Mechanical arm testing method, system and equipment and storage medium

Abstract

The invention discloses a mechanical arm testing method, system and device and a storage medium, and relates to the technical field of industrial system test.The mechanical arm testing method comprises the steps that the out-of-step torque of all mechanical arms in a mechanical arm group when out-of-step occurs for the first time in a torque test is obtained; determining the minimum non-out-of-step torque of each mechanical arm based on the out-of-step torque of each mechanical arm; determining a non-out-of-step torque threshold value based on the statistical result of the minimum non-out-of-step torque of each mechanical arm; and determining an installation consistency test result of the to-be-tested mechanical arm based on the non-out-of-step torque threshold. The non-out-of-step torque threshold value is determined based on the statistical result of the minimum non-out-of-step torque of each mechanical arm, and the non-out-of-step torque threshold value is used as an objective scale for judging whether the mounting quality of the mechanical arm is excellent or not, so that whether the mounting of the mechanical arm is qualified or not can be intuitively judged, and the quick and low-cost inspection of the mounting consistency of the mechanical arm is realized.

Description

Technical Field

[0001] This application relates to the field of industrial system testing technology, and in particular to testing methods, systems, equipment and storage media for robotic arms. Background Technology

[0002] As a core actuator in automated equipment, robotic arms are widely used in assembly, welding, material handling, and medical device manufacturing. The precision, smoothness, and consistency of their movements directly affect product quality, production efficiency, and equipment lifespan. In actual production, especially for mass-produced robotic arms of the same model, theoretically, when equipped with the same control program and motion parameters (such as speed, acceleration, and torque), they should exhibit highly consistent motion performance and physical state.

[0003] However, due to variations in the production and installation process of robotic arms, inconsistencies in motion can occur between robotic arms of the same model and batch or between different batches, even when the same motion parameters are set (e.g., inconsistent noise levels or operating speeds). While some robotic arm installation fixtures can improve installation consistency, they do not provide a direct way to verify this consistency. Therefore, a solution for verifying robotic arm installation consistency is urgently needed. Summary of the Invention

[0004] The main purpose of this application is to provide a testing method, system, device and storage medium for robotic arms, which aims to solve the technical problem that it is difficult to intuitively detect inconsistencies in the installation of existing robotic arms during the production and debugging process.

[0005] To achieve the above objectives, this application proposes a testing method for a robotic arm, the testing method comprising: Obtain the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; The minimum non-stepping torque of each robotic arm is determined based on the step-out torque of each robotic arm. The threshold for the non-stepping torque is determined based on the statistical results of the minimum non-stepping torque of each robotic arm. The installation consistency test results of the robotic arm under test are determined based on the non-stepping torque threshold.

[0006] In one embodiment, the step of determining the installation consistency test result of the robotic arm under test based on the non-stepping torque threshold includes: Based on the aforementioned non-stepping torque threshold, an installation consistency test is performed on the robotic arm under test. If the robotic arm under test loses synchronization, the installation consistency test result of the robotic arm under test is determined to be unqualified. If the robotic arm under test does not lose synchronization, then the installation consistency test result of the robotic arm under test is determined to be qualified.

[0007] In one embodiment, the step of determining the installation consistency test result of the robotic arm under test based on the non-stepping torque threshold includes: Obtain the actual step loss torque value when the robotic arm under test first loses step during the torque test; The actual minimum non-stepping torque of the robot arm under test is determined based on the actual step loss torque value. The installation consistency test result of the robot arm under test is determined based on the actual minimum step-out torque and the step-out torque threshold.

[0008] In one embodiment, the step of obtaining the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test includes: Set the initial torque value and torque reduction value for the movement of each robotic arm in the robotic arm group; Based on the torque decrease value, the robotic arm is subjected to a step-by-step torque test starting from the initial torque value, and it is determined whether the robotic arm loses steps in each level of torque test. The current torque at the moment when the robotic arm first loses step is taken as the step loss torque.

[0009] In one embodiment, the step of performing a progressive torque test on the robotic arm based on the torque decrease value, starting from the initial torque value, and determining whether the robotic arm loses synchronization in each torque test level, includes: Determine the minimum torque value for the movement of the robotic arm; Based on the torque decrease value, the robotic arm is subjected to a step-by-step torque test from the initial torque value to the minimum torque value, and it is determined whether the robotic arm loses step in each level of torque test.

[0010] In one embodiment, the step of performing a stepwise torque test on the robotic arm based on the torque decrease value, starting from the initial torque value and ending at the minimum torque value, and determining whether the robotic arm loses synchronization during each torque test, includes: The initial value of the torque is used as the torque value to be tested. The following steps are executed cyclically within the interval from the initial value of the torque to the minimum value of the torque, until the loop exit condition is met: Based on the test torque value at the current level, a torque test is performed on the robotic arm to determine whether the robotic arm has lost its steps; If the robotic arm does not lose step, the test torque value is reduced by the torque reduction value to obtain the updated test torque value. If the updated test torque value is not less than the minimum torque value, then the updated test torque value is used as the test torque value of the next level, and the torque test steps are repeated. The loop exit conditions include: the robotic arm losing step or the updated test torque value being less than the minimum torque value.

[0011] In one embodiment, the method further includes: Set the initial value and minimum value of the test torque of the robotic arm to be tested to the same torque value; Based on the same torque value, torque tests are performed a preset number of times and at a preset distance to obtain the aging test results of the robotic arm under test.

[0012] Furthermore, to achieve the above objectives, this application also proposes a testing system for a robotic arm, the testing system comprising: The torque acquisition module is used to acquire the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; The threshold determination module is used to determine the minimum non-missing torque of each robotic arm based on the step loss torque of each robotic arm, and to determine the non-missing torque threshold based on the statistical results of the minimum non-missing torque of each robotic arm. The installation test module is used to determine the installation consistency test results of the robot arm under test based on the non-stepping torque threshold.

[0013] In one embodiment, the torque acquisition module is further configured to acquire the actual step loss torque value when the robotic arm under test first loses its step during the torque test; The threshold determination module is also used to determine the actual minimum non-stepping torque of the robotic arm under test based on the actual step loss torque value of the robotic arm under test; The installation test module is used to determine the installation consistency test result of the robot arm under test based on the actual minimum step-loss torque and the step-loss torque threshold.

[0014] In one embodiment, the installation test module is used to perform an installation consistency test on the robotic arm under test based on the non-stepping torque threshold.

[0015] In addition, to achieve the above objectives, this application also proposes a testing device for a robotic arm, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the robotic arm testing method described above.

[0016] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the robotic arm testing method described above.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: This application obtains the step-loss torque of each robotic arm in a robotic arm group when it first loses step during torque testing; determines the minimum step-loss torque for each robotic arm based on its step-loss torque; determines the step-loss torque threshold based on the statistical results of the minimum step-loss torque of each robotic arm; and determines the installation consistency test result of the robotic arm under test based on the step-loss torque threshold. Since the step-loss torque threshold is determined based on the statistical results of the minimum step-loss torque of each robotic arm, and this step-loss torque threshold is used as an objective benchmark for the quality of robotic arm installation, it allows for a direct assessment of whether the robotic arm installation is qualified, achieving rapid and low-cost verification of robotic arm installation consistency. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the testing method for the robotic arm in this application (Example 1). Figure 2 This is a schematic diagram of a scene module in one implementation of the testing method for the robotic arm in this application; Figure 3 This is a schematic diagram of a visual display interface for testing a robotic arm, as an example of the testing method for the robotic arm in this application. Figure 4 A flowchart illustrating the second embodiment of the testing method for the robotic arm in this application; Figure 5 This is a schematic diagram of the step-by-step torque testing process in one implementation of this application; Figure 6 This is a schematic diagram of the modular structure of the testing system for the robotic arm according to an embodiment of this application; Figure 7 This is a schematic diagram of the test equipment structure for the hardware operating environment involved in the testing method of the robotic arm in this application embodiment. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a host computer, server, etc., or an electronic device, virtual device, etc., capable of realizing the above functions. The following description uses a robotic arm testing device (hereinafter referred to as the testing device) as an example to illustrate this embodiment and the subsequent embodiments.

[0024] Based on this, refer to Figure 1 This application provides a testing method for a robotic arm, including steps S10 to S40: Step S10: Obtain the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; Step S20: Determine the minimum non-stepping torque of each robotic arm based on the step-out torque of each robotic arm; Step S30: Determine the threshold for the non-stepping torque based on the statistical results of the minimum non-stepping torque of each robotic arm.

[0025] It should be noted that the aforementioned robotic arm can be a pre-installed robotic arm. To facilitate the accurate acquisition of the no-step torque threshold, this embodiment of the application can perform torque tests based on multiple robotic arms in the robotic arm group, and perform statistical analysis based on the results obtained from these robotic arm tests to obtain the final no-step torque threshold. The number of robotic arms included in the robotic arm group can be selected according to the needs of the actual application, such as 5, 10, or others, and this embodiment of the application does not impose any restrictions on this.

[0026] In some embodiments of this application, the robotic arms in these robotic arm groups may be robotic arms of the same model and batch or different batches, and these robotic arms may be equipped with the same control program and motion parameters. By using these robotic arms as samples, the minimum step-free torque of each robotic arm is determined, and then the step-free torque threshold of that model of robotic arm is determined based on the statistical results of the minimum step-free torque of each robotic arm.

[0027] It needs to be explained that in the control of a robotic arm, the controller issues a corresponding motion command, but the robotic arm fails to execute it properly due to excessive resistance, resulting in a deviation between its actual position and the expected position. This situation is called step loss. For a well-installed robotic arm with low resistance, only a suitable torque is needed for smooth movement without step loss. Conversely, a larger torque is required to move the robotic arm, and step loss is likely to occur when the torque is slightly lower. The torque corresponding to the first step loss of the robotic arm is obtained as the step loss torque. In this embodiment, step loss tests are performed on each robotic arm in the robotic arm group to determine the step loss torque of each robotic arm when it first loses its step. Based on the step loss torque of each robotic arm, the minimum step-free torque of each robotic arm can be determined. Then, based on the minimum step-free torque of each robotic arm, the step-free torque threshold of the robotic arm is determined.

[0028] It is understandable that the aforementioned minimum step-free torque refers to the minimum torque value that the robotic arm can use under the condition of "step-free". By obtaining the step-free torque when the robotic arm first loses its step in the torque test, and taking the torque before the robotic arm loses its step as the minimum step-free torque, the step-free torque threshold is determined based on the statistical results of the minimum step-free torque of each robotic arm.

[0029] It should be noted that the above statistical results can be obtained based on statistical methods such as the mean or mode of the minimum non-missing step torque of each robotic arm. For example, when the minimum non-missing step torque of each robotic arm is the same, the non-missing step torque threshold can be determined based on these same minimum non-missing step torques.

[0030] In some embodiments of this application, the test scenario for the robotic arm test can be as follows: Figure 2 As shown, the voltage required for the operation of the robotic arm can be provided by a constant current power supply. The voltage of the constant current power supply can be 24V or other voltage values. The testing equipment can be connected to the control board of the robotic arm to realize the control of the movement of the robotic arm in the X-axis, Y-axis and Z-axis directions.

[0031] In some embodiments of this application, robotic arm control parameters such as the initial torque value and torque reduction value of the robotic arm movement can be set in the testing equipment. These robotic arm control parameters can be obtained based on a configuration file or input through the visual display interface and input unit of the testing equipment. For example, a user can use a configuration file to obtain these parameters. Figure 3 The visualization interface for the robotic arm test shown allows for the configuration of robotic arm control parameters such as initial torque value, torque decrement value, and minimum torque value.

[0032] In this embodiment of the application, step S10, the step of obtaining the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test, includes: Set the initial torque value and torque reduction value for the movement of each robotic arm in the robotic arm group; Based on the torque decrease value, the robotic arm is subjected to a step-by-step torque test starting from the initial torque value, and it is determined whether the robotic arm loses steps in each level of torque test. The current torque at the moment when the robotic arm first loses step is taken as the step loss torque.

[0033] It is understandable that the above initial torque value can be the starting motion torque value for testing the robotic arm, and the above torque reduction value is the reduction value of the torque to be tested in each torque test.

[0034] In practical applications, the testing equipment of this embodiment can perform several levels of torque testing on the robotic arm. The torque to be tested on the first level of the robotic arm can be an initial torque value. The robotic arm is controlled to run a certain number of times, and the distance traveled each time can be a certain distance. The number of runs and the distance can be set according to the needs of the actual application and are not limited here. When the number of runs of the robotic arm reaches a certain number, the torque to be tested on the second level can be determined as the initial torque value minus the torque reduction value. By controlling the robotic arm to run a certain distance and a certain number of times in each level, and determining the step-loss torque when the robotic arm's motor first loses step, the minimum step-loss-free torque corresponding to each axis direction of the robotic arm can be determined.

[0035] For example, the step-out test can be performed at several levels. For the X-axis direction of robotic arm A, in the first level test, the robotic arm can be run based on an initial torque value. The running distance for each run can be set according to the actual application. If no step-out occurs after a certain number of runs, the test proceeds to the second level. Furthermore, the same running distance and number of runs as in the first level test can be repeated to achieve the second level test. In the second level test, the robotic arm's motion torque can be obtained by subtracting the torque reduction value from the initial torque value. For example, if the initial torque value is 160 and the torque reduction value is 8, the robotic arm's motion torque in the second level test is 152. If no step-out occurs in the second level test, the test can continue to the third level, and the torque is automatically reduced step by step until a step-out is detected. The control method for robotic arm testing in the Y-axis and Z-axis directions can be similar to that in the X-axis direction, and will not be elaborated upon in this embodiment.

[0036] For example, when the torque driving the robotic arm is reduced to 112, the X-axis motion first loses its step, and the next level of torque (i.e., 120 torque) can be initially defined as the minimum step-free torque. For each robotic arm in a robotic arm group, repeated tests can be performed as needed. For example, if the robotic arm group includes 10 robotic arms, and each robotic arm loses step when the torque is 112, then 120 can be defined as the no-step-loss torque threshold. Subsequently, when performing installation consistency testing, this no-step-loss torque threshold can be used as a reference for whether the installation of the robotic arm under test is consistent (i.e., whether the robotic arm under test is qualified). For another example, when testing 10 robotic arms in a robotic arm group, 2 robotic arms lose step when the torque is 112 (the minimum no-step-loss torque is 120), and 8 robotic arms lose step when the torque is 104 (the minimum no-step-loss torque is 112). Based on the mode of the minimum no-step-loss torque of each robotic arm, 112 can be determined as the no-step-loss torque threshold.

[0037] In some embodiments of this application, the robotic arm can be tested along three axes: X, Y, and Z. For each axis, corresponding motion parameters such as initial torque value, torque decrement value, minimum torque value, number of runs, and running distance can be set. For example, the motion parameters of the robotic arm in the X-axis direction (such as running distance, minimum torque value, torque decrement value, etc.), Y-axis direction, and Z-axis direction can be set separately. Based on the set motion parameters for each axis, the torque test of the robotic arm in the corresponding axis direction can be realized.

[0038] In practical implementation, initial torque values ​​and torque reduction values ​​can be set for the movement of each robotic arm in the robotic arm group. Based on the torque reduction values, a step-by-step torque test is performed on the robotic arm starting from the initial torque value, and it is determined whether the robotic arm loses its step in each level of torque test. The current torque when the robotic arm first loses its step is taken as the step loss torque. Since the step loss torque is obtained by progressively reducing the torque of the robotic arm movement, the step loss torque when the robotic arm first loses its step is obtained, and the torque before the robotic arm loses its step is taken as the minimum step-free torque.

[0039] Step S40: Determine the installation consistency test result of the robot arm under test based on the non-stepping torque threshold.

[0040] It is understood that the robotic arm to be tested can be a robotic arm of the same model as the robotic arms in the robotic arm group, equipped with the same or similar control program, and using the same motion parameters, and is subject to installation consistency testing. The non-stepping torque threshold for a certain type of robotic arm is obtained by testing the torque of each robotic arm in the robotic arm group. Based on the non-stepping torque threshold, the installation consistency test result of the robotic arm to be tested is determined, and the test result includes two states: qualified and unqualified.

[0041] In some embodiments of this application, step S40, which involves determining the installation consistency test result of the robotic arm under test based on the non-stepping torque threshold, includes: Based on the aforementioned non-stepping torque threshold, an installation consistency test is performed on the robotic arm under test. If the robotic arm under test loses synchronization, the installation consistency test result of the robotic arm under test is determined to be unqualified. If the robotic arm under test does not lose synchronization, then the installation consistency test result of the robotic arm under test is determined to be qualified.

[0042] It should be noted that, in this embodiment, the aforementioned no-step-loss torque threshold can be used as the operating torque of the robotic arm under test, thereby achieving the installation consistency test of the robotic arm under test. Specifically, the no-step-loss torque threshold is set as the operating torque of the robotic arm under test. This operating torque controls the robotic arm to run a certain number of times and a certain distance. By monitoring whether the robotic arm under test loses steps under this operating torque (i.e., the no-step-loss torque threshold), the installation consistency test result of the robotic arm under test can be determined. If the robotic arm loses steps, it indicates that the installation consistency test result of the robotic arm under test is unqualified; otherwise, it is qualified. In this embodiment, the no-step-loss torque threshold is determined based on the statistical results of the minimum no-step-loss torque of each robotic arm. This no-step-loss torque threshold is used as an objective benchmark for whether the installation quality of the robotic arm under test is good or bad. It can intuitively judge whether the installation of the robotic arm is qualified, and realize a fast and low-cost inspection of the installation consistency of the robotic arm.

[0043] In some other embodiments of this application, step S40, the step of determining the installation consistency test result of the robot arm under test based on the non-stepping torque threshold, includes: Obtain the actual step loss torque value when the robotic arm under test first loses step during the torque test; The actual minimum non-stepping torque of the robot arm under test is determined based on the actual step loss torque value. The installation consistency test result of the robot arm under test is determined based on the actual minimum step-out torque and the step-out torque threshold.

[0044] It should be noted that, in this embodiment, the testing equipment can determine whether the robotic arm under test has lost its step by acquiring the step loss state. When the robotic arm under test first loses its step, the current torque value that caused the first step loss is the actual step loss torque value. Once the actual step loss torque value of the robotic arm under test is determined, the torque of the robotic arm under test before the first step loss can be taken as the actual minimum step-free torque of the robotic arm under test. Based on the relationship between the actual minimum step-free torque and the step-free torque threshold, the installation consistency test result of the robotic arm under test can be determined. Specifically, the actual minimum step-free torque and the step-free torque threshold can be compared. When the actual minimum step-free torque is less than or equal to the step-free torque threshold, the installation of the robotic arm under test can be considered normal and qualified. When the actual minimum step-free torque is greater than the step-free torque threshold, the installation of the robotic arm under test can be considered abnormal and unqualified.

[0045] It is understandable that the method for obtaining the actual out-of-step torque value of the robotic arm under test can be selected according to the actual application. It can be obtained in the same or similar way as the method described above for obtaining the torque test of each robotic arm in the robotic arm group, or it can be recorded when out-of-step occurs in the actual application, or other methods can be used. This application embodiment does not limit this.

[0046] In this embodiment, the actual step-loss torque value at the first step-loss during the operation of the robot arm under test in the X-axis, Y-axis, and Z-axis directions is obtained to determine the actual minimum step-loss torque of the robot arm under test. Installation consistency testing is then performed based on the relationship between the actual minimum step-loss torque value and the step-loss torque threshold. In this embodiment, the step-loss torque threshold is determined based on the statistical results of the minimum step-loss torque of each robot arm. This step-loss torque threshold serves as an objective benchmark for the installation quality of the robot arm under test, allowing for a direct assessment of whether the robot arm's installation is qualified. This achieves rapid and low-cost verification of robot arm installation consistency.

[0047] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter.

[0048] Reference Figure 4 In some embodiments of this application, the step of performing a step-by-step torque test on the robotic arm based on the torque decrease value, starting from the initial torque value, and determining whether the robotic arm loses synchronization in each level of torque test, includes: Step S11: Determine the minimum torque value for the movement of the robotic arm; Step S12: Based on the torque decrease value, perform a step-by-step torque test on the robotic arm from the initial torque value to the minimum torque value, and determine whether the robotic arm loses steps in each level of torque test.

[0049] Specifically, in order to improve the accuracy of the test, the test equipment in this embodiment of the application can also be set to a minimum torque value for the movement of the robotic arm when performing step-by-step torque tests.

[0050] It is understood that the aforementioned minimum torque value is the lower limit of torque reduction during the torque test process. In this embodiment, the robotic arm can test whether it has lost steps within the range of the initial torque value and the minimum torque value in a progressively decreasing manner, thereby determining the loss-of-step torque value when the robotic arm first loses steps.

[0051] In some embodiments of this application, in order to achieve the step loss test of the robotic arm, such as Figure 5 As shown, Figure 5 This is a schematic diagram of the step-by-step torque testing process in one implementation of this application. (Refer to...) Figure 5 In this embodiment of the application, step S12, which involves performing a step-by-step torque test on the robotic arm based on the torque decrease value, starting from the initial torque value and ending at the minimum torque value, and determining whether the robotic arm loses steps during each torque test, includes: The initial value of the torque is used as the torque value to be tested. The following steps are executed cyclically within the interval from the initial value of the torque to the minimum value of the torque, until the loop exit condition is met: Based on the test torque value at the current level, a torque test is performed on the robotic arm to determine whether the robotic arm has lost its steps; If the robotic arm does not lose step, the test torque value is reduced by the torque reduction value to obtain the updated test torque value. If the updated test torque value is not less than the minimum torque value, then the updated test torque value is used as the test torque value of the next level, and the torque test steps are repeated. The loop exit conditions include: the robotic arm losing step or the updated test torque value being less than the minimum torque value.

[0052] It should be noted that the step-by-step torque testing process in this embodiment can be considered as a loop based on the torque value to be tested. In each level, a torque test is performed based on the torque value to be tested at that level. If the robotic arm does not lose step, the torque value to be tested at that level is decreased based on the torque reduction value to obtain an updated torque value to be tested. If the updated torque value to be tested is not less than the minimum torque value, the updated torque value to be tested is used as the torque value to be tested at the next level, and the loop test is performed until the robotic arm loses step or the updated torque value to be tested is less than the minimum torque value.

[0053] It should be understood that the loop exit condition for the torque test in this embodiment includes the robotic arm losing step or the updated test torque value being less than the minimum torque value. When the robotic arm loses step, the loss torque value at the time of the first loss can be obtained, and the torque of the robotic arm before losing step can be determined as the minimum non-loss torque of the robotic arm, and the test ends. When the test torque value is less than the minimum torque value, it indicates that the test torque value is no longer within the range of the robotic arm test, and the test ends.

[0054] This application embodiment determines the minimum torque value of the robotic arm's movement; based on the torque reduction value, it performs a step-by-step torque test on the robotic arm from the initial torque value to the minimum torque value, and determines whether the robotic arm loses steps in each level of torque test. Because the initial torque value, torque reduction value, and minimum torque value of the robotic arm are set, the robotic arm can undergo step-by-step loss-of-step testing within the range of the initial torque value and the minimum torque value, with the torque reduction value decreasing gradually. This determines the loss-of-step torque within the interval between the initial torque value and the minimum torque value, and further determines the no-loss-of-step torque threshold for installation consistency testing. This provides an objective reference standard for the installation consistency testing of the robotic arm, achieving low-cost and intuitive robotic arm installation consistency verification.

[0055] In some embodiments of this application, the method further includes: Step S100: Set the initial value of the test torque and the minimum value of the test torque of the robotic arm to the same torque value; Step S200: Based on the same torque value, perform torque tests for a preset number of times and a preset distance to obtain the aging test results of the robotic arm under test.

[0056] It should be noted that the above-mentioned initial value of the torque to be tested is the initial value of the torque set when the test is performed on the robotic arm under test; the above-mentioned minimum value of the torque to be tested is the minimum value of the torque set when the test is performed on the robotic arm under test.

[0057] In this embodiment, the initial and minimum test torque values ​​of the robotic arm under test are set to the same value to complete the aging test. It is understood that, in this case, since the initial and minimum test torque values ​​are the same, the same torque can be repeatedly tested multiple times according to a preset number of tests and a preset distance to achieve the aging test of the robotic arm. The aging test result includes two states: aging test passed and aging test failed.

[0058] Understandably, in a torque test conducted on the robotic arm under test for a preset number of times and a preset distance based on the same torque value, if the robotic arm under test does not lose steps, the aging test can be considered to be qualified; if the robotic arm under test loses steps, the aging test can be considered to be unqualified.

[0059] For example, when conducting aging tests on a robotic arm, this embodiment of the application can set the initial value of the test torque and the minimum value of the test torque to the same torque value, and then set the preset number of times to 50 and the preset distance to 5000 steps. By stabilizing and continuously loading the robotic arm's motion parameters, the aging test of the robotic arm under test is achieved.

[0060] In this embodiment, the initial and minimum test torque values ​​of the robotic arm under test are set to the same value. A preset number of torque tests are performed based on this same torque value to obtain the aging test results of the robotic arm. By simply adjusting the initial and minimum test torque values, flexible switching between rapid installation consistency inspection and aging test modes can be achieved, allowing the testing equipment to be flexibly applied in various scenarios and reducing production, usage, and inspection costs.

[0061] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the testing method of the robotic arm of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0062] This application also provides a testing system for a robotic arm, please refer to... Figure 6 , Figure 6 This is a schematic diagram of the module structure of a testing system for a robotic arm according to an embodiment of this application. The testing system for the robotic arm includes: The torque acquisition module 10 is used to acquire the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test. The threshold determination module 20 is used to determine the minimum non-missing torque of each robotic arm based on the step loss torque of each robotic arm, and to determine the non-missing torque threshold based on the statistical results of the minimum non-missing torque of each robotic arm. The installation test module 30 is used to determine the installation consistency test result of the robot arm under test based on the non-stepping torque threshold.

[0063] In some embodiments of this application, the torque acquisition module is further used to acquire the actual step loss torque value when the robotic arm under test first loses its step during the torque test; The threshold determination module is also used to determine the actual minimum non-stepping torque of the robotic arm under test based on the actual step loss torque value of the robotic arm under test; The installation test module is used to determine the installation consistency test result of the robot arm under test based on the actual minimum step-loss torque and the step-loss torque threshold.

[0064] In some other embodiments of this application, the installation test module is used to perform an installation consistency test on the robotic arm under test based on the non-stepping torque threshold.

[0065] The robotic arm testing system provided in this application, employing the robotic arm testing method described in the above embodiments, can solve the technical problem of difficulty in visually detecting inconsistencies in the installation of existing robotic arms during production and debugging. Compared with the prior art, the beneficial effects of the robotic arm testing system provided in this application are the same as those of the robotic arm testing method provided in the above embodiments, and other technical features of the robotic arm testing system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0066] This application provides a testing device for a robotic arm, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the robotic arm testing method in Embodiment 1 above.

[0067] The following is for reference. Figure 7 The diagram illustrates a structural schematic of a testing device suitable for implementing the robotic arm embodiments of this application. The testing device for the robotic arm in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7The test equipment for the robotic arm shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0068] like Figure 7 As shown, the testing equipment for the robotic arm may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the robotic arm's testing equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the robotic arm's testing equipment to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows a robotic arm testing equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0069] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0070] The robotic arm testing equipment provided in this application, employing the robotic arm testing method described in the above embodiments, can solve the technical problem of difficulty in visually detecting inconsistencies in the installation of existing robotic arms during production and debugging. Compared with the prior art, the beneficial effects of the robotic arm testing equipment provided in this application are the same as those of the robotic arm testing method provided in the above embodiments, and other technical features of this robotic arm testing equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0071] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0073] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the testing method of the robotic arm in the above embodiments.

[0074] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0075] The aforementioned computer-readable storage medium may be included in the testing equipment of the robotic arm; or it may exist independently and not be assembled into the testing equipment of the robotic arm.

[0076] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the testing equipment of the robotic arm, cause the testing equipment of the robotic arm to: Obtain the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; The minimum non-stepping torque of each robotic arm is determined based on the step-out torque of each robotic arm. The threshold for the non-stepping torque is determined based on the statistical results of the minimum non-stepping torque of each robotic arm. The installation consistency test results of the robotic arm under test are determined based on the non-stepping torque threshold.

[0077] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0079] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0080] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described robotic arm testing method. This solves the technical problem that existing robotic arms are difficult to visually detect when inconsistencies occur during production and debugging. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the robotic arm testing method provided in the above embodiments, and will not be repeated here.

[0081] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A testing method for a robotic arm, characterized in that, The method includes: Obtain the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; The minimum non-stepping torque of each robotic arm is determined based on the step-out torque of each robotic arm. The threshold for the non-stepping torque is determined based on the statistical results of the minimum non-stepping torque of each robotic arm. The installation consistency test results of the robotic arm under test are determined based on the non-stepping torque threshold.

2. The testing method for the robotic arm as described in claim 1, characterized in that, The step of determining the installation consistency test result of the robotic arm under test based on the non-stepping torque threshold includes: Based on the aforementioned non-stepping torque threshold, an installation consistency test is performed on the robotic arm under test. If the robotic arm under test loses synchronization, the installation consistency test result of the robotic arm under test is determined to be unqualified. If the robotic arm under test does not lose synchronization, then the installation consistency test result of the robotic arm under test is determined to be qualified.

3. The testing method for the robotic arm as described in claim 1, characterized in that, The step of determining the installation consistency test result of the robotic arm under test based on the non-stepping torque threshold includes: Obtain the actual step loss torque value when the robotic arm under test first loses step during the torque test; The actual minimum non-stepping torque of the robot arm under test is determined based on the actual step loss torque value. The installation consistency test result of the robot arm under test is determined based on the actual minimum step-out torque and the step-out torque threshold.

4. The testing method for the robotic arm as described in claim 1, characterized in that, The step of obtaining the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test includes: Set the initial torque value and torque reduction value for the movement of each robotic arm in the robotic arm group; Based on the torque decrease value, the robotic arm is subjected to a step-by-step torque test starting from the initial torque value, and it is determined whether the robotic arm loses steps in each level of torque test. The current torque at the moment when the robotic arm first loses step is taken as the step loss torque.

5. The testing method for the robotic arm as described in claim 4, characterized in that, The step of performing a progressive torque test on the robotic arm based on the torque decrease value, starting from the initial torque value, and determining whether the robotic arm loses synchronization in each torque test level, includes: Determine the minimum torque value for the movement of the robotic arm; Based on the torque decrease value, the robotic arm is subjected to a step-by-step torque test from the initial torque value to the minimum torque value, and it is determined whether the robotic arm loses step in each level of torque test.

6. The testing method for the robotic arm as described in claim 5, characterized in that, The step of performing a step-by-step torque test on the robotic arm based on the torque decrease value, starting from the initial torque value and ending at the minimum torque value, and determining whether the robotic arm loses steps in each torque test, includes: The initial value of the torque is used as the torque value to be tested. The following steps are executed cyclically within the interval from the initial value of the torque to the minimum value of the torque, until the loop exit condition is met: Based on the test torque value at the current level, a torque test is performed on the robotic arm to determine whether the robotic arm has lost its steps; If the robotic arm does not lose step, the test torque value is reduced by the torque reduction value to obtain the updated test torque value. If the updated test torque value is not less than the minimum torque value, then the updated test torque value is used as the test torque value of the next level, and the torque test steps are repeated. The loop exit conditions include: the robotic arm losing step or the updated test torque value being less than the minimum torque value.

7. The testing method for the robotic arm as described in claim 5, characterized in that, The method further includes: Set the initial value and minimum value of the test torque of the robotic arm to be tested to the same torque value; Based on the same torque value, torque tests are performed a preset number of times and at a preset distance to obtain the aging test results of the robotic arm under test.

8. A testing system for a robotic arm, characterized in that, The testing system for the robotic arm includes: The torque acquisition module is used to acquire the step loss torque of each robotic arm in the robotic arm group when it first loses step during the torque test; The threshold determination module is used to determine the minimum non-missing torque of each robotic arm based on the step loss torque of each robotic arm, and to determine the non-missing torque threshold based on the statistical results of the minimum non-missing torque of each robotic arm. The installation test module is used to determine the installation consistency test results of the robot arm under test based on the non-stepping torque threshold.

9. The testing system for the robotic arm as described in claim 8, characterized in that: The torque acquisition module is also used to acquire the actual step loss torque value when the robotic arm under test first loses its step during the torque test; The threshold determination module is also used to determine the actual minimum non-stepping torque of the robotic arm under test based on the actual step loss torque value of the robotic arm under test; The installation test module is used to determine the installation consistency test result of the robot arm under test based on the actual minimum step-loss torque and the step-loss torque threshold.

10. The testing system for the robotic arm as described in claim 8, characterized in that: The installation test module is used to perform an installation consistency test on the robotic arm under test based on the non-stepping torque threshold.

11. A testing device for a robotic arm, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the testing method for the robotic arm as described in any one of claims 1 to 7.

12. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the testing method for the robotic arm as described in any one of claims 1 to 7.

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