Automatic testing device for IO port of industrial robot electric cabinet

Abstract

The invention discloses an automatic testing device for an industrial robot electric cabinet IO port, which comprises a testing tool and a testing terminal, and is characterized in that the testing tool is used for being connected to the tested industrial robot electric cabinet IO port, and the testing terminal is in communication connection with a tested industrial robot; the test terminal is configured with a python script program, and when the test terminal runs the python script program, the following steps are realized: a robot controller executes a preset test case, and the test terminal generates a test report. The method has the advantages that automatic testing of the IO port of the robot electric cabinet is achieved, the testing efficiency of industrial robot system software and hardware is improved, and the cost can be effectively controlled.

Description

Technical Field

[0001] This application relates to the field of industrial robot technology, and in particular to an automated testing device for the I / O ports of an industrial robot cabinet. Background Technology

[0002] Industrial robots typically offer a rich set of I / O communication interfaces for communication with surrounding devices. These interfaces generally include standard I / O ports, such as DI (Input) and DO (Output), with DO output further divided into NPN and PNP types; expansion I / O ports; and functional safety I / O ports. The external circuit connection methods and corresponding software functions differ depending on the I / O port. In common robot applications, functions like start and emergency stop can be achieved using buttons on the robot cabinet itself or on the teach pendant. However, in practice, to achieve communication and synchronization with peripheral devices, external I / O ports are often used to implement these functions. Testing robot I / O ports requires correct external hardware wiring before functional testing via a robot teach pendant. The variety of robot I / O port types, the diverse combinations of expansion I / O boards, and the numerous types of test cases lead to lengthy test case writing times and repetitive testing, resulting in low testing efficiency. This is especially true when verifying and testing all I / O ports on multiple robot cabinets, where manual testing is time-consuming and prone to errors and omissions. Sometimes, due to time constraints, test coverage is incomplete.

[0003] Chinese patent CN115687137A discloses an automatic testing method, device, and teach pendant for industrial robots. This method mainly describes the automated testing of teach pendant commands for robot controllers, but lacks a description of a testing method for the I / O ports of the electrical cabinet, a crucial component of the robot.

[0004] Chinese patent CN114139404A discloses an automated performance testing method for robots. This method primarily utilizes HB-Robot software for multi-mode visual modeling, using this modeling to perform overall robot performance testing. However, this method mainly describes the robot's performance testing approach and cannot address issues such as the large number of robot I / O types, repetitive operations, cumbersome procedures, and low efficiency.

[0005] Chinese patent CN107526681A discloses a robot testing system and method. The method mainly introduces the robot testing system. However, this system lacks descriptions of hardware testing fixture setup and automated test case design methods.

[0006] Therefore, how to improve the testing efficiency of the I / O unit of the industrial robot's electrical cabinet and effectively control costs is a technical problem that technical personnel in this field need to solve. Summary of the Invention

[0007] This application provides an automated testing device for the I / O ports of an industrial robot cabinet. Its advantages include automated testing of the I / O ports of the robot cabinet, improved testing efficiency of industrial robot system software and hardware, and effective cost control.

[0008] The above-mentioned objective of this application is achieved through the following technical solution: an automated testing device for the I / O port of an industrial robot cabinet, comprising a testing fixture and a testing terminal, wherein the testing fixture is used to connect to the I / O port of the industrial robot cabinet under test, and the testing terminal is communicatively connected to the industrial robot under test. The test terminal is equipped with a Python script program. When the test terminal runs the Python script program, it performs the following steps: the robot controller executes preset test cases, and the test terminal generates a test report.

[0009] Furthermore, when the test terminal runs the Python script program, the following functional modules are specifically implemented: Windows system file read / write module, used for creating local folders; The FTP remote file download module is used to download the logs before and after the robot controller alarms. The socket communication module configures the robot's DO port using a fixed message format; The file difference comparison module is used to compare logs before and after an alarm, write the content generated in the new log to the difference file, analyze the characters in the difference file and extract the alarm content and alarm number; Test case action execution module: When this functional module is executed, the robot controller executes the preset test cases; The data processing and assertion module is used to determine whether the alarm content and the expected result are consistent; The system also includes an automated test report module. Using a Python automated testing framework, the system automatically generates automated test reports after running Python scripts. The automated test reports show the execution status of the test cases, including the execution time of the automated test cases, the test cases that passed, and the test cases that failed.

[0010] Furthermore, the Windows system file read / write module first determines whether the folder already exists under the fixed path. If it does, it deletes and recreates the folder; otherwise, it creates a new folder directly. The folder is used to store the logs downloaded from the industrial robot controller. The aforementioned FTP remote file download module downloads the robot controller's logs to the local machine via IP address, port, and hostname. The socket communication module accesses the robot controller's TCP / IP interface via IP and port, and obtains and sets the I / O port status of the robot cabinet through a fixed message format. The file difference comparison module is used to compare new and old alarm logs. It iterates through the new and old logs, writes the differences in the logs to a difference file, analyzes the differences, and extracts the alarm number information. The test case action execution module includes one or more of the following: PNP extended I / O port test cases, PNP extended I / O port test cases, and security I / O port diagnostic alarm test cases; The data processing and assertion module uses an automated testing framework in Python. The automated testing framework automatically discovers test cases and executes them by using preset specific file names and function name rules. It writes log differences to a new difference file, extracts alarm numbers from the differences using regular expressions, and compares the alarm information with the expected value. If the comparison results are consistent, the test case is considered to have passed; otherwise, the test case is considered to have failed. The automated test report module uses a Python automated test framework library to generate HTML format test reports via command line and store them in a user-specified path.

[0011] Based on the above scheme, the test action step script and test case step report script are set up independently, making them easy to design separately and highly scalable. Expanding test cases and each test case step is very easy to implement. Adding, modifying, or deleting test cases only requires modifying the test case function, without needing to modify the test action step script, making it simpler and faster for testers to use.

[0012] Furthermore, the test fixture is an NPN type general standard I / O port hardware test fixture module. The NPN type general standard I / O port hardware test fixture module includes several jumper wires for shorting the internal 24V contacts, external 24V contacts and input common terminal S0 contacts of the robot cabinet NPN type general standard I / O port, shorting the output DOX and input DIX, and shorting the external 0V contacts and internal 0V contacts.

[0013] Furthermore, when the robot controller executes the NPN standard IO port test case, it performs the following steps: initialization, channels 1 to 5 are system IOs, i.e., the corresponding stop program is executed, excitation is de-energized, the project operation is deactivated, channels 6 to 20 are set to 0, the virtual teach pendant is turned on, and DO is set to 1 to simulate the on and off of the external hardware wiring of the IO port, obtain the actual values ​​of DO and DI and compare them with the expected values.

[0014] Furthermore, the test fixture is a PNP type extended IO port hardware test fixture module. The PNP type extended IO port hardware test fixture module includes several jumper wires for shorting the output DOx and input DIx in the PNP type extended IO port of the robot cabinet, and shorting the external 0V and input COM contacts.

[0015] Furthermore, when the robot controller executes the NPN standard IO port test case, it performs the following steps: initialization, setting DO to 0 for channels 21 to 36, opening the virtual teach pendant, and setting DO to 1, thereby simulating the on and off states of the external hardware wiring of the IO port, obtaining the actual values ​​of DO and DI and comparing them with the expected values.

[0016] Furthermore, the test fixture is a hardware test fixture module for safety I / O port diagnostics and alarms. This module includes a relay, and the relay is connected to the safety I / O port using the following two methods: Connection Method 1: Connect the two ends of the relay coil to the 24V and DO pins. Use dual-channel relay contacts to control the two sets of GS stop signals in the safety I / O port. The two normally closed contacts of the relay are connected to the safety I / O port signals GS1+ and GS1- respectively. The two common terminals of the relay are connected to 24V and 0V respectively. Connection Method 2: Connect the two ends of the relay coil to the 24V and DO pins. Use a single channel for the relay contacts to control a set of external emergency stop signals in the safety I / O port. Connect one common terminal of the relay to the external emergency stop positive of the safety I / O port, and connect one normally closed contact of the relay to the external emergency stop negative of the safety I / O port.

[0017] Furthermore, when the robot controller executes the safety I / O port diagnostic alarm test case, it performs the following steps: creating a local folder, downloading old logs via FTP, setting DO to 1 in socket communication to disconnect the 24V of the safety I / O port to generate an alarm, setting DO to 0 in socket communication to restore the 24V of the safety I / O port, clearing the alarm via socket communication, downloading new logs via socket communication, comparing the new logs with the old logs and writing the differences in the new logs to a new difference file, analyzing the characters in the difference file and extracting the alarm content and alarm number, comparing whether the alarm content is consistent with the expected value, determining whether the test case passes, and generating a test report.

[0018] Based on the above solution, depending on the different testing requirements of the robot cabinet's I / O type, it can test NPN type standard I / O ports and PNP type extended I / O ports, as well as safety I / O ports for diagnostic alarms, offering strong compatibility. Users can independently select the corresponding hardware test fixture modules and corresponding Python test scripts according to testing requirements, ensuring ease of use.

[0019] In summary, the beneficial effects of this application are as follows: I. This invention enables automated testing of the I / O ports of robot electrical cabinets, improving testing efficiency and reducing production costs.

[0020] Second, depending on the different testing requirements of the robot's electrical cabinet I / O type, it can test NPN type standard I / O ports and PNP type extended I / O ports, as well as safety I / O ports for diagnostic alarms, offering strong compatibility. Users can independently select the corresponding hardware test fixture modules and corresponding Python test scripts according to testing requirements, ensuring ease of use.

[0021] Third, the test action step script and test case step report script are set up independently, making them easy to design separately and highly scalable. Expanding test cases and each test case step is very easy to implement. Adding, modifying, or deleting test cases only requires modifying the test case function, without needing to modify the test action step script, making it simpler and faster for testers to use. Attached Figure Description

[0022] Figure 1 This is a structural diagram of a specific embodiment of the automated testing device provided in this invention. Figure 2 This is a schematic diagram of the hardware testing fixture in the automated testing device provided in this embodiment of the invention; Figure 3 This is a schematic diagram of the functional modules of the automated testing device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the test case execution flow of the automated testing device provided in this embodiment of the invention; Figure 5 This is a schematic diagram of the Python script program structure of the automated testing device provided in the embodiments of the present invention; Figure 6 A schematic diagram of the Python script program function of the automated testing device provided in the embodiments of the present invention. Figure 7 This is a schematic diagram of an automated test report provided in an embodiment of the present invention. Detailed Implementation

[0023] The specific embodiments of this application are described in detail below with reference to the accompanying drawings.

[0024] Example: An automated testing device for the I / O ports of an industrial robot's electrical cabinet, such as... Figure 1As shown, the system includes a test fixture and a test terminal. The test fixture is used to connect to the I / O port of the electrical cabinet of the industrial robot under test, and the test terminal is communicatively connected to the industrial robot under test. The test terminal is configured with a Python script program. When the test terminal runs the Python script program, it performs the following steps: the robot controller executes preset test cases, and the test terminal generates a test report.

[0025] In this embodiment, the test terminal is a local computer, which is connected to the robot controller's network port via a network cable to establish a communication connection.

[0026] The test fixture is one or more of the following: an NPN type general standard I / O port hardware test fixture module, a PNP type extended I / O port hardware test fixture module, and a safety I / O port diagnostic alarm hardware test fixture module.

[0027] Among them, such as Figure 2 As shown, the NPN type general standard IO port hardware test fixture module includes several shorting wires for shorting the internal 24V contact, external 24V contact and input common terminal S0 contact of the NPN type general standard IO port of the robot cabinet, shorting the output DOx and input DIx, and shorting the external 0V contact and internal 0V contact.

[0028] The PNP type extended IO port hardware test fixture module includes several shorting wires for shorting the output DOx and input DIx in the PNP type extended IO port of the robot cabinet, and shorting the external 0V and input COM contacts.

[0029] The test fixture is a hardware test fixture module for safety I / O port diagnostics and alarms. This module includes a relay, and the relay is connected to the safety I / O port using the following two methods: Connection Method 1: Connect the two ends of the relay coil to the 24V and DO pins. The relay contacts use dual channels to control two sets of GS stop signals in the safety I / O port. The two normally closed contacts of the relay are connected to the safety I / O port signals, such as GS1+ and GS1-, respectively. The two common terminals of the relay are connected to 24V and 0V respectively.

[0030] Connection Method 2: Connect the two ends of the relay coil to the 24V and DO pins. The relay contacts use a single channel to control a set of external emergency stop signals in the safety I / O port. One common terminal of the relay is connected to the external emergency stop positive of the safety I / O port, and one normally closed contact of the relay is connected to the external emergency stop negative of the safety I / O port.

[0031] A test case library is created in the Python software environment. Test cases are then created within this library, each containing multiple test action execution module functions. During test case execution, test data files are generated. These test data files are compared and analyzed with the expected data to generate actual test results. Based on these results, an automated test report is automatically generated. The Python software test script structure corresponds one-to-one with the hardware test fixtures, and is divided into three groups of Python script programs: standard I / O software test scripts, extended I / O software test scripts, and automated test scripts for safety I / O software diagnostics and alarms.

[0032] like Figure 3 As shown, the Python software script function modules include: Windows system file read / write module, FTP remote file download module, socket communication module, file difference comparison module, test case action execution module, data processing and assertion module, and automated test report module.

[0033] In other words, when the test terminal runs the Python script program, it specifically implements the following functional modules: The Windows system file read / write module is used to create folders locally. It uses the exists() function to determine whether a folder already exists at a fixed path. If it does, it deletes and recreates the folder; otherwise, it creates a new folder directly. The folder is used to store logs downloaded from the industrial robot controller. The FTP remote file download module is used to download the logs of the robot controller before and after an alarm. The FTP remote file download module is used by connecting the local computer to the robot controller's network port via a network cable and remotely downloading the robot controller's logs to the local computer via FTP using the IP address, port, and hostname. The socket communication module configures the robot's DO port using a fixed message format; the local computer connects to the robot controller's network port via a network cable, accesses the robot controller's TCP / IP interface via IP and port, and obtains and sets the IO port status of the robot's electrical cabinet using a fixed message format. The file difference comparison module is used to compare logs before and after an alarm, write the content generated in the new log to a difference file, analyze the characters in the difference file and extract the alarm content and alarm number; it is also used to compare new and old alarm logs, write the log differences to a difference file by looping through the new and old logs, analyze the differences and extract the alarm number information. The test case action execution module executes preset test cases when the robot controller executes this module. The test case action execution module includes one or more of the following: NPN standard IO port test cases, PNP extended IO port test cases, and safety IO port diagnostic alarm test cases. The data processing and assertion module is used to determine whether the alarm content and the expected result are consistent. It uses an automated testing framework in Python, which automatically discovers test cases and executes them by using preset specific file names and function name rules. It writes log differences to a new difference file, extracts alarm number information from the generated differences using regular expressions, and compares the alarm information with the expected value. If the comparison results are consistent, the test case is considered to have passed; otherwise, the test case is considered to have failed. The system also includes an automated test report module. Utilizing a Python automated testing framework, it automatically generates automated test reports after running Python scripts. These reports display the execution status of the test cases, including execution time, successful test cases, and failed test cases. Furthermore, using the Python automated testing framework library, it generates HTML format test reports via command line and stores them in a user-specified path.

[0034] When the test terminal runs the standard IO software test script, the robot controller executes the NPN standard IO port test cases, and implements the following steps: initialization, channels 1 to 5 are system IO, i.e., execute the corresponding stop program, de-energize, cancel the project operation, set DO to 0 for channels 6 to 20, open the virtual teach pendant, set DO to 1 to simulate the on and off of the external hardware wiring of the IO port, obtain the actual values ​​of DO and DI and compare them with the expected values.

[0035] When the test terminal runs the extended IO software test script, the robot controller executes the NPN standard IO port test case and implements the following steps: initialization, setting DO of channels 21 to 36 to 0, opening the virtual teach pendant, and setting DO to 1, thereby simulating the on and off of the external hardware wiring of the IO port, obtaining the actual values ​​of DO and DI and comparing them with the expected values.

[0036] When the test terminal runs the automated test script for diagnosing alarms using the safety I / O software, the robot controller executes the safety I / O port diagnostic alarm test cases, implementing the following steps: creating a local folder, downloading old logs via FTP, setting DO to 1 in socket communication to disconnect the 24V of the safety I / O port to generate an alarm, setting DO to 0 in socket communication to restore the 24V of the safety I / O port, clearing the alarm via socket communication, downloading new logs via socket communication, comparing the new logs with the old logs and writing the differences in the new logs to a new difference file, analyzing the characters in the difference file and extracting the alarm content and alarm number, comparing whether the alarm content matches the expected value, determining whether the test cases pass, and generating a test report.

[0037] In this embodiment, the standard IO software test script, the extended IO software test script, and the automated test script for diagnostic alarms of the security IO software are named standard_NPN_DIDO.py, Extend_PNP_DIDO.py, and Diagnosis_Alarm.py, respectively.

[0038] When testing the I / O ports of the robot cabinet, first select the test fixture corresponding to the I / O port being tested and connect it to the I / O port of the robot cabinet. Then, run the Python script program on the test terminal. The specific process is as follows: Figure 4 As shown.

[0039] In this embodiment, as Figure 5-6 As shown, the test action module script, test case execution script, and test report generation script in the Python script program are independently configured and designed, offering strong scalability. The test action module script employs multiple functionalities with clearly defined roles. The test case execution and test report generation scripts contain multiple test steps, which can be edited and extended as needed. Expanding test cases and each test case step is very easy. Adding, modifying, or deleting test cases only requires modifying the test case function, without altering the test action step script, making it simpler and faster for testers.

[0040] In this embodiment, the automated test report generated after the test is as follows: Figure 7 As shown.

[0041] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of this application, and these all fall within the protection scope of this application.

Claims

1. An automated testing device for the I / O ports of an industrial robot electrical cabinet, characterized in that, It includes a test fixture and a test terminal. The test fixture is used to connect to the I / O port of the electrical cabinet of the industrial robot under test, and the test terminal is communicatively connected to the industrial robot under test. The test terminal is equipped with a Python script program. When the test terminal runs the Python script program, it performs the following steps: the robot controller executes preset test cases, and the test terminal generates a test report.

2. The automated testing device for the I / O ports of the industrial robot electrical cabinet according to claim 1, characterized in that, When running a Python script in the test terminal, the following functional modules are implemented: Windows system file read / write module, used for creating local folders; The FTP remote file download module is used to download the logs before and after the robot controller alarms. The socket communication module configures the robot's DO port using a fixed message format; The file difference comparison module is used to compare logs before and after an alarm, write the content generated in the new log to the difference file, analyze the characters in the difference file and extract the alarm content and alarm number; Test case action execution module: When this functional module is executed, the robot controller executes the preset test cases; The data processing and assertion module is used to determine whether the alarm content and the expected result are consistent; The system also includes an automated test report module. Using a Python automated testing framework, the system automatically generates automated test reports after running Python scripts. The automated test reports show the execution status of the test cases, including the execution time of the automated test cases, the test cases that passed, and the test cases that failed.

3. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 2, characterized in that, The Windows system file read / write module first determines whether the folder already exists under the fixed path. If it does, it deletes and recreates the folder; otherwise, it creates a new folder directly. The folder is used to store the logs downloaded from the industrial robot controller. The aforementioned FTP remote file download module downloads the robot controller's logs to the local machine via IP address, port, and hostname. The socket communication module accesses the robot controller's TCP / IP interface via IP and port, and obtains and sets the I / O port status of the robot cabinet through a fixed message format. The file difference comparison module is used to compare new and old alarm logs. It iterates through the new and old logs, writes the differences in the logs to a difference file, analyzes the differences, and extracts the alarm number information. The test case action execution module includes one or more of the following: NPN standard IO port test cases, PNP extended IO port test cases, and security IO port diagnostic alarm test cases; The data processing and assertion module uses an automated testing framework in Python. The automated testing framework automatically discovers test cases and executes them by using preset specific file names and function name rules. It writes log differences to a new difference file, extracts alarm numbers from the differences using regular expressions, and compares the alarm information with the expected value. If the comparison results are consistent, the test case is considered to have passed; otherwise, the test case is considered to have failed. The automated test report module uses a Python automated test framework library to generate HTML format test reports via command line and store them in a user-specified path.

4. The automated testing device for the I / O ports of the industrial robot electrical cabinet according to claim 3, characterized in that, The test fixture is an NPN type general standard I / O port hardware test fixture module. The NPN type general standard I / O port hardware test fixture module includes several shorting wires for shorting the internal 24V contacts, external 24V contacts and input common terminal S0 contacts of the NPN type general standard I / O port of the robot cabinet, shorting the output DOX and input DIX, and shorting the external 0V contacts and internal 0V contacts.

5. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 4, characterized in that, When the robot controller executes the NPN standard IO port test case, it performs the following steps: initialization, channels 1 to 5 are system IOs, i.e., the corresponding stop program is executed, excitation is de-energized, the project is deactivated, channels 6 to 20 are set to DO to 0, the virtual teach pendant is turned on, and DO is set to 1 to simulate the on and off of the external hardware wiring of the IO port, and the actual values ​​of DO and DI are obtained and compared with the expected values.

6. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 3, characterized in that, The test fixture is a PNP type extended IO port hardware test fixture module. The PNP type extended IO port hardware test fixture module includes several shorting wires for shorting the output DOx and input DIx in the PNP type extended IO port of the robot cabinet, and shorting the external 0V and input COM contacts.

7. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 6, characterized in that, When the robot controller executes the PNP extended I / O port test case, it performs the following steps: initialization, setting DO to 0 for channels 21 to 36, opening the virtual teach pendant, and setting DO to 1, thereby simulating the on and off states of the external hardware wiring of the I / O port, obtaining the actual values ​​of DO and DI and comparing them with the expected values.

8. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 3, characterized in that, The test fixture is a hardware test fixture module for safety I / O port diagnostics and alarms. This module includes a relay, and the relay is connected to the safety I / O port using the following two methods: Connection Method 1: Connect the two ends of the relay coil to the 24V and DO pins. Use dual-channel relay contacts to control the two sets of GS stop signals in the safety I / O port. The two normally closed contacts of the relay are connected to the safety I / O port signals GS1+ and GS1- respectively. The two common terminals of the relay are connected to 24V and 0V respectively. Connection Method 2: Connect the two ends of the relay coil to the 24V and DO pins. Use a single channel for the relay contacts to control a set of external emergency stop signals in the safety I / O port. Connect one common terminal of the relay to the external emergency stop positive of the safety I / O port, and connect one normally closed contact of the relay to the external emergency stop negative of the safety I / O port.

9. The automated testing device for the I / O ports of the industrial robot cabinet according to claim 8, characterized in that, When the robot controller executes a safety I / O port diagnostic alarm test case, it performs the following steps: creating a local folder, downloading old logs via FTP, setting DO to 1 in socket communication to disconnect the 24V of the safety I / O port to generate an alarm, setting DO to 0 in socket communication to restore the 24V of the safety I / O port, clearing the alarm via socket communication, downloading new logs via socket communication, comparing the new logs with the old logs and writing the differences in the new logs to a new difference file, analyzing the characters in the difference file and extracting the alarm content and alarm number, comparing whether the alarm content matches the expected value, determining whether the test case passes, and generating a test report.

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