Steering engine detection method and device, electronic equipment and medium

Abstract

The embodiment of the application provides a rudder detection method and device, electronic equipment and medium, and belongs to the technical field of robots. The method comprises the following steps: controlling a load rudder to rotate at a preset first torque; adjusting the rotating speed of a measured rudder coaxially assembled with the load rudder, so that the rotating torque of the measured rudder reaches the first torque; detecting the current first speed and first current of the measured rudder, and judging whether the first speed and the first current meet a preset condition; if the first speed and the first current meet the preset condition, the first torque is set as a parameter feature meeting the working of the measured rudder, without using the swing arm and heavy weight counterweight in the prior art, the test on the measured rudder can be completed, manual carrying and assembling of the heavy weight counterweight are not needed, manual operation is reduced, and operation safety is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a servo motor detection method, device, electronic device, and medium. Background Technology

[0002] As a core component of robot motion control, the performance of robot servos directly affects the robot's motion accuracy and load capacity. Servo performance testing is a crucial step in ensuring the stability and precision of robot motion. Traditional servo performance testing methods often lack sufficient flexibility and adaptability, making it difficult to meet the testing and calibration needs of various servos. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide a servo motor detection method, apparatus, electronic device, and medium.

[0004] In a first aspect, the present invention provides a servo motor detection method, the method comprising: Control the load servo motor to rotate at a preset first torque; Adjust the rotational speed of the servo motor under test, which is coaxially mounted with the load servo motor, to control the rotational torque of the servo motor under test to reach the first torque; The first speed and first current of the tested servo motor are detected, and it is determined whether the first speed and first current meet the preset conditions. If the first speed and the first current satisfy the preset conditions, then the first torque is set to meet the parameter characteristics of the tested servo motor.

[0005] In a second aspect, the present invention provides a servo motor detection device, the device comprising: The platform includes a load servo, a servo under test, a torque sensor, a first coupling, and a second coupling mounted on the platform. The load servo is fixedly connected to the torque sensor via the first coupling, and the servo under test is fixedly connected to the torque sensor via the second coupling. The load servo and the servo under test are coaxially arranged.

[0006] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the computer program executes the servo detection method described in the foregoing embodiments when the processor is running.

[0007] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when run on a processor, executes the servo detection method described in the foregoing embodiments.

[0008] The servo motor testing method, device, electronic equipment, and medium provided in this application control the load servo motor to rotate at a preset first torque; adjust the rotational speed of the servo motor under test, which is coaxially mounted with the load servo motor, to control the rotational torque of the servo motor under test to reach the first torque; detect the current first speed and first current of the servo motor under test, and determine whether the first speed and first current meet preset conditions; if the first speed and first current meet the preset conditions, then set the first torque to meet the parameter characteristics of the servo motor under test. This eliminates the need for the swing arm and heavy weights used in existing technologies, allowing for the testing of the servo motor under test without the need for manual handling and assembly of heavy weights, reducing manual operation and improving operational safety. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0010] Figure 1 A schematic diagram of a mechanical measuring device is shown. Figure 2 A schematic diagram of the servo detection device provided in an embodiment of this application is shown; Figure 3 A flowchart of the servo detection method provided in an embodiment of this application is shown; Figure 4 Another schematic flowchart of the servo detection method provided in this application embodiment is shown; Figure 5 A schematic diagram of another process of the servo detection method provided in the embodiment of this application is shown; Figure 6 A schematic diagram of a sine wave pattern provided in an embodiment of this application is shown; Figure 7 This illustration shows another flowchart of the servo detection method provided in an embodiment of this application; Figure 8 A schematic diagram of the location data curve provided in an embodiment of this application is shown; Figure 9 This paper illustrates another schematic flowchart of the servo detection method provided in an embodiment of this application; Figure 10 A schematic diagram of the servo detection system provided in an embodiment of this application is shown. Detailed Implementation

[0011] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0012] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0013] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0014] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0015] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0016] See Figure 1 Traditional torque testing methods mainly rely on mechanical measuring devices. Existing mechanical measuring devices include weight 10 and swing arm 20. Due to the large weight of weight 10, there are problems of high labor costs and low personnel safety in the process of handling weight and assembling weight into swing arm 20. In addition, one set of swing arm and weight cannot meet the testing requirements of different models and specifications of servo motors.

[0017] Example 1 This application provides a servo motor testing method. This servo motor testing method can be applied to a servo motor testing device. The servo motor testing device includes a host computer, a load servo motor, and a servo motor under test. The host computer controls the operation of the load servo motor and the servo motor under test, and the load servo motor applies a load to the servo motor under test.

[0018] See Figure 2 The servo motor testing device 100 includes: a platform 160, a rib plate 150, a load servo motor 110, a torque sensor 120, a guide rail 170, a support frame 140, a first fixture shaft 131, a second fixture shaft 132, a first coupling 181, and a second coupling 182. The rib plate 150, the torque sensor 120, and the guide rail 170 are mounted on the platform 160. The load servo motor 110 is mounted on the rib plate 150 and connected to the torque sensor 120 via the first coupling 181. The guide rail 170 is slidably connected to the support frame 140, which fixes the servo motor 130 under test. The servo motor 130 is connected to the torque sensor 120 via the second coupling 182. The load servo motor and the servo motor under test are coaxially arranged.

[0019] In this embodiment, the first fixture shaft 131 is fixedly connected to the servo motor under test 130, and the servo motor under test 130 and the first fixture shaft 131 are fixedly connected to the torque sensor 120 through the second coupling 182. The second fixture shaft 132 is fixedly connected to the load servo motor 110, and the load servo motor 110 and the second fixture shaft 132 are fixedly connected to the torque sensor 120 through the first coupling 181.

[0020] In this embodiment, the first coupling 181 and the second coupling 182 are diaphragm couplings. The first fixture shaft 131 and the second fixture shaft 132 are both flange fixture shafts. The first fixture shaft 131 and the servo motor under test 130 are fixed together by screws, and the second fixture shaft 132 and the load servo motor 110 are fixed together by screws.

[0021] Please see again Figure 2 The servo motor testing device 100 further includes a clamp 161, which is connected to the support frame 140. The clamp 161 pushes the support frame 140 to move on the guide rail 170, so that the first fixture shaft 131 is sleeved with the second coupling 182, and the first fixture shaft 131 and the second coupling 182 are fixedly assembled.

[0022] Use quick clamps to push the support frame 140 forward to the bottom. The support frame 140 runs on the guide rail and pushes the first jig shaft 131 into the second coupling 182. Tighten the screws to complete the assembly. The overall coaxiality accuracy is guaranteed by the machining accuracy of each part and the coupling.

[0023] See Figure 3 The servo detection method includes steps S110-S140, which will be described in detail below.

[0024] Step S110: Control the load servo motor to rotate at a preset first torque.

[0025] In this embodiment, the host computer controls the load servo to rotate with a first torque. This first torque can be the maximum torque of the servo under test or other torques, and is not limited here.

[0026] In this embodiment, before step S110, the servo detection method further includes: Control the tested servo motor to operate in speed mode.

[0027] In this embodiment, the load servo 110 needs to ensure torque supply, so it uses torque mode. The servo under test 130 needs to monitor its operating status during the torque resistance process, so it uses speed mode. Exemplarily, the host computer controls the servo under test to operate in speed mode, waiting for a first preset time, for example, 2 seconds. The first preset time can be set according to requirements and is not limited here.

[0028] In this embodiment, step S110 includes: The load servo is controlled to rotate in the same direction as the tested servo with the first torque.

[0029] In this embodiment, the load servo motor is controlled to operate with a first torque as the running torque, moving in the same direction as the servo motor under test, and waiting for a second preset time, for example, 0.5 seconds. The second preset time can be set according to requirements and is not limited here. The host computer is used to control the load servo motor 110 and the servo motor under test 130 to move in the same direction and to obtain the operating parameters of the servo motor under test 130. These operating parameters may include at least one of speed, current, and real-time rotation angle.

[0030] In this embodiment, the torque sensor 120 can measure the maximum torque of the servo motor under test; the host computer can control the load servo motor and the servo motor under test to run in the same direction according to the maximum torque.

[0031] In this embodiment, if the first torque is the maximum torque of the servo under test, it can be referred to as performing a maximum torque test. In the maximum torque test, when the host computer controls the servo under test 130 to run in speed mode in a clockwise direction, it can be referred to as a positive maximum torque test. When the host computer controls the servo under test 130 to run in speed mode in a counterclockwise direction, it can be referred to as a negative maximum torque test.

[0032] Step S120: Adjust the rotational speed of the servo motor under test, which is coaxially mounted with the load servo motor, to control the rotational torque of the servo motor under test to reach the first torque.

[0033] In this embodiment, the host computer adjusts the rotational speed of the servo motor under test so that the rotational torque of the servo motor under test reaches the first torque.

[0034] Step S130: Detect the current first speed and first current of the servo motor under test, and determine whether the first speed and first current meet the preset conditions.

[0035] In one embodiment, step S130 includes: When the servo under test rotates with the first torque, the current first speed and the first current of the servo under test are detected, and it is determined whether the first speed and the first current meet the preset conditions. The preset conditions include whether the average value of the first speed obtained from multiple first speeds belongs to a first preset speed range, and whether the average value of the first current obtained from multiple first currents belongs to a first preset current range.

[0036] In one embodiment, determining whether the first speed and the first current satisfy a preset condition includes: Determine whether the first average speed falls within a first preset speed range and whether the first average current falls within a first preset current range; If the first average speed is within the first preset speed range and the first average current is within the first preset current range, then it is determined that the first speed and the first current satisfy the preset conditions.

[0037] In one embodiment, it can be determined first whether the first average speed falls within a first preset speed range, and then whether the first average current falls within a first preset current range. In another embodiment, it can be determined first whether the first average current falls within a first preset current range, and then whether the first average speed falls within a first preset speed range. The order of these determinations is not limited.

[0038] Step S140: If the first speed and the first current satisfy the preset conditions, then the first torque is set to meet the parameter characteristics of the tested servo motor.

[0039] It should be further explained that if the first torque is the maximum torque of the servo motor under test, the first average speed is within the first preset speed range, and the first average current is within the first preset current range, then the maximum torque test of the servo motor under test is determined to be passed.

[0040] Compared to traditional torque testing methods, which rely on manual operation and experience-based judgment, resulting in low efficiency, complex operation, and inherent dangers, this embodiment eliminates the need for existing swing arms and heavy weights. Instead, it utilizes a servo motor testing device that integrates a host computer, a load servo motor, and the servo motor under test. This allows for the completion of maximum torque testing on the servo motor under test without the need for manual handling or assembly of heavy weights. This reduces manual operation, improves operational safety, and enhances the flexibility and adaptability of servo motor testing, meeting the testing requirements of various servo motor models and specifications.

[0041] As an example, multiple first currents and multiple first speeds of the servo motor 130 under test are collected within 1 second. The load servo motor and the servo motor under test 130 are controlled to stop running. The average value of the first current A1 of the multiple first currents and the average value of the first speed V1 of the multiple first speeds are calculated respectively. If the average value of the first speed V1 is within the first preset speed range and the average value of the first current A1 is within the first preset speed range, then the maximum torque test is passed.

[0042] See Figure 4 The method also includes: Step S210: If the first average speed does not belong to the first preset speed range, then the running torque in the previous test process is corrected according to the preset correction rule to obtain the corrected running torque.

[0043] In this embodiment, the operating torque is adjusted (including increasing or decreasing) in a stepwise manner based on the operating torque in the previous test. Alternatively, the operating torque in the previous test can be increased or decreased according to a preset ratio, which is not limited here. Exemplarily, the operating torque in the next test is reduced by 5% of the maximum torque based on the operating torque in the previous test, which is equivalent to reducing the operating torque in the next test by a fixed value based on the operating torque in the previous test; alternatively, the operating torque in the next test can be a fixed percentage of the operating torque in the previous test, such as 98%.

[0044] Step S220: Determine whether the corrected operating torque meets the preset requirements.

[0045] In this embodiment, step S220 includes: If the reduction ratio of the reduced operating torque is less than or equal to the preset ratio threshold, then the reduced operating torque is determined to meet the preset requirements; or, If the reduced operating torque is greater than or equal to the preset torque threshold, then the reduced operating torque is determined to meet the preset requirements.

[0046] In this embodiment, step S220 includes: If the increase in the increased operating torque is less than or equal to the preset threshold ratio, then the increased operating torque is determined to meet the preset requirements; or, If the increased operating torque is greater than or equal to the preset torque threshold, then the increased operating torque is determined to meet the preset requirements.

[0047] It should be added that the determination of whether the preset requirements are met can be made by the reduction ratio or the torque value. The essence is that the operating torque cannot be too much less than the maximum torque.

[0048] In this embodiment, the reduction ratio of the reduced operating torque refers to the reduction ratio of the reduced operating torque relative to the first torque. The preset ratio threshold can be 10%, or other ratios, which are not limited here. Alternatively, it can be a fixed ratio, such as 98%, to reduce the operating torque in the next test process compared to the operating torque in the previous test process, and then compare the reduced operating torque with the preset torque threshold. The preset torque threshold can be determined based on the maximum torque of the servo under test; for example, the preset torque threshold can be set to 10% of the maximum torque.

[0049] Step S230: If the corrected operating torque meets the preset requirements, control the load servo to run in the same direction as the servo under test with the corrected operating torque, and collect the current second speed and second current of the servo under test.

[0050] In this embodiment, when the tested servo rotates with the corrected operating torque, the current second speed and second current of the tested servo are detected, and it is determined whether the second speed and second current meet the preset conditions.

[0051] Multiple second speeds of the servo under test are collected, the average value of the multiple second speeds is calculated, and it is determined whether the average value of the second speeds belongs to a first preset speed range. Multiple second currents of the servo under test are collected, and the average value of the multiple second currents is calculated. If the average value of the second speeds belongs to the first preset speed range and the average value of the second currents belongs to the first preset current range, then it is determined that the second speeds and the second currents meet the preset conditions.

[0052] Step S240: If the second speed and the second current satisfy the preset conditions, then the corrected operating torque is set to meet the parameter characteristics of the tested servo motor.

[0053] It should be further explained that if the second average speed does not fall within the first preset speed range, the running torque in the previous test process will be corrected according to the preset correction rules to obtain the corrected running torque, and the judgment will continue until the modified running torque does not meet the preset requirements.

[0054] If the average first speed does not fall within the first preset speed range, the maximum torque is reduced by 5% based on the first torque. At this time, the reduction ratio is 5%, which is less than the preset ratio threshold of 10%, so it is determined that the reduced running torque meets the preset requirements. If the reduced operating torque meets the preset requirements, the load servo 110 is controlled to run in the same direction as the tested servo according to the reduced operating torque. Multiple second speeds of the tested servo are collected, and the average value V2 of the multiple second speeds is calculated. It is then determined whether the average value V2 of the second speed belongs to the first preset speed range. If the average value of the second speed does not belong to the second preset speed range, then, based on the operating torque in the previous test, the maximum torque is further reduced by 5%, and the reduction ratio is 10%, which is equal to the preset ratio threshold of 10%. In this case, the reduced operating torque meets the preset requirements, and the load servo 110 is controlled to run in the same direction as the tested servo according to the further reduced operating torque. If the average value of the second speed still does not belong to the second preset speed range, then, based on the operating torque in the previous test, the maximum torque is further reduced by 5%, and the reduction ratio is 15%, which is greater than the preset ratio threshold of 10%. In this case, the reduced operating torque does not meet the preset requirements.

[0055] If the reduced operating torque does not meet the preset requirements, the test ends. If the second average speed is within the first preset speed range (e.g., the speed setting is 5 RPM / MIN, and the first preset speed range is 4.5-5.5 RPM / MIN), the speed test passes. Further checks are made to determine if the first average current is within the preset current range (e.g., the average current is 10A, and the preset current range is 9-11A). If yes, the test passes, and the first average current A1 and the first average speed V1 are displayed. If the first average current is not within the preset current range, the test fails.

[0056] See Figure 5 The servo detection method also includes steps S310-S350.

[0057] Step S310: Control the load servo motor to rotate with a second torque.

[0058] Before step S310, the following are also included: The host computer controls the tested servo motor to return to its initial position.

[0059] In this embodiment, the initial position is 0°. Exemplarily, the host computer sends a homing command to the servo under test, and upon receiving the homing command, the servo under test initiates a control operation to return to the 0° position.

[0060] Step S320: Control the tested servo motor to rotate within a first preset angle range, the first preset angle range including a first preset position and a second preset position.

[0061] In this embodiment, the host computer controls the load servo to rotate within a first preset angle range with the rated load of the servo under test, for example, according to a pendulum motion of 0°→15°→0°→-15°→0°.

[0062] In this embodiment, step S320 includes: Record the initial position response time of the tested servo motor; If the response time is less than a preset time threshold, the tested servo motor is controlled to rotate within a first preset angle range.

[0063] In this embodiment, the upper-level record is used to determine the arrival response time of the initial position of the tested servo motor.

[0064] The on-time response time represents the time difference between when the host computer sends the zero-return command and when the encoder returns to its initial position.

[0065] Step S330: Acquire the first real-time rotation angle of the encoder driven by the servo motor under test. The first real-time rotation angle includes the first highest position and the first lowest position.

[0066] For example, if the response time is less than a preset time threshold, the host computer controls the servo motor under test to perform pendulum motion according to a preset operating angle, collects multiple first real-time rotation angles of the servo motor under test, determines the highest position among the multiple first real-time rotation angles as the first highest position, and determines the lowest position among the multiple first real-time rotation angles as the first lowest position.

[0067] As an example, the preset time threshold can be determined according to the actual situation. For example, the preset time threshold can be 20ms, and the preset running angle for pendulum motion can be: pendulum motion according to 0°→15°→0°→-15°→0°. Among them, 15° or -15° can be other angles, which are not restricted here.

[0068] Step S340: If the first error between the first highest position and the first preset position, and the second error between the first lowest position and the second preset position are both less than or equal to the preset error threshold, then the first highest position and the first lowest position are set to meet the parameter characteristics of the tested servo motor.

[0069] As an example, the first preset position is determined based on the position value of the peak of the pendulum motion, and the second preset position is determined based on the position value of the trough of the pendulum motion. The preset error threshold is defined based on sample data collected from multiple tests; for example, generally, the preset error threshold is 50P.

[0070] See Figure 6 Based on multiple first real-time rotation angles, an actual sine wave pattern L2 with a period of 2s is generated. Figure 6 The vertical axis represents the real-time rotation angle, i.e., 1° = 364.08P, and the horizontal axis represents the number of points of recovery during the entire pendulum motion. Figure 6 The actual sine wave pattern L2 is compared with the reference sine wave pattern L1. The real-time rotation angle of the reference sine wave pattern L1 at the peak of 15° is 5461.2P, and the real-time rotation angle of the reference sine wave pattern L1 at the trough of -15° is -5461.2P. The reference sine wave pattern L1 is calculated based on the position command issued by the host computer. The first preset position can be set to 5461.2P, and the second preset position can be set to -5461.2P. As an example, the highest and lowest positions of the actual sine wave pattern L2 are obtained. If the difference between the highest position of the actual sine wave pattern L2 and 5461.2P is less than or equal to the preset error threshold 50P, and the difference between the lowest position of the actual sine wave pattern L2 and -5461.2P is less than or equal to the preset error threshold 50P, then the test passes. If the difference between the highest position of the actual sine wave pattern L2 and 5461.2P is greater than the preset error threshold 50P, or if the difference between the lowest position of the actual sine wave pattern L2 and -5461.2P is greater than the preset error threshold 50P, then the test fails.

[0071] In this way, there is no need to use the swing arm and heavy weights in the existing technology. The position test of the servo motor can be completed by the coordinated work of the host computer, the load servo motor and the servo motor under test in the servo motor testing device. There is no need to manually move and assemble heavy weights, which reduces manual operation and improves operational safety.

[0072] See Figure 7 The method further includes: Step S410: Control the load servo motor to operate with a second torque.

[0073] Before step S410, the method further includes: the host computer controlling the tested servo to return to the initial position, wherein the initial position can be a 0° position.

[0074] It should be noted that the second torque can be the rated torque of the motor under test, controlling the load servo to operate at the rated load of the servo under test.

[0075] Step S420: Control the tested servo motor to run to a preset step degree.

[0076] It is understandable that the preset step degree can be customized according to the actual situation. For example, the preset step degree can be 2° or other values, and there are no restrictions here.

[0077] Step S430: Collect multiple second real-time rotation angles of the servo motor under test, and determine whether there is a target position within the second preset angle range among the multiple second real-time rotation angles.

[0078] As an example, the preset position range is determined based on a preset step number. For instance, when the preset step number is 2°, the preset position range is 1.9° to 2.1°. The preset position range can be determined by adding or subtracting a preset error from the preset step number. This preset error can be defined based on multiple sample data collected during testing. Combined with the encoder's resolution, the preset position range corresponding to the second real-time rotation angle can be determined.

[0079] Step S440: If there are multiple target locations, then determine the second highest position based on the multiple target locations.

[0080] In this embodiment, determining the second highest position based on multiple target positions includes: Record the number of the multiple target locations; If the number of target locations is greater than a preset threshold, then the highest position among the multiple target locations is determined as the second highest position.

[0081] Step S450: If the second highest position is greater than or equal to the preset step number, then the second highest position is set as a parameter characteristic that satisfies the operation of the tested servo motor.

[0082] It should be noted that if the highest position is greater than or equal to the preset step degree, then the test of the maximum step position of the tested servo motor is deemed to have passed.

[0083] As an example, if the second real-time rotation angle of the current response point is determined as the target position during the test, and the number of target positions is less than a preset threshold, the second real-time rotation angle of the servo under test is continuously collected, and it is continuously determined whether the newly collected second real-time rotation angle is within a preset position range. This preset threshold can be 10 or other values, and is not limited here. As an example, if the number of target positions is greater than the preset threshold (e.g., 10), the highest position among the 10 target positions is compared with a preset step degree (e.g., 2°). If the highest position is greater than or equal to 2°, the maximum step position test is determined to be passed, and the second highest position is set as the parameter characteristic that satisfies the operation of the servo under test.

[0084] In this way, there is no need to use the swing arm and heavy weights in the existing technology. By using the servo test device, which includes a host computer, a load servo, and the servo under test working together, the maximum step position test of the servo under test can be completed. There is no need for manual handling and assembly of heavy weights, which reduces manual operation and improves operational safety.

[0085] Furthermore, the method also includes: If the number of target locations is greater than the preset number threshold, then the lowest position is determined based on the multiple target locations; Calculate the position difference between the second highest position and the lowest position; Determine whether the position difference is less than or equal to a preset position threshold; If the position difference is less than or equal to a preset position threshold, then the lowest position is set to meet the parameter characteristics of the tested servo motor.

[0086] As an example, if the position difference between the highest position and the lowest position among the 10 target positions is less than or equal to a preset position threshold (e.g., 50P), then the step stability position test is determined to meet the test requirements, the step stability position test is passed, and the lowest position is set to meet the parameter characteristics of the tested servo motor.

[0087] See Figure 8 The tested servo motor steps from 0° to 2°, where the vertical axis represents position P, i.e., 1° = 364.08P, and the horizontal axis represents the number of data acquisition points recovered during the entire process. The position data curve S1 steps from 0° to 2° and is in a stable position.

[0088] In this way, there is no need to use the swing arm and heavy weights in the existing technology. By using the servo test device, which includes a host computer, a load servo, and the servo under test working together, the step stability position test of the servo under test can be completed. There is no need for manual handling and assembly of heavy weights, which reduces manual operation and improves operational safety.

[0089] See Figure 9 The method also includes: Step S510: Control the tested servo motor to operate in speed mode.

[0090] As an example, the host computer 200 controls the tested servo motor 130 to operate in speed mode, waiting for a third preset time, which can be 2 seconds. The third preset time can be set according to actual needs and is not limited here.

[0091] Step S520: Control the load servo to rotate in the same direction as the servo under test with a second torque.

[0092] In this embodiment, if the second torque is the rated torque of the servo under test, it can be called a rated torque test. In the rated torque test, the host computer controls the servo under test 130 to operate in speed mode in a clockwise direction, which can be called a rated torque forward test. The host computer controls the servo under test 130 to operate in speed mode in a counterclockwise direction, which can be called a rated torque reverse test.

[0093] As an example, the host computer 200 controls the load servo motor 130 to run in the same direction as the servo motor under test with the rated torque of the servo motor under test, and waits for a fourth preset time, which can be 2 seconds. The third preset time can be set according to actual needs and is not limited here.

[0094] Step S530: Collect multiple third speeds, multiple third currents, and multiple third real-time rotation angles of the servo motor under test, and determine whether the multiple third real-time rotation angles are increasing or decreasing.

[0095] Step S540: If the third speed is increasing or decreasing, calculate the average value of the third speeds and the average value of the third currents of the third speeds.

[0096] Step S550: If the third average speed is within a third preset speed range and the third average current is within a second preset current range, then the second torque is set as a parameter characteristic of the tested servo motor.

[0097] To further clarify, if the second torque is the rated torque of the servo under test, the third average speed is within the third preset speed range, and the third average current is within the second preset current range, then the rated torque test of the servo under test is determined to be passed, and the second torque is set as the rated torque of the servo under test.

[0098] It should be noted that if the second torque is the rated torque of the servo motor under test, the third average speed is not within the third preset speed range, or the third average current is not within the second preset current range, then the rated torque test of the servo motor under test is determined to be unsuccessful.

[0099] As an example, multiple third currents, multiple third speeds, and multiple third encoder positions of the servo motor under test 130 are collected within 30 seconds. Based on the multiple third encoder positions, it is determined whether there is a position increase or decrease. If a position increase or decrease exists, the average third speed value V3 of the multiple third speeds is calculated, and the average third current value A3 of the multiple third currents is calculated. It is determined whether the average third current value A3 falls within a preset current range (e.g., the average current is 10A, and the preset current range is 9-11A). It is also determined whether the average third speed value V3 falls within a preset speed range (e.g., the speed setting is 5 RPM / MIN, and the preset speed range is 4.5-5.5 RPM / MIN). As an example, if the average third current value A3 falls within 9-11A, the current test is considered passed. If the average third speed value V3 falls within 4.5-5.5 RPM / MIN, the speed test is considered passed. Since both the current test and the speed test are passed, the rated torque test of the servo motor under test is confirmed to be passed, and the average third speed value V3 and the average third current value A3 are displayed. If the average value of the third current A3 is not within 9-11A, or if the average value of the third speed V3 is not within 4.5-5.5RPM / MIN, then the torque test of the servo motor under test will fail.

[0100] It should be noted that the preset current range and preset speed range can be determined based on the pre-collected average current and average speed values ​​combined with a preset error ratio. For example, if the error ratio is 10% and the pre-collected average current value is 10A, then the preset current range is 9-11A. If the pre-collected average speed value is 5RPM / MIN, then the preset current range is 4.5-5.5RPM / MIN.

[0101] It should be noted that the servo under test can be a joint servo driver or other types of drivers, and there are no restrictions here.

[0102] In this way, there is no need to use the swing arm and heavy weights in the existing technology. The servo test device, which includes a host computer, a load servo, and the servo under test, works together to complete the rated torque test of the servo under test. There is no need for manual handling and assembly of heavy weights, which reduces manual operation and improves operational safety.

[0103] The servo testing method provided in this embodiment does not require the use of swing arms and heavy weights in the prior art. It can complete the testing of the servo under test without the need for manual handling and assembly of heavy weights, thus reducing manual operation and improving operational safety.

[0104] Example 2 Furthermore, embodiments of this application provide a servo motor detection system.

[0105] See Figure 10 The servo detection system 60 includes: Control module 61 is used to control the load servo motor to rotate at a preset first torque; The adjustment module 62 is used to adjust the rotational speed of the servo motor under test, which is coaxially mounted with the load servo motor, so as to control the rotational torque of the servo motor under test to reach the first torque. The judgment module 63 is used to detect the current first speed and first current of the servo motor under test, and to determine whether the first speed and first current meet the preset conditions. The setting module 64 is used to set the first torque to meet the parameter characteristics of the tested servo motor if the first speed and the first current meet the preset conditions.

[0106] The servo detection system provided in this embodiment can implement all the steps of the servo detection method provided in Embodiment 1 and achieve the corresponding technical effects. To avoid repetition, it will not be described again here.

[0107] The servo testing system provided in this embodiment can complete the testing of the servo under test without the use of the swing arm and heavy weights in the prior art. It eliminates the need for manual handling and assembly of heavy weights, reducing manual operation and improving operational safety.

[0108] Example 3 Furthermore, embodiments of this application provide a servo motor detection device, which includes: The platform includes a load servo, a servo under test, a torque sensor, a first coupling, and a second coupling mounted on the platform. The load servo is fixedly connected to the torque sensor via the first coupling, and the servo under test is fixedly connected to the torque sensor via the second coupling. The load servo and the servo under test are coaxially arranged.

[0109] In an optional implementation, the device further includes: a rib plate, a guide rail, and a support frame disposed on the platform, wherein the rib plate is fixedly connected to the load servo motor, and the support frame is slidably connected to the guide rail and fixedly connected to the servo motor under test.

[0110] The servo detection device provided in this embodiment can be used to execute each step of the servo detection method provided in Embodiment 1 and achieve the corresponding technical effects. To avoid repetition, it will not be described again here.

[0111] The servo testing device provided in this embodiment can complete the testing of the servo under test without the use of the swing arm and heavy weights in the prior art. It eliminates the need for manual handling and assembly of heavy weights, reducing manual operation and improving operational safety.

[0112] Example 4 Furthermore, this application provides an electronic device including a memory and a processor. The memory stores a computer program, which executes the servo detection method provided in Embodiment 1 when the computer program is run on the processor.

[0113] The electronic device provided in this embodiment can implement the servo detection method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0114] Example 5 This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the servo detection method provided in Embodiment 1.

[0115] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0116] The computer-readable storage medium provided in this embodiment can implement the servo detection method provided in Embodiment 2. To avoid repetition, it will not be described again here.

[0117] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0118] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0119] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A servo motor detection method, characterized in that, The method includes: Control the load servo motor to rotate at a preset first torque; Adjust the rotational speed of the servo motor under test, which is coaxially mounted with the load servo motor, to control the rotational torque of the servo motor under test to reach the first torque; The first speed and first current of the tested servo motor are detected, and it is determined whether the first speed and first current meet the preset conditions. If the first speed and the first current satisfy the preset conditions, then the first torque is set to meet the parameter characteristics of the tested servo motor.

2. The method according to claim 1, characterized in that, Before the control load servo motor rotates at a preset first torque, the method further includes: Control the tested servo motor to operate in speed mode; The control load servo motor rotates at a preset first torque, including: The load servo is controlled to rotate in the same direction as the tested servo with the first torque.

3. The method according to claim 1, characterized in that, The step of detecting the current first speed and first current of the tested servo motor, and determining whether the first speed and first current meet preset conditions, includes: When the servo under test rotates with the first torque, the current first speed and the first current of the servo under test are detected, and it is determined whether the first speed and the first current meet the preset conditions. The preset conditions include whether the average value of the first speed obtained from multiple first speeds belongs to a first preset speed range, and whether the average value of the first current obtained from multiple first currents belongs to a first preset current range.

4. The method according to claim 3, characterized in that, The determination of whether the first speed and the first current meet the preset conditions includes: Determine whether the first average speed falls within a first preset speed range and whether the first average current falls within a first preset current range; If the first average speed is within the first preset speed range and the first average current is within the first preset current range, then it is determined that the first speed and the first current satisfy the preset conditions.

5. The method according to claim 4, characterized in that, The method further includes: If the first average speed does not fall within the first preset speed range, the running torque in the previous test process is corrected according to the preset correction rule to obtain the corrected running torque. Determine whether the corrected operating torque meets the preset requirements; If the corrected operating torque meets the preset requirements, the load servo is controlled to run in the same direction as the servo under test with the corrected operating torque, and the current second speed and second current of the servo under test are collected. If the second speed and the second current satisfy the preset conditions, then the corrected operating torque is set to meet the parameter characteristics of the tested servo motor.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Control the load servo motor to rotate with a second torque; The tested servo motor is controlled to rotate within a first preset angle range, the first preset angle range including a first preset position and a second preset position; The first real-time rotation angle of the encoder driven by the servo motor under test is acquired, and the first real-time rotation angle includes a first highest position and a first lowest position. If the first error between the first highest position and the first preset position, and the second error between the first lowest position and the second preset position are both less than or equal to the preset error threshold, then the first highest position and the first lowest position are set to meet the parameter characteristics of the tested servo motor.

7. The method according to claim 6, characterized in that, The control of the tested servo motor to rotate within a first preset angle range includes: Record the initial position response time of the tested servo motor; If the response time is less than a preset time threshold, the tested servo motor is controlled to rotate within a first preset angle range.

8. The method according to any one of claims 1-5, characterized in that, The method further includes: Control the load servo motor to operate at the second torque; Control the tested servo motor to run to a preset step number; Collect multiple second real-time rotation angles of the servo motor under test, and determine whether there is a target position within a second preset angle range among the multiple second real-time rotation angles; If there are multiple target locations, then a second highest position is determined based on the multiple target locations; If the second highest position is greater than or equal to the preset step number, then the second highest position is set as a parameter characteristic that satisfies the operation of the tested servo motor.

9. The method according to claim 8, characterized in that, The step of determining the second highest position based on multiple target positions includes: Record the number of the multiple target locations; If the number of target locations is greater than a preset threshold, then the highest position among the multiple target locations is determined as the second highest position.

10. The method according to claim 9, characterized in that, The method further includes: If the number of target locations is greater than the preset number threshold, then the lowest position is determined based on the multiple target locations; Calculate the position difference between the second highest position and the lowest position; Determine whether the position difference is less than or equal to a preset position threshold; If the position difference is less than or equal to a preset position threshold, then the lowest position is set to meet the parameter characteristics of the tested servo motor.

11. The method according to any one of claims 1-5, characterized in that, The method further includes: Control the tested servo motor to operate in speed mode; Control the load servo motor to rotate in the same direction as the tested servo motor with a second torque; Collect multiple third speeds, multiple third currents, and multiple third real-time rotation angles of the servo motor under test, and determine whether the multiple third real-time rotation angles are increasing or decreasing; If it increases or decreases, then calculate the average value of the third speed of the plurality of third speeds and the average value of the third current of the plurality of third currents; If the third average speed is within a third preset speed range and the third average current is within a second preset current range, then the second torque is set as a parameter characteristic of the tested servo motor.

12. A servo motor detection device, characterized in that, The device includes: The platform includes a load servo, a servo under test, a torque sensor, a first coupling, and a second coupling mounted on the platform. The load servo is fixedly connected to the torque sensor via the first coupling, and the servo under test is fixedly connected to the torque sensor via the second coupling. The load servo and the servo under test are coaxially arranged.

13. The servo motor detection device according to claim 12, characterized in that, The device further includes: a rib plate, a guide rail, and a support frame disposed on the platform. The rib plate is fixedly connected to the load servo motor, and the support frame is slidably connected to the guide rail and fixedly connected to the servo motor under test.

14. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that executes the servo detection method according to any one of claims 1-11 when the processor is running.

15. A computer-readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the servo detection method according to any one of claims 1-11.

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