Collaborative robot performance automatic test system and automatic test method

Abstract

The invention relates to an automatic performance test system and method for a collaborative robot, and belongs to the field of collaborative robots, and the system comprises an upper computer which is used for operating an automatic test process and realizing signal interaction and data collection with robot control; the robot controller starts to execute a performance test program prepared in the robot controller according to the control instruction, and the robot controller sends a starting feedback signal to the upper computer when the program runs to a preset node; the upper computer extracts effective test data according to a preset rule; filling in a preparatory data processing table of the upper computer according to a preset rule, automatically calculating a test result, and performing charting display on the test result; the robot body executes an analysis instruction of the robot controller and feeds back an execution result to the motor driver and the robot controller; the test tool is used for triggering and resetting a safety signal of the robot. The system and the method are high in automation rate, low in cost and high in safety.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robots, and in particular to an automated testing system and method for the performance of collaborative robots. Background Art

[0002] Collaborative robots are multi-jointed robotic arms used in various industries and fields, capable of automatically completing specific production tasks through signal interaction with external equipment. With the development of technology, collaborative robots are increasingly being used in various industries, including industrial, commercial, medical, and educational sectors, due to their advantages such as flexibility, safety, programmability, and versatility. The requirements for all aspects of robot performance are increasing, so the comprehensiveness, accuracy, reliability, and safety of performance testing have become prominent issues. Testing can accurately identify robot performance defects, thereby comprehensively improving robot performance and enabling a wide range of application scenarios.

[0003] At present, robot performance testing has the following problems: it mainly uses manual testing methods, which are inefficient, have high risk factors, and high testing costs, and cannot meet the needs of comprehensive, efficient, and safe performance testing. Summary of the Invention

[0004] The object of the present invention is to solve at least one of the technical drawbacks.

[0005] To this end, the purpose of the present invention is to propose a collaborative robot performance automated testing system and automated testing method with high automation rate, low cost and high safety.

[0006] In order to achieve the above-mentioned purpose, an embodiment of one aspect of the present invention provides a collaborative robot performance automated testing system, comprising: a host computer, a robot controller, a robot body and a testing fixture, wherein:

[0007] The host computer is used to run the automated test process to realize signal interaction, data acquisition, data processing and chart drawing with the robot control; wherein, in the automated test process, the host computer controls the switching mode, upper and lower enabling, program running pause and opening and closing of the DO signal of the robot controller through a dedicated interface;

[0008] The robot controller receives a control instruction from the host computer and starts executing a performance test program prepared in the robot controller according to the control instruction. When the program runs to a preset node, the robot controller sends a start feedback signal to the host computer to prompt the host computer to start collecting valid feedback data;

[0009] The host computer receives the start feedback signal and starts collecting test data. The host computer extracts valid test data according to preset rules; fills the valid data into the preliminary data processing table of the host computer according to the preset rules, automatically calculates the test results, displays the test results in a chart, and compares the test results with the evaluation indicators;

[0010] The robot body includes: a motor driver, a motor, an encoder, a reducer and a sensor. The robot body is used to execute the parsing instructions of the robot controller and feed back the execution results to the motor driver and the robot controller;

[0011] The test fixture is used to trigger and reset the robot's safety signal.

[0012] Furthermore, the motor of the robot body executes the control instructions sent by the driver to move, and drives the connecting rod of the robot body to move through the transmission mechanism.

[0013] Furthermore, during the execution process, the robot body feeds back the motor, encoder, and sensor to the motor driver and the robot controller.

[0014] Furthermore, the host computer encapsulates a dedicated interface according to the robot controller interface protocol, and implements command control of the robot controller by calling and issuing parameters.

[0015] Furthermore, the preset node is: the robot controller continuously collects the joint movement speed feedback value, determines whether it has reached the uniform speed section, and sends a signal to the host computer if it is determined that it has reached the uniform speed section.

[0016] Furthermore, the test data includes: collecting joint speed, joint position, motor current / torque and safety stop signal.

[0017] Furthermore, when performing a stopping time and stopping distance test, the preset rules are as follows: the moment the safety stop signal is triggered is recorded as the starting point, and the moment the joint velocity drops to 0 is recorded as the ending point. The stopping time is equal to the ending point minus the starting point. The stopping distance is equal to the ending point joint position minus the starting point position. The maximum motor current and torque feedback between the starting and ending points is the maximum braking current and torque.

[0018] Another embodiment of the present invention further provides a collaborative robot performance automated testing method, comprising the following steps:

[0019] S1, the robot is turned on, the host computer selects the performance test item, runs the test software, and sends a connection communication signal to the robot controller;

[0020] In step S2, the robot controller receives the upper control signal, establishes a connection, loads the performance test project, and starts running after loading is completed; then steps S3 and S8 are executed simultaneously;

[0021] S3, sends control instructions to the motor driver;

[0022] S4, the motor driver sends a control instruction to the motor, and the motor drives the transmission mechanism to move;

[0023] S5, the feedback signals of the motor, encoder and sensor are sent to the motor driver;

[0024] S6, the feedback signal is transmitted back to the robot controller via the motor driver;

[0025] S7, the robot controller sends the feedback signal back to the host computer; then executes step S9;

[0026] S8, sending a start-collection feedback signal to the host computer; then executing step S9;

[0027] S9, the host computer collects the feedback signal and performs calculations according to the performance test item calculation method;

[0028] S10, the host computer displays the calculation results in a chart and compares them with the evaluation indicators to determine whether they pass or fail.

[0029] Compared with the prior art, the present invention has the following beneficial effects: the collaborative robot performance automated testing system and method of the embodiments of the present invention have the characteristics of 100% automation rate, low cost and high safety.

[0030] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0032] Figure 1 2. A structural diagram of a collaborative robot performance automation test system according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a robot body according to an embodiment of the present invention;

[0034] Figure 3 This is a diagram of an automated test operation interface according to an embodiment of the present invention;

[0035] Figure 4A graph of average effective torque curves of each joint of the robot according to the embodiment of the present application;

[0036] Figure 5 A flow chart of the performance automatic testing method of the collaborative robot according to the embodiment of the present application. DETAILED DESCRIPTION

[0037] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0038] As shown in Figure 1 The performance automatic testing system of the collaborative robot according to the embodiment of the present application comprises a host computer 110, a robot controller 120, a robot body 130 and a test tool 140.

[0039] The host computer 110 is used to run an automatic testing process, and to realize signal interaction with the robot control, data acquisition, data processing and chart drawing.

[0040] Specifically, the host computer 110 is built-in with an automatic testing software. In a specific implementation, the automatic testing software program is written in advance on the host computer 110, and when the program is running, the program sends an instruction to control the robot controller 120 to start to execute the performance testing program prepared in the robot controller 120.

[0041] In an implementation, in order to realize signal interaction with the robot controller 120, the automatic testing software in the host computer 110 needs to encapsulate a special interface according to the robot control interface protocol, and the special interface is called and parameters are issued in the program to implement instruction control of the robot controller 120.

[0042] In the automatic testing process, the automatic testing software built-in in the host computer 110 realizes opening and closing of signals such as switching mode, up and down enable, program running pause and DO of the robot controller 120 through the special interface.

[0043] It should be noted that the present application does not limit the selection of the host computer 110 running the automatic testing software, and a person skilled in the art can select a suitable host computer 110 according to the actual situation. For example, the host computer 110 can be a computer PC.

[0044] The robot controller 120 receives control instructions from the host computer 110 and starts to execute the performance test program prepared in the robot controller 120 according to the control instructions. When the program runs to a preset node, the robot controller 120 sends a start feedback signal to the host computer 110 to prompt the host computer 110 to start collecting valid feedback data.

[0045] Specifically, the robot controller 120 can be used to test program execution and send motion instructions to the robot body 130 and obtain motion process status data of components such as the motor 220 , encoder 230 , and sensor 250 to feed back to the host computer 110 .

[0046] In practice, the robot controller 120 receives and responds to control signals from the host computer 110, converting the performance test program into control instructions and sending them to the motor driver 210. This drives the motor 220, which in turn drives the transmission mechanism to transmit the motion to the robot body 130. Furthermore, the robot controller 120 is also used to obtain feedback data from the motor 220.

[0047] When the program runs to a preset node (ie, a specified position), the robot controller 120 sends a start feedback signal to the host computer 110 , indicating that the host computer 110 can start collecting valid feedback data.

[0048] In an embodiment of the present invention, the preset node is: the robot controller 120 continuously collects the joint motion speed feedback value, determines whether it has reached the uniform speed section, and sends a signal to the host computer 110 if it is determined that the uniform speed section has been reached.

[0049] That is, the stop time and stop distance test: the controller continuously collects the joint motion speed feedback value to determine whether it has reached the uniform speed section. If it is determined that it has reached the uniform speed section, a signal is sent to the host computer 110 .

[0050] The host computer 110 receives the start feedback signal and starts collecting test data. In an embodiment of the present invention, for the stopping time and stopping distance test, the test data includes: collecting joint speed, joint position, motor 220 current / torque and safety stop signal.

[0051] When the program is finished, the robot controller 120 sends an end feedback signal to the host computer 110 again, indicating that the performance test is finished and the host computer 110 stops collecting data. The host computer 110 receives the end feedback signal from the robot controller 120 and suspends data collection.

[0052] The automated testing software built into the host computer 110 extracts valid test data according to preset rules; fills the valid data into the preliminary data processing table of the host computer 110 according to the preset rules, automatically calculates the test results, displays the test results in graphs, and compares the test results with evaluation indicators.

[0053] When performing a stopping time and stopping distance test, the default rule is to record the start point as the moment the safety stop signal is triggered and the end point as the moment the joint velocity drops to 0. The stopping time is equal to the end point minus the start point. The stopping distance is equal to the joint position at the end point minus the start point position. The maximum current and torque feedback of the motor 220 between the start and end points is the maximum braking current and torque.

[0054] That is, the automated testing software in the host computer 110 extracts valid test data (for example: stop time and stop distance test. Strictly speaking, the data collected according to the above-mentioned interactive logic is valid data) according to specific rules (for example: stop time and stop distance test. The moment the safety stop signal is triggered is recorded as the starting point, and the moment when the joint speed drops to 0 is recorded as the end point. The stop time is equal to the end point minus the starting point. The stop distance is equal to the end point joint position minus the starting point position. The maximum value of the motor 220 current / torque feedback between the starting point and the end point is the maximum braking current / torque).

[0055] The automated testing software in the host computer 110 fills the valid data into the host computer 110 prepared data processing Excel table according to specific rules and automatically calculates the test results. The automated testing software displays the test results in a chart and compares them with the evaluation indicators through color differentiation.

[0056] There are two types of post-comparison processing measures: 1. If the comparison passes and there is no problem, a test report will be recorded; 2. If the comparison fails, special optimization processing will be carried out and then retested until the comparison passes.

[0057] Figure 3 This is a diagram of an automated test operation interface according to an embodiment of the present invention; Figure 4 2 is a graph showing the average effective torque of each joint of the robot according to an embodiment of the present invention.

[0058] like Figure 2 As shown, the robot body 130 includes: a motor driver 210, a motor 220, an encoder 230, a reducer 240 and a sensor 250. The robot body 130 is used to execute the parsing instructions of the robot controller 120 and feed back the execution results to the motor driver 210 and the robot controller 120.

[0059] In a specific implementation, the motor 220 of the robot body 130 executes the control instruction issued by the driver to move, and drives the robot body 130 to move through the transmission mechanism. During the execution, the motor 220, the encoder 230 and the sensor 250 feed back to the motor driver 210 and the robot controller 120.

[0060] The test tool 140 is used for triggering and resetting the safety signal of the robot.

[0061] As shown in Figure 5 The performance automatic testing method of the collaborative robot according to the embodiment of the present application comprises the following steps:

[0062] S1, the robot is powered on, the host computer 110 selects a performance test item, runs a test software, and sends a connection communication signal to the robot controller 120;

[0063] S2, the robot controller 120 receives the host control signal, establishes a connection, loads a performance test project, and starts running after the loading is completed; then steps S3 and S8 are executed simultaneously;

[0064] S3, a control instruction is sent to the motor driver 210;

[0065] S4, the motor driver 210 sends the control instruction to the motor 220, and the motor 220 drives the transmission mechanism to move;

[0066] S5, the feedback signals of the motor 220, the encoder 230 and the sensor 250 are sent to the motor driver 210;

[0067] S6, the feedback signals are transmitted back to the robot controller 120 through the motor driver 210;

[0068] S7, the robot controller 120 sends the feedback signals back to the host computer 110; then step S9 is executed;

[0069] S8, a start signal of collecting the feedback signals is sent to the host computer 110; then step S9 is executed;

[0070] S9, the host computer 110 collects the feedback signals, and calculates according to the performance test item calculation method;

[0071] S10, the host computer 110 displays a chart according to the calculation result, compares with an evaluation index, and judges pass or fail.

[0072] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0073] Those skilled in the art will readily understand that the present invention encompasses any combination of the components described in the Summary and Detailed Description of the Invention and the accompanying drawings. Due to space limitations and for the sake of clarity, not all of the various solutions resulting from these combinations are described. Any modifications, equivalent substitutions, and improvements within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0074] Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and are not to be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments without departing from the principles and intent of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collaborative robot performance automated testing system, characterized in that: include: Host computer, robot controller, robot body and test fixture, among which, The host computer is used to run the automated test process to realize signal interaction, data acquisition, data processing and chart drawing with the robot control; wherein, in the automated test process, the host computer controls the switching mode, upper and lower enabling, program running pause and opening and closing of the DO signal of the robot controller through a dedicated interface; The robot controller receives a control instruction from the host computer and starts executing a performance test program prepared in the robot controller according to the control instruction. When the program runs to a preset node, the robot controller sends a start feedback signal to the host computer to prompt the host computer to start collecting valid feedback data; The host computer receives the start feedback signal and starts collecting test data. The host computer extracts valid test data according to preset rules; fills the valid data into a preliminary data processing table of the host computer according to the preset rules, automatically calculates the test results, displays the test results in a graph, and compares the test results with the evaluation indicators; The robot body includes: a motor driver, a motor, an encoder, a reducer and a sensor. The robot body is used to execute the parsing instructions of the robot controller and feed back the execution results to the motor driver and the robot controller; The test fixture is used to trigger and reset the robot's safety signal.

2. The collaborative robot performance automated testing system according to claim 1, characterized in that: The motor of the robot body executes the control instructions sent by the driver to move, and drives the connecting rod of the robot body to move through the transmission mechanism.

3. The collaborative robot performance automated testing system according to claim 1, characterized in that: During the execution of the robot body, the motor, encoder, and sensor are fed back to the motor driver and the robot controller.

4. The collaborative robot performance automated testing system according to claim 1, characterized in that: The host computer encapsulates a dedicated interface according to the robot controller interface protocol, and implements command control of the robot controller by calling and issuing parameters.

5. The collaborative robot performance automated testing system according to claim 1, characterized in that: The preset node is: the robot controller continuously collects the joint movement speed feedback value, determines whether it has reached the uniform speed section, and sends a signal to the host computer if it is determined that it has reached the uniform speed section.

6. The collaborative robot performance automated testing system according to claim 1, characterized in that: The test data includes: collecting joint speed, joint position, motor current / torque and safety stop signal.

7. The collaborative robot performance automated testing system according to claim 1, characterized in that: When performing the stopping time and stopping distance test, the preset rule is that the moment the safety stop signal is triggered is recorded as the starting point, the moment the joint speed drops to 0 is recorded as the end point, the stopping time is equal to the end point minus the starting point; the stopping distance is equal to the joint position at the end point minus the starting point position, and the maximum value of the motor current and torque feedback between the starting point and the end point is the maximum braking current and torque.

8. A collaborative robot performance automated testing method, characterized in that: The steps include: S1, the robot is turned on, the host computer selects the performance test item, runs the test software, and sends a connection communication signal to the robot controller; In step S2, the robot controller receives the upper control signal, establishes a connection, loads the performance test project, and starts running after loading is completed; then steps S3 and S8 are executed simultaneously; S3, sends control instructions to the motor driver; S4, the motor driver sends a control instruction to the motor, and the motor drives the transmission mechanism to move; S5, the feedback signals of the motor, encoder and sensor are sent to the motor driver; S6, the feedback signal is transmitted back to the robot controller via the motor driver; S7, the robot controller sends the feedback signal back to the host computer; then executes step S9; S8, sending a start-collection feedback signal to the host computer; then executing step S9; S9, the host computer collects the feedback signal and performs calculations according to the performance test item calculation method; S10, the host computer displays the calculation results in a chart and compares them with the evaluation indicators to determine whether they pass or fail.

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