Ⅱ to the processing module; The processing module compares timestamp Ⅱ with timestamp Ⅰ, timestamp Ⅲ and timestamp Ⅱ respectively to obtain the start-up delay and action completion time of the corresponding servo motor; The start-up delay is obtained by the processing module calculating the difference between timestamp Ⅱ and timestamp Ⅰ; The action completion time is obtained by the processing module calculating the difference between timestamp Ⅲ and timestamp Ⅱ; The temperature monitoring unit is used to monitor the heat generation information of the servo motor during the servo motor test, and the temperature monitoring unit uploads the heat generation information of the servo motor to the processing module; The working monitoring unit is used to monitor the torque data, vibration information and noise information of the servo motor during the servo motor test by using the corresponding sensor, and uploads them to the processing module; And the image monitoring module, the detection module and the processing module adopt the same clock source to synchronize the clock; The processing module retrieves the corresponding test model from the database based on the model of the tested servo motor. And the processing module matches the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information of the tested servo motor with the test model to obtain the test result of the corresponding servo motor.

[0006] A further technical improvement of the present invention is that: the image monitoring module pre-calculates its own delay, and when recording the corresponding timestamp Ⅰ, timestamp Ⅱ and timestamp Ⅲ, it corrects timestamp Ⅰ, timestamp Ⅱ and timestamp Ⅲ based on its own delay. The calculation method of the self-delay of the image monitoring module includes the following steps: A1. Under the condition of no load of the servo motor, start the image monitoring module, and measure its delay value by recording the start signal (timestamp Ⅰ) of the electronic control unit and the response time (timestamp Ⅱ) of the image monitoring module to the motor movement; A2. Conduct multiple tests. Under different conditions (such as voltage change, load change), record the delay values of the image monitoring module respectively, and establish a delay compensation model by means of mean value or standard deviation. A3. Extract the delay characteristics of the image monitoring module, and establish a linear regression mathematical model to fit the delay characteristics, so as to obtain a delay correction factor, which is used to represent the relationship between the delay of the image monitoring module and factors such as the motor state and sensor data. The corrected timestamp II = timestamp II - delay correction factor. The corrected timestamp III = timestamp III - delay correction factor.

[0007] A further technical improvement of the present invention lies in that: the test model is preset with qualified thresholds corresponding to start-up delay, action completion time, heat generation information, torque data, vibration information and noise information. After any one of the start-up delay, action completion time, heat generation information, torque data, vibration information or noise information does not match the corresponding qualified threshold, the processing module determines that the servo motor is abnormal.

[0008] A further technical improvement of the present invention lies in that: when the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information are all less than the corresponding qualified thresholds; The processing module calculates the differences between the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information and the corresponding qualified thresholds. After normalizing each difference, combining its preset weights, and adding them together to generate a test score corresponding to the servo motor. The tester can classify the quality of the servo motor by presetting different ranges of the test score.

[0009] A further technical improvement of the present invention lies in that: the electronic control unit controls the output part of the servo motor to rotate at a constant speed. The processing module divides the image data collected by the image monitoring module into multiple segments, calculates the rotation angle of the output part of the servo motor in each segment of image data, and calculates the rotation angle fluctuation B of the servo motor through the formula. The formula used is: ; In the formula, is the rotation angle of the i-th segment; is the average value of all rotation angles; is the angle change of the i-th segment; is the time interval; The processing module determines the stability of the servo motor by calculating the rotational angle fluctuation B of the servo motor, so as to further classify the quality of the servo motor. That is, when generating the test score corresponding to the servo motor, the stability factor of the servo motor is added, and the test score is corrected in combination with the preset weight.

[0010] A further technical improvement of the present invention is that the heat generation information includes the heat generation part, heat generation delay, heat diffusion deviation, and heat generation amount. The qualified thresholds corresponding to the heat generation information include position deviation threshold, heat generation delay threshold, heat diffusion error threshold, and heat amount threshold. When the processing module obtains the heat generation information corresponding to the servo motor from the temperature monitoring unit, it first determines the heat generation part of the servo motor. After matching the heat generation part of the servo motor with the preset heat generation part, it then detects the heat generation delay and heat diffusion deviation of the heat generation part. If the heat generation part does not match the preset heat generation part, the processing module determines that the heat generation information of the servo motor exceeds the preset safety threshold, and the servo motor is abnormal.

[0011] A further technical improvement of the present invention is that the processing module presets a corresponding heat generation delay threshold based on the preset heat generation area of the servo motor. ; The processing module determines whether the difference between the time stamp Ⅳ and the time stamp Ⅰ of each heat generation area belongs to ; If the difference between the time stamp Ⅳ and the time stamp Ⅰ belongs to , the heat generation delay of the corresponding heat generation area of the servo motor is normal.

[0012] A further technical improvement of the present invention is that the processing module identifies the heat generation area with the correct heat generation part position and normal heat generation delay, and compares the heat generation temperature of the heat generation area with the heat amount threshold. After the heat generation temperature is less than the heat amount threshold, it calculates the heat diffusion deviation of the heat generation area. The calculation steps of the heat diffusion deviation include: Q1. The processing module presets the distance from the center point to the surrounding points of the corresponding heat generation area as , and calculates the heat diffusion gradient rate of the corresponding heat generation area through the formula ; In the formula, , is the temperature change from the center to the edge of the heat generation area; is the time interval for heat diffusion to expand from the center to the edge, which is obtained by comparing the time stamp Ⅲ and the time stamp Ⅳ; Q2. Calculate the theoretical heat diffusion rate of Fourier's law of heat conduction ; Among them, ; where q is the heat flux, representing the heat passing through a unit area per unit time; k is the thermal conductivity, representing the heat conduction ability of the surface material of the corresponding model servo motor; is the temperature gradient, that is, the rate of change of temperature with the diffusion distance; Q3. Calculate the thermal diffusion deviation through the formula ; ; Finally, the processing module compares the thermal diffusion deviation with the thermal diffusion error threshold. If the thermal diffusion deviation is less than the thermal diffusion error threshold, it indicates that the heat diffusion of the servo motor conforms to the normal heat transfer law.

[0013] On the other hand, the present invention also discloses a servo motor testing method based on data recognition, which includes the following steps: Step 1: Construct a corresponding test model based on the historical test data and experience of different model servo motors, and store it in the database; Step 2: After the servo motor enters the test station, the image monitoring module identifies the position of the servo motor; If the identification is passed, the image monitoring module sends a detection instruction to the detection module to perform subsequent tests; Step 3: The electronic control unit conveys at least one set of voltage and current values to the servo motor as detection signals; The image monitoring module is used to identify the output part of the servo motor, and during the movement of the servo motor, it collects image data of the output part in real time; During the servo motor test process, the temperature monitoring unit monitors the heat generation information of the servo motor in real time and uploads it to the processing module; The working monitoring unit uses sensors to collect the torque, vibration information and noise information of the servo motor and uploads them to the processing module; Step 4: The processing module retrieves the corresponding test model from the database based on the tested servo motor model, and matches the start-up delay, action completion time, heat generation information, torque, vibration information and noise information with the preset test model.

[0014] Compared with the prior art, the present invention has the following beneficial effects: Through the collaborative work of the image monitoring module, temperature monitoring unit, working monitoring unit and electronic control unit, the present invention realizes a comprehensive evaluation of the performance of the servo motor. The image monitoring module can accurately identify the position of the servo motor and collect image data of the motor output part in real time, calculate the start-up delay and action completion time in combination with the time stamp to ensure the accuracy of the test data; Meanwhile, the temperature monitoring unit collects the heat generation information of the servo motor in real time, which can accurately judge the heat generation position, heat generation delay and heat diffusion deviation of the motor. Through this comprehensive monitoring, the system can provide more accurate motor test results, significantly improving the test efficiency and reliability of the servo motor; In addition, based on the model and historical test data of the servo motor, the processing module of the system retrieves the corresponding test model, and through the comparative analysis with the real-time data, generates the corresponding test results to achieve the purpose of fast, efficient and accurate detection. Brief Description of the Drawings

[0015] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the accompanying drawings.

[0016] Figure 1 It is the system block diagram of the present invention. Detailed Embodiments

[0017] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following will, in conjunction with the accompanying drawings and preferred embodiments, describe in detail the specific embodiments, structures, features and their effects according to the present invention. Embodiment

[0018] Please refer to Figure 1 As shown, the present invention provides a servo motor test system based on data recognition, including at least one group of image monitoring modules, at least one group of detection modules, a processing module and a database; Based on the historical test data and experience of the servo motor of the corresponding model, the database establishes a corresponding test model; The image monitoring module and the detection module are respectively matched with a test station of the servo motor. After the servo motor enters the test station, the image monitoring module first identifies the position of the servo motor. After the identification is passed, a detection instruction is sent to the detection module. Based on the detection instruction, the detection module is connected to the servo motor to facilitate its testing; The detection module includes an electronic control unit, a temperature monitoring unit and a working monitoring unit; The electronic control unit is provided with at least one group of voltage and current values as detection signals, and when the electronic control unit delivers the detection signals each time, the input voltage and current are monitored through the corresponding sensors to ensure that the input signals are stable and meet the design specifications. At the same time, the electronic control unit records the corresponding time stamp Ⅰ and transmits the time stamp Ⅰ to the processing module; The image monitoring module is used to identify the output part of the servo motor, and when the output part of the servo motor moves, collect the image data of the output part of the servo motor. And when the output part of the servo motor starts and stops moving, the image monitoring module records the corresponding timestamps II and III respectively. Subsequently, the image monitoring module transmits the image data and timestamp II to the processing module; The processing module compares timestamp II with timestamp I, timestamp III and timestamp II respectively to obtain the start-up delay and action completion time of the corresponding servo motor; The start-up delay is obtained by the processing module calculating the difference between timestamp II and timestamp I; The action completion time is obtained by the processing module calculating the difference between timestamp III and timestamp II; The temperature monitoring unit is used to monitor the heat generation information of the servo motor during the servo motor test, and the temperature monitoring unit uploads the heat generation information of the servo motor to the processing module; The working monitoring unit is used to monitor the torque data, vibration information and noise information of the servo motor during the servo motor test using the corresponding sensors, and upload them to the processing module; And the image monitoring module, detection module and processing module adopt the same clock source to synchronize the clocks; The processing module retrieves the corresponding test model from the database based on the model of the tested servo motor, and the processing module matches the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information of the tested servo motor with the test model to obtain the test result of the corresponding servo motor; The test model presets the qualified thresholds corresponding to the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information; After any one of the start-up delay, action completion time, heat generation information, torque data, vibration information or noise information does not match the corresponding qualified threshold, the processing module determines that the servo motor is abnormal.

[0019] When the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information are all less than the corresponding qualified thresholds; The processing module calculates the differences between the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information and the corresponding qualified thresholds. After normalizing each difference, combining its preset weight, and adding them up to generate the test score of the corresponding servo motor; The tester can classify the quality of the servo motor by presetting different ranges of the test score.

[0020] The heat generation information includes the heat generation part, heat generation delay, heat diffusion deviation and heat generation amount; The qualified thresholds corresponding to the heat generation information include a position deviation threshold, a heat generation delay threshold, a heat diffusion error threshold, and a heat quantity threshold; When the processing module obtains the heat generation information corresponding to the servo motor from the temperature monitoring unit, it first determines the heat generation part of the servo motor. After matching the heat generation part with the preset heat generation part of the servo motor, it then detects the heat generation delay and heat diffusion deviation of the heat generation part; If the heat generation part does not match the preset heat generation part, the processing module determines that the heat generation information of the servo motor exceeds the preset safety threshold, and the servo motor is abnormal; The method for the temperature monitoring unit to obtain the heat generation information includes the following steps: S1. The temperature monitoring unit sets multiple groups of infrared sensors on the side of the test station. When the servo motor enters the test station and the image monitoring module confirms that the position of the servo motor is accurate, the temperature monitoring unit collects the initial temperature distribution map on the surface of the servo motor; S2. During the test of the servo motor, the temperature monitoring unit continuously collects the temperature data on the surface of the servo motor, generates the real-time temperature distribution map on the surface of the servo motor, and records the regional position coordinates, temperature change values, and time stamp Ⅳ of each heat generation area where the temperature changes in the real-time temperature distribution map compared with the initial temperature distribution map; S3. Based on the model of the tested servo motor, the processing module generates the predicted heat generation position coordinates in the initial temperature distribution map, and the processing module based on the formula Calculates the position deviation between the regional position coordinates and the predicted heat generation position coordinates ; In the formula, and respectively represent the deviations of the abscissa and ordinate; S4. The processing module compares the position deviation with the position deviation threshold. When the position deviation is less than the position deviation threshold, the processing module determines that the position of the heat generation part of the servo motor is correct and proceeds with subsequent heat generation delay and heat diffusion deviation detection.

[0021] The processing module presets the corresponding heat generation delay threshold based on the preset heat generation area of the servo motor ; The processing module determines whether the difference between the time stamp Ⅳ of each heat generation area and the time stamp Ⅰ belongs to ; If the difference between the time stamp Ⅳ and the time stamp Ⅰ belongs to , the heat generation delay of the corresponding heat generation area of the servo motor is normal.

[0022] The processing module identifies the heating areas with correct positions of the heating parts and normal heating delays, and compares the heating temperature of the heating areas with the heat threshold. After the heating temperature is less than the heat threshold, the thermal diffusion deviation of the heating area is calculated. The calculation steps of the thermal diffusion deviation include: Q1. The processing module presets the distance from the center point to the surrounding points of the corresponding heating area as , and calculates the thermal diffusion gradient rate of the corresponding heating area through the formula In the formula, , is the temperature change from the center to the edge of the heating area; is the time interval for the thermal diffusion to expand from the center to the edge, which is obtained by comparing the time stamp Ⅲ and the time stamp Ⅳ; Q2. Calculate the theoretical thermal diffusion rate of Fourier's law of heat conduction; Among them, ; in the formula, q is the heat flux, indicating the heat passing through a unit area per unit time; k is the thermal conductivity, indicating the heat conduction ability of the surface material of the corresponding type of servo motor; is the temperature gradient, that is, the rate of change of temperature with the diffusion distance; Q3. Calculate the thermal diffusion deviation through the formula ; Finally, the processing module compares the thermal diffusion deviation with the thermal diffusion error threshold. If the thermal diffusion deviation is less than the thermal diffusion error threshold, it indicates that the heat diffusion of the servo motor conforms to the normal heat transfer law. Embodiment

[0023] A servo motor test system based on data recognition includes at least one group of image monitoring modules, at least one group of detection modules, a processing module, and a database; The database establishes a corresponding test model based on the historical test data and experience of the corresponding type of servo motor; The image monitoring module and the detection module are respectively matched with a test station of a servo motor. After the servo motor enters the test station, the image monitoring module first identifies the position of the servo motor. After the identification is passed, a detection instruction is sent to the detection module. Based on the detection instruction, the detection module is connected to the servo motor to facilitate its testing; The detection module includes an electronic control unit, a temperature monitoring unit, and a working monitoring unit; The electronic control unit is set with at least one group of voltage and current values as detection signals. And each time the electronic control unit transmits the detection signal, it monitors the input voltage and current through the corresponding sensor to ensure that the input signal is stable and meets the design specifications. At the same time, the electronic control unit records the corresponding timestamp Ⅰ and transmits the timestamp Ⅰ to the processing module; The image monitoring module is used to identify the output part of the servo motor. And when the output part of the servo motor moves, it collects the image data of the output part of the servo motor. And when the output part of the servo motor starts and stops moving, the image monitoring module records the corresponding timestamp Ⅱ and timestamp Ⅲ respectively. Subsequently, the image monitoring module transmits the image data and timestamp Ⅱ to the processing module; The processing module compares timestamp Ⅱ with timestamp Ⅰ, timestamp Ⅲ and timestamp Ⅱ respectively to obtain the start-up delay and action completion time of the corresponding servo motor; The image monitoring module pre-computes its own delay. When recording the corresponding timestamp Ⅰ, timestamp Ⅱ and timestamp Ⅲ, based on its own delay, it corrects timestamp Ⅰ, timestamp Ⅱ and timestamp Ⅲ. The calculation method of the self-delay of the image monitoring module includes the following steps: A1. In the case of no load on the servo motor, start the image monitoring module and measure its delay value by recording the start signal (timestamp Ⅰ) of the electronic control unit and the response time (timestamp Ⅱ) of the image monitoring module to the motor movement; A2. Conduct multiple tests. Under different conditions (such as voltage change, load change), record the delay values of the image monitoring module respectively, and establish a delay compensation model by means of mean value or standard deviation; A3. Extract the delay characteristics of the image monitoring module and establish a linear regression mathematical model to fit the delay characteristics to obtain a delay correction factor, which is used to represent the relationship between the delay of the image monitoring module and factors such as motor state and sensor data; Among them, the delay characteristics include: Response time delay: The time difference from the moment when the electronic control unit or other signal sources (such as movement start, movement stop signal) send out, to the time when the image monitoring module starts to process and record the image; Image processing delay: The time consumed by the image monitoring module for data processing (such as image recognition, analysis, feature extraction, etc.) after collecting the image; The corrected timestamp Ⅱ = timestamp Ⅱ - delay correction factor; The corrected timestamp Ⅲ = timestamp Ⅲ - delay correction factor; The temperature monitoring unit is used to monitor the heat generation information of the servo motor during the servo motor test, and the temperature monitoring unit uploads the heat generation information of the servo motor to the processing module; The working monitoring unit is used to monitor the torque data, vibration information and noise information of the servo motor during the test of the servo motor using the corresponding sensors, and upload them to the processing module; And the image monitoring module, the detection module and the processing module adopt the same clock source to synchronize the clock; Based on the model of the tested servo motor, the processing module retrieves the corresponding test model from the database, and the processing module matches the start-up delay, action completion time, heat generation information, torque data, vibration information and noise information of the tested servo motor with the test model to obtain the test results of the corresponding servo motor.

[0024] Compared with Embodiment 1, the electronic control unit in Embodiment 2 additionally controls the output part of the servo motor to rotate at a constant speed. The processing module divides the image data collected by the image monitoring module into multiple segments, calculates the rotation angle of the output part of the servo motor in each segment of image data, and calculates the rotation angle fluctuation B of the servo motor through a formula. The formula used is: ; In the formula, is the rotation angle of the i-th segment; is the average value of all rotation angles; is the angle change of the i-th segment; is the time interval; The processing module judges the stability of the servo motor by calculating the rotation angle fluctuation B of the servo motor, so as to further classify the quality of the servo motor. That is, when generating the test score of the corresponding servo motor, the stability factor of the servo motor is added, and the test score is corrected in cooperation with the preset weight.

[0025] The above is only a preferred embodiment of the present invention, and does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to make equivalent embodiments with equivalent changes, but as long as the technical content of the present invention is not departed from, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A servo motor test system based on data recognition, characterized in that: include: Database, which stores the historical test data and test models of servo motors and provides reference standards for testing; The image monitoring module identifies the position of the servo motor and sends a detection instruction to the detection module based on the recognition result; And the image monitoring module identifies the output part of the servo motor when the servo motor is detected, and collects image data of the output part when the output part moves, and respectively records the timestamp II and timestamp III of the start and stop of the output part; The detection module includes: The electronic control unit applies at least one set of detection signals to the servo motor and records a timestamp of the application time I; Temperature monitoring unit, to monitor the heating information of the servo motor; Working monitoring unit, which monitors the torque data, vibration information and noise information of the servo motor; The processing module retrieves the corresponding test model from the database according to the servo motor model, and calculates the start delay of the servo motor based on the processing module timestamp II and timestamp I, and calculates the action completion time based on timestamp III and timestamp II; The processing module matches the start-up delay, action completion time, heating information, torque data, vibration information and noise information of the test servo motor with the test model to obtain the test result of the corresponding servo motor.

2. A servo motor test system based on data recognition according to claim 1, characterized in that: The image monitoring module pre-calculates its own delay and corrects the timestamps I, II and III based on its own delay when recording the corresponding timestamps I, II and III.

3. A servo motor test system based on data recognition according to claim 2, characterized in that: The test model is preset with qualified thresholds corresponding to start delay, action completion time, heating information, torque data, vibration information and noise information; After any one of the start-up delay, action completion time, heating information, torque data, vibration information or noise information does not match the corresponding qualified threshold, the processing module determines that the servo motor is abnormal.

4. A servo motor test system based on data recognition according to claim 3, characterized in that: When the start delay, action completion time, heating information, torque data, vibration information and noise information are all less than the corresponding qualified thresholds; The processing module calculates the difference between the start delay, action completion time, heating information, torque data, vibration information and noise information and the corresponding qualified threshold, and after normalizing each difference, combines it with its preset weight, adds it up to generate the test score of the corresponding servo motor; Testers classify the quality of servo motors by presetting different ranges of test scores.

5. A servo motor test system based on data recognition according to claim 1, characterized in that: The electronic control unit controls the output part of the servo motor to rotate at a uniform speed; The processing module divides the image data collected by the image monitoring module into multiple segments, calculates the rotation angle of the servo motor output part in each segment of the image data, and calculates the rotation angle fluctuation B of the servo motor by the formula, and the formula used is: ； In the formula, is the rotation angle of the i-th segment; is the average value of all rotation angles; is the angle change of the i-th segment; is the time interval; The processing module determines the stability of the servo motor by calculating the rotation angle fluctuation B of the servo motor, and corrects the test score of the servo motor based on the determination result.

6. A servo motor test system based on data recognition according to claim 1, characterized in that: Fever information includes fever location, fever delay, thermal diffusion deviation and heat output; The qualified thresholds corresponding to the heating information include the position deviation threshold, the heating delay threshold, the heat diffusion error threshold and the heat threshold; When the processing module obtains the heating information of the corresponding servo motor from the temperature monitoring unit, it first determines the heating part of the servo motor, and then detects the heating delay and heat diffusion deviation of the heating part after the heating part matches the preset heating part of the servo motor.

7. A servo motor test system based on data recognition according to claim 6, characterized in that: The processing module presets a corresponding heating delay threshold based on the heating area preset by the servo motor ; The processing module determines whether the difference between the timestamp IV and the timestamp I of each heating area belongs to ; If the difference between timestamp IV and timestamp I is , then the heating delay of the corresponding heating area of ​​the servo motor is normal.

8. A servo motor test system based on data recognition according to claim 7, characterized in that: The processing module identifies a heating area with a correct heating position and a normal heating delay, and compares the heating temperature of the heating area with a heat threshold, and calculates the heat diffusion deviation of the heating area after the heating temperature is less than the heat threshold; The processing module will heat the deviation Compared with the heat diffusion error threshold; If the thermal diffusion deviation If it is smaller than the thermal diffusion error threshold, the thermal diffusion deviation of the corresponding heating area of ​​the servo motor is normal.

9. A servo motor testing system and method based on data recognition according to claim 8, characterized in that: The calculation steps of thermal diffusion deviation include: Q1. The processing module is preset to correspond to the heating area from the center point To the surrounding points The distance is , and by the formula Calculate the thermal diffusion gradient rate corresponding to the heating area; In the formula, , is the temperature change from the center to the edge of the heating area; is the time interval for heat diffusion to expand from the center to the edge, which is obtained by comparing time stamp III with time stamp IV; Q2. Calculate the thermal diffusion rate ; in, ; In the formula, q is the heat flux, which indicates the amount of heat passing through a unit area per unit time; k is the thermal conductivity, which indicates the thermal conductivity of the surface material of the corresponding model of servo motor; is the temperature step, i.e., the rate of change of temperature with diffusion distance; Q3. Through the formula Calculating thermal diffusion deviation .

10. A servo motor testing method based on data recognition, characterized in that: The servo motor testing method adopts the servo motor testing system described in any one of rights 1 to 9, and the steps include: Step 1: Based on the historical test data and experience of different types of servo motors, build the corresponding test model and store it in the database; Step 2: After the servo motor enters the test station, the image monitoring module identifies the position of the servo motor; If the recognition is successful, the image monitoring module sends a detection instruction to the detection module to perform subsequent tests; Step 3: The electronic control unit transmits at least one set of voltage and current values ​​to the servo motor as a detection signal; The image monitoring module is used to identify the output part of the servo motor and collect image data of the output part in real time when the servo motor moves; During the servo motor test, the temperature monitoring unit monitors the heating information of the servo motor in real time and uploads it to the processing module; The work monitoring unit uses sensors to collect the torque, vibration and noise information of the servo motor and uploads it to the processing module; Step 4: The processing module retrieves the corresponding test model from the database based on the servo motor model being tested, and matches the start delay, action completion time, heating information, torque, vibration information, and noise information with the preset test model.

Images