Modal test method and device, readable storage medium and modal test assembly

Abstract

The invention provides a modal test method and device, a readable storage medium and a modal test component. The modal testing method is applied to a modal testing assembly, the modal testing assembly comprises a laser target and a laser tracking device, the laser target is arranged on a to-be-tested object, the laser tracking device and the laser target are correspondingly arranged, and the modal testing method comprises the steps that under the condition that the to-be-tested object is subjected to impact excitation, a force signal of impact excitation is obtained; performing laser tracking on the laser target through a laser tracking device, and determining a first displacement signal of the laser target; and determining a modal test result of the to-be-tested object according to the force signal and the first displacement signal. According to the embodiment of the invention, the detection efficiency and accuracy of modal testing are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial manufacturing, in particular to a modal test method and device, a readable storage medium and a modal test assembly. BACKGROUND

[0002] With the development of industrial technology, industrial robots are increasingly applied to various production scenarios, and the modal test of the body of an industrial robot is an important indicator for evaluating the performance of the robot body.

[0003] In related technologies, a robot is usually impacted and excited by a force hammer or an exciter, and an acceleration signal is acquired by an acceleration sensor arranged on the robot body, so as to perform modal test on the robot. Since the acceleration sensor is arranged on the robot body at a slow speed, the weight of the robot is also increased, thereby affecting the accuracy and efficiency of the modal test. SUMMARY

[0004] The present application aims to solve one of the technical problems existing in the prior art or related art.

[0005] To this end, a first aspect of the present application provides a modal test method.

[0006] A second aspect of the present application provides a modal test device.

[0007] A third aspect of the present application provides a modal test device.

[0008] A fourth aspect of the present application provides a readable storage medium.

[0009] A fifth aspect of the present application provides a modal test assembly.

[0010] Therefore, according to the first aspect of the present application, a modal test method is provided, which is applied to a modal test assembly, the modal test assembly comprising a laser target and a laser tracking device, the laser target being arranged on a to-be-tested object, and the laser tracking device being arranged correspondingly to the laser target, the modal test method comprising:

[0011] acquiring a force signal of the impact excitation when the to-be-tested object is subjected to impact excitation;

[0012] tracking the laser target by the laser tracking device to determine a first displacement signal of the laser target;

[0013] determining a modal test result of the to-be-tested object according to the force signal and the first displacement signal.

[0014] In the embodiment, since the laser tracking device can track the laser target in a non-contact manner, non-contact modal testing of the to-be-tested object is realized, and the volume and mass of the laser target are smaller than those of the acceleration sensor, so that the error caused by the change of the volume and mass of the to-be-tested object is reduced, and the installation mode of the laser target is more convenient, thereby further improving the testing efficiency of the modal testing of the to-be-tested object. The to-be-tested object is an object tested by the modal testing assembly, which can be an industrial robot or other structures. The impact excitation is impact excitation performed on the to-be-tested object. The force signal of the impact excitation performed on the to-be-tested object and the first displacement signal determined by the laser tracking device tracking the laser target when the to-be-tested object is subjected to the impact excitation are acquired. Through analysis and processing of the force signal and the first displacement signal, the modal testing result can be obtained.

[0015] It should be noted that when the laser target and the laser tracking device are deployed to the to-be-tested object, the coordinate conversion relationship between the coordinates of the laser tracking device and the coordinates of the to-be-tested object can be acquired, and the displacement information of the to-be-tested object can be determined according to the first displacement signal through the coordinate conversion relationship.

[0016] In the embodiment, the modal testing assembly includes the laser target arranged on the to-be-tested object and the laser tracking device capable of tracking the laser target. In the process that the to-be-tested object is subjected to impact excitation, the first displacement signal caused by the impact excitation can be acquired through the tracking of the laser tracking device on the laser target. The modal testing result can be determined through the first displacement signal and the force signal corresponding to the impact excitation. The deployment and calibration of the laser tracking device and the laser target are more convenient, the sampling of the first displacement signal can be improved, the to-be-tested position of the laser target on the to-be-tested object can be replaced, the first displacement signals of different to-be-tested positions can be recorded, and the detection efficiency is improved. The laser tracking device and the laser target can effectively reduce the change of the structure weight of the to-be-tested object through the non-contact testing mode, and the detection efficiency and accuracy of the modal testing are improved.

[0017] In any of the above technical solutions, the modal testing assembly further includes an impact device and an oscilloscope, the oscilloscope is connected with the impact device, and the force signal of the impact excitation is acquired when the to-be-tested object is subjected to the impact excitation, including:

[0018] The impact device is controlled to perform impact excitation on the to-be-tested object;

[0019] The voltage signal corresponding to the impact excitation is acquired through the oscilloscope;

[0020] The force signal is determined according to the voltage signal.

[0021] In the technical solution, the modal test assembly further comprises an impact device and an oscilloscope, the impact device is used to impact the object to be tested, the object to be tested will vibrate under the impact excitation, and the vibration of the object to be tested can drive the laser target to displace. The oscilloscope is connected with the impact device, and the voltage signal of the impact device impacting the object to be tested can be acquired through the oscilloscope, and then the force signal can be obtained by converting the voltage signal.

[0022] After determining the position to be tested of the object to be tested for modal testing, the impact position of the impact device impacting the object to be tested is determined. When starting the modal testing, the object to be tested is impacted at a set frequency by the impact device, and the voltage signal of the impact device impacting the object to be tested is recorded by the oscilloscope. The voltage signal corresponds to the impact force of the impact device impacting the object to be tested, so the force signal can be converted according to the voltage signal.

[0023] It should be noted that, in the case that the object to be tested is an object to be tested without a power source, the object to be tested is impacted by the impact device. When the impact device impacts the object to be tested, the impact frequency and impact force of the impact device can be adjusted.

[0024] In the technical solution, the impact device is arranged in the modal test assembly, the impact device can actively impact the object to be tested, and the voltage signal of the impact excitation of the impact device applied to the object to be tested can be acquired by the oscilloscope. According to the acquired voltage signal, the corresponding force signal can be determined, and the matching degree of the force signal and the first displacement signal is improved, so that the accuracy of the modal test result is improved.

[0025] In any of the above technical solutions, the impact device is controlled to impact the object to be tested, comprising:

[0026] Every interval of the first duration, the impact device is controlled to impact the object to be tested until the impact times reach the set times.

[0027] In the technical solution, when the impact device impacts the object to be tested, the object to be tested is impacted in an intermittent manner. The first duration is the duration interval between two adjacent impact excitations. By intervaling the first duration between two adjacent impact excitations, it can be ensured that the object to be tested is basically in a static and stable state during each test, so as to avoid the influence of the previous impact excitation on the subsequent detection.

[0028] In the technical solution, the impact device is used to impact the test object intermittently, the same test position of the test object is tested repeatedly for multiple times, and a first time length is set between adjacent two impact excitations, so that the accuracy of the modal test result can be further ensured.

[0029] In the technical solution, the impact device is used to impact the test object intermittently, the same test position of the test object is tested repeatedly for multiple times, and a first time length is set between adjacent two impact excitations, so that the accuracy of the modal test result can be further ensured.

[0030] In any of the above technical solutions, the impact device comprises at least one of the following: a vibration exciter and an impact force hammer.

[0031] In the technical solution, the impact device is used to impact the test object intermittently, the same test position of the test object is tested repeatedly for multiple times, and a first time length is set between adjacent two impact excitations, so that the accuracy of the modal test result can be further ensured.

[0032] In any of the above technical solutions, the test object comprises a robot, the robot comprises a first action mechanism and a second action mechanism, and the modal test assembly further comprises: a force sensor, the force sensor is arranged on the second action mechanism, and the force signal of the impact excitation is acquired under the condition that the test object is subjected to the impact excitation.

[0033] The first action mechanism is controlled to run for a third time length every second time length.

[0034] The force signal of the impact excitation on the second action mechanism is acquired by the force sensor under the condition that the first action mechanism runs.

[0035] In the technical solution, when the robot is subjected to the modal test, no external impact excitation is applied to the robot, and part of the action mechanism of the robot is controlled to run, so that the influence of the part of the action mechanism in the running state on the rest of the action mechanism in the stationary state is detected. The first action mechanism and the second action mechanism are both action mechanisms in the robot, and the first action mechanism and the second action mechanism can run respectively, that is, the first action mechanism does not drive the second action mechanism to run. Since the first action mechanism and the second action mechanism are both action mechanisms in the robot, the first action mechanism may cause the second action mechanism to vibrate during the running process.

[0036] Specifically, when the object to be measured is a robot, the influence of the first action mechanism on the second action mechanism during operation of the first action mechanism is taken as the impact excitation of the test. When starting the modal test on the robot, the first action mechanism of the robot is controlled to operate intermittently, that is, to operate for a third time length every second time length. At this time, the laser tracking device is used to track the laser target on the second action mechanism to determine the first displacement signal, and the corresponding force signal is determined through the sensor of the robot itself, so as to determine the modal test result according to the first displacement signal and the force signal.

[0037] In the technical solution of the present application, when the object to be measured is a robot, impact excitation can be applied through the first action mechanism in the robot, and the first displacement signal at the second action mechanism which remains stationary in the robot can be collected, thereby realizing the modal test on the second action mechanism in the robot.

[0038] In any of the above technical solutions, the number of laser targets is at least two, and the at least two laser targets are arranged at at least two measurement positions of the object to be measured, wherein the number of first displacement signals is at least two, and the first displacement signals correspond one-to-one to the at least two measurement positions.

[0039] In this technical solution, the modal test assembly can perform modal tests on different measurement positions in the object to be measured. When the object to be measured includes multiple measurement positions, a laser target can be arranged at each measurement position, thereby performing modal tests on different measurement positions.

[0040] In the technical solution of the present application, by arranging corresponding laser targets at different measurement positions of the object to be measured and performing laser tracking on the laser targets at different measurement positions, the accuracy and test efficiency of the modal test on the object to be measured are further improved.

[0041] In any of the above technical solutions, when the object to be measured is subjected to impact excitation, before the force signal of the impact excitation is obtained, the following steps are further included:

[0042] The coordinate conversion relationship includes the conversion relationship between the coordinate system of the laser tracking device and the coordinate system of the object to be measured;

[0043] According to the force signal and the first displacement signal, the modal test result of the object to be measured is determined, including:

[0044] According to the first displacement signal and the coordinate conversion relationship, the second displacement signal of the object to be measured is determined;

[0045] According to the force signal and the second displacement signal, the modal test result is determined.

[0046] In the technical scheme, before the impact excitation is performed on the to-be-tested object, the to-be-tested object and the laser tracking device need to be deployed and calibrated, and after the laser tracking device is deployed, the coordinate conversion relationship between the polar coordinates of the laser tracking device and the base coordinates of the robot is obtained. After the laser tracking device collects the first displacement signal of the laser target, the first displacement signal can be converted into a second displacement signal through the coordinate conversion relationship, and the second displacement signal is a displacement signal in the robot coordinate system.

[0047] In the technical scheme, since the first displacement signal is the corresponding displacement signal of the laser target, the coordinate conversion relationship obtained through calibration is needed to convert the first displacement signal into the second displacement signal, and then the modal test result is determined through the force signal and the second displacement signal.

[0048] In the technical scheme, the coordinate conversion relationship between the to-be-tested object and the laser tracking device is determined during the deployment and calibration of the laser tracking device before the modal test of the to-be-tested object, which facilitates subsequent determination of the second displacement signal in the coordinate system of the to-be-tested object based on the coordinate conversion relationship after the first displacement signal is tracked by the laser tracking device, and the modal test result is determined through the second displacement signal and the force signal, thereby further improving the accuracy of determining the modal test result.

[0049] In any of the above technical schemes, before the modal test result is determined according to the force signal and the first displacement signal, the method further comprises:

[0050] The force signal and the first displacement signal are preprocessed to improve the signal-to-noise ratio of the force signal and the first displacement signal.

[0051] The signal preprocessing includes at least one of low-pass filtering processing, windowing processing, and time domain truncation processing.

[0052] In the technical scheme, after the force signal of the impact excitation on the to-be-tested object and the first displacement signal tracked by the laser target are obtained, the first displacement signal and the force signal need to be preprocessed to improve the signal-to-noise ratio of the first displacement signal and the force signal.

[0053] In the technical scheme, before the force signal and the first displacement signal are analyzed, at least one of low-pass filtering processing, windowing processing, and time domain truncation processing is performed on the force signal and the first displacement signal, thereby reducing the signal-to-noise ratio of the force signal and the first displacement signal, and further improving the accuracy of the modal test of the to-be-tested object.

[0054] In any of the above technical schemes, the modal test result includes at least one of a frequency response curve, a resonance peak, and a vibration shape.

[0055] In the technical solution of the application, after the first displacement signal and the force signal are acquired, the frequency response curve can be generated according to the first displacement signal and the force signal, the resonance peak in the frequency domain is set, and the vibration shape at the frequency is set, thereby improving the accuracy and integrity of the determined modal test result.

[0056] Specifically, position information of a to-be-measured position in the to-be-measured object is acquired, the position information being position information in a base coordinate of the to-be-measured object, and the vibration shape of the to-be-measured object at the set frequency can be determined according to the position information and the modal frequency.

[0057] According to a second aspect of the application, a modal test device is provided, which is applied to a modal test assembly, the modal test assembly including a laser target and a laser tracking device, the laser target being arranged on a to-be-measured object, and the laser tracking device being arranged correspondingly to the laser target, and the modal test device includes:

[0058] The acquisition module is configured to acquire a force signal of the impact excitation when the to-be-measured object is subjected to the impact excitation.

[0059] The determination module is configured to determine a first displacement signal of the laser target by laser tracking of the laser target by the laser tracking device.

[0060] The determination module is configured to determine a modal test result of the to-be-measured object according to the force signal and the first displacement signal.

[0061] In the embodiment of the application, the modal test assembly includes the laser target arranged on the to-be-measured object and the laser tracking device capable of laser tracking of the laser target, and in the process that the to-be-measured object is subjected to the impact excitation, the first displacement signal caused by the impact excitation can be acquired by laser tracking of the laser target by the laser tracking device, and the modal test result can be determined by the first displacement signal and the force signal corresponding to the impact excitation. The laser tracking device and the laser target are more convenient to deploy and calibrate, the sampling of the first displacement signal can be improved, the to-be-measured position of the laser target on the to-be-measured object can be replaced, the first displacement signal of different to-be-measured positions can be recorded, and the detection efficiency is improved. The laser tracking device and the laser target are tested in a non-contact manner, the structural weight change of the to-be-measured object is effectively reduced, and the detection efficiency and accuracy of the modal test are improved.

[0062] According to a third aspect of the application, a modal test device is provided, which includes a processor and a memory, and the memory stores a program or instructions, and the program or instructions are executed by the processor to implement the steps of the modal test method in any of the above technical solutions. Therefore, the modal test device has all the beneficial effects of the modal test method in any of the above technical solutions, and will not be described here.

[0063] According to a fourth aspect of the present application, a readable storage medium is provided, which has stored thereon a program or instructions, which when executed by a processor implement the modal testing method in any of the above technical solutions, thus having all the beneficial technical effects of the modal testing method in any of the above technical solutions.

[0064] According to a fifth aspect of the present application, a modal testing assembly is provided, which comprises the modal testing device in any of the above technical solutions, and / or the readable storage medium in any of the above technical solutions, thus having all the beneficial technical effects of the modal testing device in any of the above technical solutions, and / or the readable storage medium in any of the above technical solutions, which will not be repeated here in more details.

[0065] In any of the above technical solutions, the modal testing assembly further comprises:

[0066] a laser target, which is arranged at the to-be-tested position of the to-be-tested object;

[0067] a laser tracking device, which is arranged correspondingly to the laser target.

[0068] In the technical solution of the present application, the laser tracking device and the laser target can effectively reduce the structural weight change of the to-be-tested object through a non-contact testing mode, and improve the accuracy of modal testing.

[0069] Additional aspects and advantages of the present application will become apparent from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0070] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0071] Figure 1 A flowchart showing a modal testing method provided in some embodiments of the present application is shown;

[0072] Figure 2 A structural schematic diagram of a modal testing assembly provided in some embodiments of the present application is shown;

[0073] Figure 3 A structural schematic diagram of a robot provided in some embodiments of the present application is shown;

[0074] Figure 4 A schematic block diagram of a modal data processing and analysis system provided in some embodiments of the present application is shown;

[0075] Figure 5 One of the schematic block diagrams of a modal testing device provided in some embodiments of the present application is shown;

[0076] Figure 6 Fig. 2 shows a schematic block diagram of a modal testing device according to some embodiments of the present application.

[0077] Figure 2 and Figure 3 The reference signs in the drawings are as follows:

[0078] 200 modal testing assembly, 202 laser target, 204 laser tracking device, 206 object to be tested, 208 impact device, 210 oscilloscope, 300 robot, 302 first action mechanism, 304 second action mechanism, 306 force sensor. DETAILED DESCRIPTION

[0079] In order to enable a more complete understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the features in the embodiments and examples can be combined with each other if they do not conflict with each other.

[0080] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in other ways different from those described herein, and therefore, the scope of the present application is not limited to the specific embodiments disclosed below.

[0081] The modal testing method, device, readable storage medium and modal testing assembly according to some embodiments of the present application are described below with reference to Figures 1 to 6 According to one embodiment of the present application,

[0082] Fig. 1 shows a flowchart of a modal testing method according to some embodiments of the present application. Figure 1 Fig. 1 shows a flowchart of a modal testing method according to some embodiments of the present application. Figure 1 As shown in Fig. 1, a modal testing method is provided, wherein the modal testing method is applied to a modal testing assembly, the modal testing assembly comprises a laser target and a laser tracking device, the laser target is arranged on an object to be tested, the laser tracking device is arranged correspondingly to the laser target, and the modal testing method comprises the following steps.

[0083] In step 102, a force signal of the impact excitation is acquired when the object to be tested is subjected to the impact excitation.

[0084] Figure 2 Fig. 2 shows a structural schematic diagram of a modal testing assembly according to some embodiments of the present application. Figure 2 As shown in Fig. 2, the modal testing assembly 200 comprises a laser target 202 and a laser tracking device 204, the laser tracking device 204 is capable of tracking the movement of the laser target 202, and the laser target 202 is arranged on an object to be tested 206. When the object to be tested 206 is subjected to impact excitation, the laser target 202 is displaced along with the object to be tested 206.

[0085] Exemplarily, the laser target is detachably arranged on the to-be-tested object, and a plurality of to-be-tested positions can be arranged on the same to-be-tested object. By detaching and attaching the laser target, the modal test can be performed on different to-be-tested positions of the to-be-tested object. For example, the laser target is arranged on the to-be-tested object by means of hot melt adhesive or beeswax.

[0086] In this embodiment, since the laser tracking device can track the laser target in a non-contact manner, the modal test of the to-be-tested object in a non-contact manner is realized. Moreover, the volume and mass of the laser target are smaller than those of the acceleration sensor, so that the error caused by the change of the volume and mass of the to-be-tested object is reduced. Furthermore, the installation mode of the laser target is more convenient, and the test efficiency of the modal test of the to-be-tested object is further improved.

[0087] In this embodiment, the to-be-tested object is an object to be tested by the modal test assembly. The to-be-tested object can be an industrial robot or other structures. The impact excitation is the impact excitation performed on the to-be-tested object.

[0088] Exemplarily, the to-be-tested object is an industrial robot, and the impact excitation is performed on the industrial robot by means of the impact force hammer, so that the force signal of the impact excitation received by the industrial robot is obtained.

[0089] In step 104, the laser tracking device tracks the laser target to determine the first displacement signal of the laser target.

[0090] In this embodiment, since the laser tracking device can track the laser target arranged on the to-be-tested object, the first displacement signal of the laser target moving with the to-be-tested object can be determined.

[0091] In step 106, the modal test result of the to-be-tested object is determined according to the force signal and the first displacement signal.

[0092] In this embodiment, the force signal of the impact excitation performed on the to-be-tested object and the first displacement signal of the laser tracking device tracking the laser target when the to-be-tested object is subjected to the impact excitation are obtained. By analyzing and processing the force signal and the first displacement signal, the modal test result can be obtained.

[0093] It should be noted that when the laser target and the laser tracking device are deployed on the to-be-tested object, the coordinate conversion relationship between the coordinates of the laser tracking device and the coordinates of the to-be-tested object can be obtained. According to the first displacement signal, the displacement information of the to-be-tested object can be determined by means of the coordinate conversion relationship.

[0094] In the embodiment, the modal test assembly comprises a laser target arranged on the object to be tested and a laser tracking device capable of tracking the laser target. In the process of the object to be tested being impacted and excited, the first displacement signal caused by the impact and excitation can be obtained through the tracking of the laser tracking device on the laser target. The modal test result can be determined through the first displacement signal and the force signal corresponding to the impact and excitation. The laser tracking device and the laser target are more convenient to deploy and calibrate, the sampling of the first displacement signal can be improved, the tested position of the laser target on the object to be tested can be replaced, the first displacement signals of different tested positions can be recorded, and the detection efficiency is improved. The laser tracking device and the laser target are tested in a non-contact manner, the structural weight change of the object to be tested is effectively reduced, and the detection efficiency and accuracy of the modal test are improved.

[0095] As shown in Figure 2 In any of the above embodiments, the modal test assembly 200 further comprises an impact device 208 and an oscilloscope 210, the oscilloscope 210 is connected with the impact device 208. In the case that the object to be tested is impacted and excited, the force signal of the impact and excitation is obtained, comprising:

[0096] controlling the impact device to impact and excite the object to be tested;

[0097] obtaining a voltage signal corresponding to the impact and excitation through the oscilloscope;

[0098] determining the force signal according to the voltage signal.

[0099] In this embodiment, the modal test assembly further comprises an impact device and an oscilloscope. The impact device is used to impact and excite the object to be tested. The object to be tested will vibrate under the impact and excitation, and the vibration of the object to be tested can drive the laser target to displace. The oscilloscope is connected with the impact device. The voltage signal of the impact and excitation of the object to be tested by the impact device can be obtained through the oscilloscope. Then, the force signal can be obtained by converting the voltage signal.

[0100] After determining the tested position of the object to be tested required for modal test, the impact position of the impact device impacting the object to be tested is determined. When starting the modal test, the object to be tested is impacted at a set frequency by the impact device. The voltage signal of the impact and excitation of the object to be tested by the impact device is recorded by the oscilloscope. The voltage signal corresponds to the impact force of the impact device impacting the object to be tested. Therefore, the force signal can be converted according to the voltage signal.

[0101] It should be noted that in the case that the object to be tested is a non-powered object to be tested, the object to be tested is impacted by the impact device. When the impact device impacts and excites the object to be tested, the impact frequency and impact force of the impact device can be adjusted.

[0102] In the embodiment, the impact device is arranged in the modal test assembly, the impact device can actively impact the object to be tested, and the oscilloscope can collect the voltage signal of the impact excitation of the impact device on the object to be tested, the corresponding force signal can be determined according to the collected voltage signal, and the matching degree of the force signal and the first displacement signal is improved, and the accuracy of the modal test result is improved.

[0103] In any of the above embodiments, the control of the impact device to impact the object to be tested comprises:

[0104] Every interval of the first duration, the impact device is controlled to impact the object to be tested until the impact times reach the set number of times.

[0105] In this embodiment, when the impact device impacts the object to be tested, the object to be tested is impacted in an intermittent manner. The first duration is the duration between two adjacent impact excitations. By spacing the first duration between two adjacent impact excitations, the object to be tested can be kept in a static and stable state during each test, and the influence of the previous impact excitation on the subsequent detection can be avoided.

[0106] Exemplarily, the first duration is in the range of 5 seconds to 10 seconds.

[0107] In this embodiment, the impact times of the impact device are counted during the process of the impact device impacting the object to be tested in an intermittent manner, and the impact excitation on the object to be tested is stopped when the count reaches the set number of times. By impacting the object to be tested multiple times by the impact device, the force signal and the first displacement signal corresponding to the multiple impact excitations are determined, so that multiple modal tests can be completed, and the accuracy of the modal test result is improved.

[0108] Exemplarily, the set number of times is in the range of 3 to 10.

[0109] In some embodiments, the object to be tested is an industrial robot, the laser tracking device is a laser tracker, and the impact device is an impact hammer. The industrial robot body and the laser tracker are deployed, and the laser tracker is adjusted so that it can completely capture the position information of the position to be tested of the robot body. The laser target is detachably fixed on any position of the robot body. Taking a six-axis industrial robot as an example, the conversion relationship between the robot body coordinates and the laser tracker coordinates, such as the coordinate rotation matrix, is obtained by rotating the A1 axis and the A4 axis of the industrial robot. Then, the laser target is detachably fixed at the position to be tested, the impact hammer and the oscilloscope device are deployed, the robot body is impacted five times by the impact hammer, and the interval between adjacent two impacts is 10 seconds to ensure that the robot body is basically stable and stationary. The voltage signal generated when the impact hammer strikes is recorded by the oscilloscope, and the voltage signal is converted into a force signal. At the same time, the first displacement signal of the laser target on the robot body is recorded by the laser tracker. The force signal and the first displacement signal are stored and the current round of knocking test is completed. The laser target is moved to the next position to be tested, and the above steps are repeated until the test of all positions to be tested is completed. At this time, the force signals and the first displacement signals of multiple positions to be tested are collected, and the modal test results can be determined through the force signals and the first displacement signals.

[0110] In the embodiments of the present application, the accuracy of the modal test results can be further ensured by intermittently impacting the object to be tested by controlling the impact device, repeatedly testing the same position to be tested of the object to be tested multiple times, and setting a first time interval between adjacent two impact excitations.

[0111] In any of the above embodiments, the impact device comprises at least one of the following: a vibration exciter, an impact hammer.

[0112] In the embodiments of the present application, the impact device is used to impact excite the object to be tested, and the impact device can be at least one of a vibration exciter and an impact hammer. The impact output end of the impact device needs to be correspondingly arranged with the object to be tested. By flexibly selecting the vibration exciter and / or the impact hammer as the impact device, the modal test assembly can be applicable to different types of objects to be tested.

[0113] Figure 3 The structure of the robot provided in some embodiments of the present application is shown in the structural schematic diagram of the robot as shown in Figure 3 In any of the above embodiments, the object to be tested comprises a robot 300, the robot 300 comprises a first action mechanism 302 and a second action mechanism 304, and the modal test assembly further comprises a force sensor 306 arranged on the second action mechanism 304, which acquires a force signal of the impact excitation under the condition that the object to be tested is impacted and excited, and comprises:

[0114] The first action mechanism is controlled to run for a third time interval every second time interval.

[0115] In the case that the first action mechanism is running, the force signal of the impact excitation received by the second action mechanism is acquired by the force sensor.

[0116] In this embodiment, when the robot is modal tested, no external impact excitation is applied to the robot, and the action mechanism of the robot itself is controlled to run, and the influence of the action mechanism in the running state on the action mechanism in the static state is detected. The first action mechanism and the second action mechanism are both action mechanisms in the robot, and the first action mechanism and the second action mechanism can run respectively, that is, the first action mechanism does not drive the second action mechanism to run, and since the first action mechanism and the second action mechanism are both action mechanisms in the robot, the first action mechanism may cause the second action mechanism to vibrate during running.

[0117] Specifically, when the object to be tested is a robot, the influence of the first action mechanism on the second action mechanism when the first action mechanism runs is taken as the impact excitation of the test. When the modal test of the robot is started, the first action mechanism of the robot is controlled to run intermittently, that is, it runs for a third time length every second time length, at this time, the laser target on the second action mechanism is tracked by the laser tracking device to determine the first displacement signal, and the corresponding force signal is determined by the sensor of the robot itself, so as to determine the modal test result according to the first displacement signal and the force signal.

[0118] Exemplarily, the second time length is in the range of 5 seconds to 10 seconds. The third time length is in the range of 10 seconds to 20 seconds.

[0119] In the embodiment of the application, when the object to be tested is a robot, the impact excitation can be applied by the first action mechanism in the robot, and the first displacement signal at the second action mechanism which remains static in the robot is collected, so as to realize the modal test of the second action mechanism in the robot.

[0120] In any of the above embodiments, the number of laser targets is at least two, and the at least two laser targets are arranged on at least two test positions of the object to be tested, wherein the number of first displacement signals is at least two, and the first displacement signals correspond one-to-one to the at least two test positions.

[0121] In this embodiment, the modal test assembly can modal test different test positions in the object to be tested, and when the object to be tested includes a plurality of test positions, a laser target can be arranged at each test position, so as to modal test different test positions.

[0122] Specifically, for example, the to-be-tested object is a robot, and the robot includes three to-be-tested positions, namely, point position 1, point position 2, and point position 3. Laser targets are arranged at the point position 1, the point position 2, and the point position 3, respectively, and the laser targets at the point position 1, the point position 2, and the point position 3 are tracked by the laser tracking device in sequence when the robot is impacted and excited, so as to determine first displacement signals corresponding to the three to-be-tested positions. The modal test result is determined according to the three first displacement signals and the corresponding three force signals. It should be noted that three laser trackers can be selected to track the laser targets of the three different to-be-tested positions, or one laser tracker can be selected to track the laser targets of the three to-be-tested positions in sequence.

[0123] In the embodiments of the present application, the corresponding laser targets are arranged at different to-be-tested positions of the to-be-tested object, and the laser targets at different to-be-tested positions are tracked, so as to further improve the accuracy and test efficiency of the modal test on the to-be-tested object.

[0124] In any of the above embodiments, when the to-be-tested object is impacted and excited, before the force signal of the impact and excitation is acquired, the method further includes:

[0125] The coordinate conversion relationship includes a conversion relationship between a coordinate system of the laser tracking device and a coordinate system of the to-be-tested object.

[0126] The modal test result of the to-be-tested object is determined according to the force signal and the first displacement signal, including:

[0127] The second displacement signal of the to-be-tested object is determined according to the first displacement signal and the coordinate conversion relationship.

[0128] The modal test result is determined according to the force signal and the second displacement signal.

[0129] In this embodiment, before the to-be-tested object is impacted and excited, the to-be-tested object and the laser tracking device need to be deployed and calibrated. After the laser tracking device is deployed, the coordinate conversion relationship between the polar coordinates of the laser tracking device and the base coordinates of the robot is acquired. After the laser tracking device collects the first displacement signal of the laser target, the first displacement signal can be converted in coordinates through the coordinate conversion relationship to obtain a second displacement signal, which is a displacement signal in the coordinate system of the robot.

[0130] For example, the to-be-tested object is a six-axis robot, and the coordinate conversion relationship between the base coordinates of the robot and the base coordinates of the laser tracker is obtained by rotating the A1 axis and the A4 axis of the six-axis robot. The coordinate conversion relationship can be a coordinate rotation matrix.

[0131] In this embodiment, since the first displacement signal is the displacement signal corresponding to the laser target, the coordinate conversion relationship obtained through calibration is needed to convert the first displacement signal into the second displacement signal, and then the modal test result is determined through the force signal and the second displacement signal.

[0132] In the embodiments of the present application, the coordinate conversion relationship between the object to be measured and the laser tracking device is determined during the deployment and calibration of the laser tracking device before the modal test of the object to be measured, which facilitates the determination of the second displacement signal in the coordinate system of the object to be measured based on the coordinate conversion relationship after the first displacement signal is tracked by the laser tracking device, and the determination of the modal test result through the second displacement signal and the force signal, thereby further improving the accuracy of the determination of the modal test result.

[0133] In any of the above embodiments, before the modal test result is determined according to the force signal and the first displacement signal, the method further comprises:

[0134] The force signal and the first displacement signal are preprocessed to improve the signal-to-noise ratio of the force signal and the first displacement signal.

[0135] The signal preprocessing includes at least one of low-pass filtering processing, windowing processing, and time domain truncation processing.

[0136] In this embodiment, after the force signal of the impact excitation to the object to be measured and the first displacement signal tracked by the laser target are obtained, the first displacement signal and the force signal need to be preprocessed to improve the signal-to-noise ratio of the first displacement signal and the force signal.

[0137] For example, after the force signal and the first displacement signal are obtained, the force signal and the first displacement signal are sequentially subjected to windowing processing, low-pass filtering processing, and time domain truncation processing.

[0138] In the embodiments of the present application, at least one of low-pass filtering processing, windowing processing, and time domain truncation processing is performed on the force signal and the first displacement signal before the force signal and the first displacement signal are analyzed, thereby reducing the signal-to-noise ratio of the force signal and the first displacement signal and further improving the accuracy of the modal test of the object to be measured.

[0139] In any of the above embodiments, the modal test result includes at least one of a frequency response curve, a resonance peak, and a vibration shape.

[0140] In the embodiments of the present application, after the first displacement signal and the force signal are obtained, a frequency response curve, a resonance peak in a frequency domain, and a vibration shape at a frequency can be generated according to the first displacement signal and the force signal, thereby improving the accuracy and integrity of the determination of the modal test result.

[0141] Specifically, position information of a to-be-tested position in the to-be-tested object is acquired, the position information being position information of the to-be-tested object in a base coordinate system, and a vibration mode of the to-be-tested object at a set frequency can be determined according to the position information and the modal frequency.

[0142] In any of the above embodiments, the modal test assembly comprises a modal data processing and analysis system. Figure 4 A schematic block diagram of a modal data processing and analysis system provided in some embodiments of the present application is shown in FIG. 4. Figure 4 As shown in FIG. 4, the modal data processing and analysis system 400 comprises:

[0143] A signal importing module 402 is configured to create a simplified model of the to-be-tested object according to the to-be-tested position, and import the force signal and the first displacement signal.

[0144] A signal processing module 404 is configured to sort and classify the required signals, and reduce noise and interference of the collected signals. For example, the force signal and the first displacement signal are subjected to windowing processing, low-pass filtering processing, and time-domain truncation processing, etc. for pre-processing, so as to reduce the signal-to-noise ratio of the force signal and the first displacement signal.

[0145] A modal analysis module 406 is configured to determine a frequency response curve, search for a resonance peak in a target frequency domain, and calculate a vibration mode at a related frequency based on the force signal and the first displacement signal.

[0146] A result output module 408 is configured to output the frequency response curve, the resonance peak in the target frequency domain, and the vibration mode at the related frequency.

[0147] According to one embodiment of the present application, Figure 5 A schematic block diagram of a modal test device provided in some embodiments of the present application is shown in FIG. 5. Figure 5 As shown in FIG. 5, a modal test device 500 is provided, which is applied to a modal test assembly, the modal test assembly comprising a laser target and a laser tracking device, the laser target being arranged on a to-be-tested object, and the laser tracking device being arranged correspondingly to the laser target, and the modal test device 500 comprises:

[0148] An acquisition module 502 is configured to acquire a force signal of an impact excitation when the to-be-tested object is subjected to the impact excitation.

[0149] A determination module 504 is configured to determine a first displacement signal of the laser target by laser tracking of the laser target by the laser tracking device.

[0150] The determination module 504 is configured to determine a modal test result of the to-be-tested object according to the force signal and the first displacement signal.

[0151] In the embodiment of the present application, the modal test assembly comprises a laser target arranged on the object to be tested and a laser tracking device capable of tracking the laser target. In the process of the object to be tested being impacted and excited, the first displacement signal caused by the impact and excitation can be obtained through the tracking of the laser tracking device on the laser target. The modal test result can be determined through the first displacement signal and the force signal corresponding to the impact and excitation. The laser tracking device and the laser target are more convenient to deploy and calibrate, can improve the sampling of the first displacement signal, and can replace the test position of the laser target on the object to be tested, record the first displacement signal of different test positions, and improve the detection efficiency. The laser tracking device and the laser target use a non-contact test method, which can effectively reduce the change of the structure weight of the object to be tested, and improve the detection efficiency and accuracy of the modal test.

[0152] In any of the above embodiments, the modal test assembly further comprises an impact device and an oscilloscope, the oscilloscope is connected with the impact device, and the modal test device 500 comprises:

[0153] A control module is configured to control the impact device to impact and excite the object to be tested.

[0154] An acquisition module 502 is configured to acquire a voltage signal corresponding to the impact and excitation through the oscilloscope.

[0155] A determination module 504 is configured to determine a force signal according to the voltage signal.

[0156] In the embodiment of the present application, the impact device in the modal test assembly can actively impact and excite the object to be tested, and the voltage signal of the impact and excitation of the impact device on the object to be tested can be collected through the oscilloscope. The corresponding force signal can be determined according to the collected voltage signal. The matching degree of the force signal and the first displacement signal is improved, and the accuracy of the modal test result is improved.

[0157] In any of the above embodiments, the control module is configured to control the impact device to impact the object to be tested for a first time interval until the number of impacts reaches a set number.

[0158] In the embodiment of the present application, the impact device intermittently impacts and excites the object to be tested, repeatedly tests the same test position of the object to be tested multiple times, and intervals a first time interval between adjacent two impact excitations, which can further ensure the accuracy of the modal test result.

[0159] In any of the above embodiments, the impact device comprises at least one of the following: a vibration exciter and an impact force hammer.

[0160] In the embodiments of the present application, the impact device is used to impact the to-be-tested object, and the impact device can be at least one of the vibration exciter and the impact force hammer. The impact output end of the impact device needs to be correspondingly arranged on the to-be-tested object. By flexibly selecting the vibration exciter and / or the impact force hammer as the impact device, the modal test assembly can be applied to different types of to-be-tested objects.

[0161] In any of the above embodiments, the to-be-tested object includes a robot, the robot includes a first action mechanism and a second action mechanism, and the modal test assembly further includes: a force sensor, which is arranged on the second action mechanism.

[0162] a control module, configured to control the first action mechanism to operate for a third time length every second time length;

[0163] The acquisition module 502 is configured to acquire, by the force sensor, a force signal of the impact excitation received by the second action mechanism when the first action mechanism is operating.

[0164] In the embodiments of the present application, when the to-be-tested object is a robot, the impact excitation can be applied by the first action mechanism in the robot, and the first displacement signal at the second action mechanism which remains stationary in the robot can be collected, so as to realize the modal test of the second action mechanism in the robot.

[0165] In any of the above embodiments, the number of laser targets is at least two, and the at least two laser targets are arranged on at least two to-be-tested positions of the to-be-tested object. The number of first displacement signals is at least two, and the first displacement signals correspond to the at least two to-be-tested positions one by one.

[0166] In the embodiments of the present application, the corresponding laser targets are arranged on different to-be-tested positions of the to-be-tested object, and the laser targets on different to-be-tested positions are tracked by laser, so as to further improve the accuracy and test efficiency of the modal test of the to-be-tested object.

[0167] In any of the above embodiments, the acquisition module 502 is configured to acquire a coordinate conversion relationship, and the coordinate conversion relationship includes a conversion relationship between a coordinate system of the laser tracking device and a coordinate system of the to-be-tested object.

[0168] The determination module 504 is configured to determine the second displacement signal of the to-be-tested object according to the first displacement signal and the coordinate conversion relationship.

[0169] The determination module 504 is configured to determine the modal test result according to the force signal and the second displacement signal.

[0170] In the embodiments of the present application, the coordinate conversion relationship between the object to be tested and the laser tracking device is determined in the process of deployment and calibration of the laser tracking device before the object to be tested is tested in the modal test, so as to facilitate subsequent determination of the second displacement signal in the coordinate system of the object to be tested based on the coordinate conversion relationship after the first displacement signal is tracked by the laser tracking device, and determination of the modal test result through the second displacement signal and the force signal, thereby further improving the accuracy of the determination of the modal test result.

[0171] In any of the above embodiments, the processing module is configured to perform signal preprocessing on the force signal and the first displacement signal to improve the signal-to-noise ratio of the force signal and the first displacement signal.

[0172] In any of the above embodiments, the signal preprocessing includes at least one of low-pass filtering processing, windowing processing, and time domain truncation processing.

[0173] In the embodiments of the present application, at least one of low-pass filtering processing, windowing processing, and time domain truncation processing is performed on the force signal and the first displacement signal before the force signal and the first displacement signal are analyzed, thereby reducing the signal-to-noise ratio of the force signal and the first displacement signal and further improving the accuracy of the modal test of the object to be tested.

[0174] In any of the above embodiments, the modal test result includes at least one of the following:

[0175] a frequency response curve, a resonance peak, a modal frequency, and a vibration shape.

[0176] In the embodiments of the present application, after the first displacement signal and the force signal are obtained, a frequency response curve, a resonance peak in a frequency domain, and a vibration shape at a set frequency can be generated according to the first displacement signal and the force signal, thereby improving the accuracy and integrity of the determination of the modal test result.

[0177] According to an embodiment of the present application, Figure 6 Fig. 2 shows a schematic block diagram of a modal test device according to some embodiments of the present application, and Figure 6 As shown in Fig. 2, the modal test device 600 includes a processor 602 and a memory 604, and the memory 604 stores a program or instructions which, when executed by the processor 602, implement the steps of the modal test method in any of the above embodiments. Therefore, the modal test device 600 has all the beneficial effects of the modal test method in any of the above embodiments, and will not be described here.

[0178] According to an embodiment of the present application, optionally, a readable storage medium is provided, and the readable storage medium stores a program or instructions which, when executed by a processor, implement the modal test method in any of the above embodiments, and thus has all the beneficial technical effects of the modal test method in any of the above embodiments.

[0179] The readable storage medium can be, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, etc.

[0180] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media, or electrical signals through a wire, cable, or other transmission media.

[0181] According to an embodiment of the present application, optionally, there is provided a modal testing assembly, comprising: the modal testing device according to any one of the above embodiments, and / or the readable storage medium according to any one of the above embodiments, thus having all the beneficial technical effects of the modal testing device according to any one of the above embodiments, and / or the readable storage medium according to any one of the above embodiments, which will not be repeated here.

[0182] As shown in FIG. 2, in any one of the above embodiments, the modal testing assembly 200 further comprises: Figure 2

[0183] a laser target 202 arranged at a to-be-tested position of the to-be-tested object 206;

[0184] a laser tracking device 204 arranged corresponding to the laser target 202

[0185] As shown in FIG. 2, in any one of the above embodiments, the modal testing assembly 200 further comprises: Figure 2

[0186] a striking device 208 and an oscilloscope 210 connected to the striking device 208.

[0187] ​​In the technical solution of the present application, the laser tracking device 204 and the laser target 202 can effectively reduce the structural weight change of the object 206 to be measured and improve the accuracy of modal testing through a non-contact testing method.

[0188] It should be noted that in the claims, the specification and the drawings of the present application, the term "a plurality of" means two or more, unless otherwise specifically defined, and the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and make the description process more simple and convenient, and are not intended to indicate or imply that the device or element must have the specific orientation described, be constructed and operated in a specific orientation, and therefore these descriptions cannot be understood as a limitation on the present application; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection between objects, or a detachable connection between objects, or an integral connection; it can be a direct connection between objects, or an indirect connection between objects through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances of the above data.

[0189] In the claims, the specification and the drawings of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the claims, the specification and the drawings of the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0190] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A modal testing method, characterized in that, An application is made to a modal testing assembly, the modal testing assembly including a laser target and a laser tracking device, the laser target being disposed on the object under test, and the laser tracking device being disposed correspondingly to the laser target; the modal testing method includes: When the object under test is subjected to an impact excitation, the force signal of the impact excitation is acquired; The laser target is laser-tracked by the laser tracking device to determine the first displacement signal of the laser target; Based on the force signal and the first displacement signal, the modal test results of the object under test are determined.

2. The modal testing method according to claim 1, characterized in that, The modal testing assembly further includes an impact device and an oscilloscope, the oscilloscope being connected to the impact device. The step of acquiring the force signal of the impact excitation when the object under test is subjected to impact excitation includes: The impact device is controlled to apply the impact excitation to the object under test; The voltage signal corresponding to the impact excitation is obtained using the oscilloscope. The force signal is determined based on the voltage signal.

3. The modal testing method according to claim 2, characterized in that, The control of the impact device to apply the impact excitation to the object under test includes: At each first time interval, the impact device is controlled to impact the object under test until the number of impacts reaches the set number.

4. The modal testing method according to claim 2, characterized in that, The impact device includes at least one of the following: a vibrator and an impact hammer.

5. The modal testing method according to claim 1, characterized in that, The object under test includes a robot, which includes a first motion mechanism and a second motion mechanism. The modal testing component further includes a force sensor disposed on the second motion mechanism. The step of acquiring the force signal of the impact excitation when the object under test is subjected to impact excitation includes: The first actuator is controlled to run for a third time interval every second time interval; When the first actuating mechanism is in operation, the force signal of the impact excitation received by the second actuating mechanism is acquired by the force sensor.

6. The modal testing method according to any one of claims 1 to 5, characterized in that, The number of laser targets is at least two, and the at least two laser targets are set at at least two test positions of the object to be tested. The number of first displacement signals is at least two, and the first displacement signals correspond one-to-one with the at least two test positions.

7. The modal testing method according to any one of claims 1 to 5, characterized in that, Before acquiring the force signal of the impact excitation when the object under test is subjected to impact excitation, the method further includes: Obtain the coordinate transformation relationship, which includes the transformation relationship between the coordinate system of the laser tracking device and the coordinate system of the object under test; Determining the modal test result of the object under test based on the force signal and the first displacement signal includes: Based on the first displacement signal and the coordinate transformation relationship, the second displacement signal of the object to be measured is determined; The modal test results are determined based on the force signal and the second displacement signal.

8. The modal testing method according to any one of claims 1 to 5, characterized in that, Before determining the modal test result based on the force signal and the first displacement signal, the method further includes: The force signal and the first displacement signal are preprocessed to improve their signal-to-noise ratio. The signal preprocessing includes at least one of the following: low-pass filtering, windowing, and time-domain truncation.

9. The modal testing method according to any one of claims 1 to 5, characterized in that, The modal test results include at least one of the following: Frequency response curve, resonance peak, modal frequency, and mode shape.

10. A modal testing device, characterized in that, An application is made in a modal testing assembly, the modal testing assembly including a laser target and a laser tracking device, the laser target being disposed on the object under test, and the laser tracking device being disposed correspondingly to the laser target, the modal testing assembly comprising: The acquisition module is used to acquire the force signal of the impact excitation when the object under test is subjected to impact excitation; The determination module is used to perform laser tracking on the laser target through the laser tracking device and determine the first displacement signal of the laser target; The determining module is used to determine the modal test results of the object under test based on the force signal and the first displacement signal.

11. A modal testing device, characterized in that, include: processor; A memory storing a program or instructions, wherein the processor, when executing the program or instructions in the memory, implements the steps of the modal testing method as described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the modal testing method as described in any one of claims 1 to 9.

13. A modal testing component, characterized in that, include: Modal testing apparatus as described in claim 10 or 11; and / or The readable storage medium as described in claim 12.

14. The modal testing component according to claim 13, characterized in that, Also includes: A laser target is placed at the test position on the object to be tested. A laser tracking device is configured corresponding to the laser target.

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