CN105629875A - Mechanical hand driving unit limit movement characteristic testing system - Google Patents
Mechanical hand driving unit limit movement characteristic testing system Download PDFInfo
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- CN105629875A CN105629875A CN201510990927.9A CN201510990927A CN105629875A CN 105629875 A CN105629875 A CN 105629875A CN 201510990927 A CN201510990927 A CN 201510990927A CN 105629875 A CN105629875 A CN 105629875A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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Abstract
The present invention discloses a mechanical hand driving unit limit movement characteristic testing system, belonging to the field of mechanical hand design. The system comprises a test platform, a control detection unit and a test evaluation subsystem. The test platform is formed by a fixed clamp, a platform rack, an adjustable mounting bracket, a crank, a screw rod, a screw rod elevator, a lifting platform, a support table, a load torque controller, a coupling, and a motion parameter measurement sensor. The control detection is formed by a dedicated measurement and control module, an RS-232/USB conversion module, a CAN/LAN conversion module, four wiring terminals, an indicating unit and a power supply system. The test evaluation subsystem is formed by a database module, a human-computer interaction module, a process control module, a servo motor control module, a load torque control module, a motion parameter measurement module, a data communication module and a data analysis module. The system has an important role in the design of a mechanical hand and especially in the field of mechanical hand driving unit design and model selection.
Description
Technical field
The invention belongs to manipulator design field, relate to a kind of robotic transfer unit extreme sport characteristic test system.
Background technology
Robotic transfer unit is made up of parts such as servo controller, servomotor and decelerators, is the core realizing robot movement function, and its kinetic characteristic especially extreme sport characteristic determines the exercise performance of mechanical hand, quality and life-span. When carrying out manipulator design, generally with the kinetic parameter of mechanical hand for foundation, by the target operating parameters of the methods analyst calculating machine hands gear unit of Computer simulation design, and carry out Preliminary design and the type selecting of robotic transfer unit according to the nameplate parameter of each parts such as servo controller, servomotor and decelerator. Then robotic transfer unit is installed to target machinery to test on hand, to obtain the practical limit kinetic characteristic of robotic transfer unit, thus judges whether robotic transfer unit meets the designing requirement of target mechanical hand. Although this method of testing can be effectively tested evaluation robotic transfer unit, but due to the nameplate parameter of each parts such as Preliminary design and type selecting Main Basis servo controller, servomotor and decelerator, do not ensure that the practical limit kinetic characteristic of robotic transfer unit reaches design standard. Once the situation that practical limit kinetic characteristic is not up to standard occurs in testing, it is possible to target mechanical hand can be caused damage, bring serious economic loss; Change target machinery robotic transfer unit on hand also to produce substantial amounts of workload and cause the delayed of research and development progress. Therefore, inventing a kind of practical limit kinetic characteristic for test evaluation robotic transfer unit, whether to reach the robotic transfer unit extreme sport characteristic test system of design standard significant.
The present invention and application number are the application for a patent for invention of 201410532213.9, have following difference:
201410532213.9 the system that patent of invention describes, major function is to servomotor extreme sport characteristic test under multi-load; The present invention is analog mechanical hands actual motion environment, and robotic transfer unit is carried out extreme sport characteristic test under varying duty.
201410532213.9 the system that patent of invention describes, the method for loading moment control and test Data Detection is not made detailed description; The loading moment of the present invention controls and test Data Detection realizes by controlling detection unit.
201410532213.9 the system that patent of invention describes, it is necessary to tester arranges testing scheme, and is not directed to the analysis to test result; The test evaluation subsystem of the present invention can design testing scheme according to the target operating parameters of robotic transfer unit, and automatically generates test report.
Summary of the invention
The invention discloses a kind of robotic transfer unit extreme sport characteristic test system whether up to standard for test evaluation robotic transfer unit. The practical limit kinetic characteristic of robotic transfer unit according to the robotic transfer unit object operational factor design testing scheme that can automatically load, can be tested, and automatically generate test report by native system.
Technical scheme:
A kind of robotic transfer unit extreme sport characteristic test system, including test platform, controls detection unit and test evaluation subsystem;
Robotic transfer unit includes servo controller, servomotor and decelerator, it is achieved the core of robot movement function.
Test platform includes fixed fastener, platform stand, adjustable installing rack, rocking handle, leading screw, screw-threaded shaft elevator, lifting platform, support platform, loading moment controller, shaft joint and movement parameter measurement sensor; Fixed fastener upper surface is provided with X-direction and moves chute, which is provided with X-direction shifting sledge, and lower surface is provided with Y direction shifting sledge, which is provided with Y direction and moves chute, and fixed fastener is provided with mounting platform; Robotic transfer unit is fixed on mounting platform by fixing screw hole, fixed fastener moves chute by Y direction shifting sledge and Y direction and is fixed on lifting platform, its two ends coordinate with the chute on adjustable installing rack, being positioned in the middle of adjustable installing rack, adjustable installing rack is positioned at surface, platform stand upper left; Move chute by X-direction shifting sledge and X-direction and adjust robotic transfer unit in the position of X-direction, move chute by Y direction shifting sledge and Y direction and adjust robotic transfer unit in the position of Y direction; Rocking handle makes screw-threaded shaft elevator raise by leading screw or reduces lifting platform position, to adjust the robotic transfer unit position in Z-direction; Pass through position adjustment, the power transmission shaft of robotic transfer unit is connected by shaft joint coaxial line with the output shaft of loading moment controller, the installation completing robotic transfer unit is fixed, loading moment controller is positioned on support platform, supporting platform and be fixed on platform stand, shaft joint is fixed on adjustable installing rack; By loading moment controller, robotic transfer unit is applied loading moment, to simulate actual motion environment; Test parameter by the movement parameter measurement sensor inspecting manipuator gear unit on the right side of loading moment controller.
Control detection unit and include control module, RS-232/USB modular converter, CAN/LAN modular converter, 4 binding posts, indicating member and power-supply system; Control detection unit with control module for core, by binding post 1 and RS-232/USB modular converter and test evaluation subsystem communication, obtain dependence test instruction and test data are uploaded to test evaluation subsystem; According to the instruction that test evaluation subsystem sends, control detection unit and control the servo controller in robotic transfer unit by binding post 2 and CAN/LAN modular converter, and then control robotic transfer unit, and control loading moment controller by binding post 3 with 0-10V analogue signal, simultaneously by binding post 4 with RS-485 communication modes from movement parameter measurement sensor read test data; Control detection unit to power with power-supply system, and indicate current state with indicating member; Described control module includes MCU (MicroControllerUnit, micro-control unit), CAN interface, D/A output interface, RS-485 interface, RS-232 interface, power source system interface and instruction output interface. MCU is in order to control control module; RS-232 interface connects RS-232/USB modular converter, in order to realize the communication controlling detection unit with test evaluation subsystem; CAN interface connects CAN/LAN modular converter, in order to realize the control detection unit control to robotic transfer unit; RS-485 interface is in order to realize the communication controlling detection unit with movement parameter measurement sensor; D/A output interface is in order to realize 0-10V analog output, and power source system interface is in order to connect power-supply system, and instruction output interface is in order to connect indicating member.
Test evaluation subsystem includes DBM, human-computer interaction module, process control module, control module for servo motor, loading moment control module, movement parameter measurement module, data communication module and data analysis module, and DBM is in order to store the test data of robotic transfer unit object operational factor, preset testing scheme and robotic transfer unit; Human-computer interaction module obtains the instruction of operator, as started the instruction such as testing process, parameter reading, storage and display. Robotic transfer unit object operational factor in the instruction and data library module that process control module obtains according to human-computer interaction module and preset testing scheme, generate the testing process to robotic transfer unit, and send control instruction to control module for servo motor, loading moment control module and movement parameter measurement module respectively according to the sequential of testing process, make to test and perform according to set flow process and sequential, and testing process is shown by human-computer interaction module; Control module for servo motor is by data communication module and the servo controller communication in robotic transfer unit, underlying control instruction, and then control robotic transfer unit, make robotic transfer unit according to testing process realize accelerate, slow down, at the uniform velocity with the jerk method of operation; Loading moment controls module by data communication module and control detection unit communications, the control instruction of underlying loading moment controller, makes loading moment controller according to testing process to robotic transfer unit offered load moment; Movement parameter measurement module is by data communication module and control detection unit communications, the acquisition instructions of underlying movement parameter measurement measured sensor data, and by data communication module, the test data collected are uploaded to DBM; Data analysis module is according to parameters such as the test data in DBM and robotic transfer unit object operational factor analytical calculation deviation, lag time, overshoot, duration of oscillations, and generates test report. Test report is shown finally by data disaply moudle.
The beneficial effects of the present invention is by robotic transfer unit extreme sport characteristic test system test handler gear unit, can ensure that the extreme sport characteristic of robotic transfer unit, avoid only then to be mounted directly to, according to nameplate parameter Preliminary design and type selecting, the risk that target machinery carries out practical limit kinetic characteristic test on hand and produces to damage mechanical hand, reduce workload, ensure the research and development progress of mechanical hand, reduce the R & D Cost of enterprise.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the present invention.
Fig. 2 is fixed fastener structural representation.
Fig. 3 is test platform and controls detection cellular construction schematic diagram.
Fig. 4 controls detection cellular construction block diagram.
Fig. 5 is control module structured flowchart.
Fig. 6 is test evaluation subsystem structure block diagram.
In figure: 1 fixed fastener; 2Y direction of principal axis shifting sledge; 3X direction of principal axis shifting sledge; 4X direction of principal axis moves chute; 5 mounting platforms; 6 fixing screw holes; 7 platform stands; 8 adjustable installing racks; 9 screw-threaded shaft elevators; 10 leading screws; 11 rocking handles; 12 lifting platforms; 13Y direction of principal axis shifting sledge; 14 shaft joints; 15 loading moment controllers; 16 movement parameter measurement sensors; 17 support platform; 18 signal connecting terminals; 19 control detection unit.
Detailed description of the invention
The specific embodiment of the present invention is described in detail below in conjunction with summary of the invention and Figure of description.
As it is shown in figure 1, robotic transfer unit extreme sport characteristic test system includes test platform, controls detection unit and test evaluation subsystem. Test platform is in order to install solid mechanical hands gear unit, by loading moment controller offered load moment, simulates actual motion environment, and is read the test parameter of mechanical hand gear unit by movement parameter measurement sensor. Control detection unit according to the instruction of test evaluation subsystem, robotic transfer unit to be tested, control loading moment controller to the size of robotic transfer unit offered load moment and change, and control movement parameter measurement sensor and read, upload test data. Test evaluation subsystem controls system test flow process by process control module, and is analyzed the test data uploaded processing by data analysis module, generates test report.
Test platform is made up of fixed fastener, platform stand, adjustable installing rack, rocking handle, leading screw, screw-threaded shaft elevator, lifting platform, support platform, loading moment controller, shaft joint and movement parameter measurement sensor, as shown in Figures 2 and 3. Robotic transfer unit is fixed on mounting platform by fixing screw hole. Fixed fastener moves chute by Y direction shifting sledge with Y direction and is connected with the adjustable installing rack on the left of platform stand. Move chute by X-direction shifting sledge and X-direction and adjust robotic transfer unit in the position of X-direction; Move chute by Y direction shifting sledge and Y direction and adjust robotic transfer unit in the position of Y direction. Shake rocking handle, makes screw-threaded shaft elevator raise by leading screw or reduces lifting platform position, to adjust the robotic transfer unit position in Z-direction. Through the axial position adjustment of X-Y-Z tri-, can ensure that power transmission shaft is connected by shaft joint coaxial line by the robotic transfer unit of not similar shape with the loading moment controller output shaft supported on platform, it is achieved the not robotic transfer unit of similar shape installation on test platform. Robotic transfer unit is loaded the loading moment of change by loading moment controller under the control controlling detection unit, to simulate actual motion environment. The test parameter of robotic transfer unit is measured by movement parameter measurement sensor under the control controlling detection unit.
As shown in Figure 4, control detection unit to be made up of control module, RS-232/USB modular converter, CAN/LAN modular converter, 4 binding posts, indicating member and power-supply system. Control detection unit with control module for core, by binding post 1 and RS-232/USB modular converter and test evaluation subsystem communication, obtain the control instruction to robotic transfer unit, loading moment controller and movement parameter measurement sensor. According to the test evaluation subsystem control instruction to robotic transfer system, control detection unit and control the servo controller parts in robotic transfer unit by binding post 2 and CAN/LAN modular converter, and then control robotic transfer unit, make robotic transfer unit realize accelerating according to testing process, slow down, at the uniform velocity with the method for operation such as jerk. According to the test evaluation subsystem control instruction to loading moment controller, control detection unit and control, with 0-10V analogue signal, the loading moment that robotic transfer unit is loaded by loading moment controller by binding post 3, by controlling the change of 0-10V analogue signal, realize loading moment controller and by testing process, robotic transfer unit is loaded the loading moment of change, to simulate actual motion environment. According to the test evaluation subsystem control instruction to movement parameter measurement sensor, control detection unit and pass through binding post 4 with RS-485 communication modes from movement parameter measurement sensor read test data, and by binding post 1 and RS-232/USB modular converter, test data are uploaded to test evaluation subsystem. Control detection unit to power with power-supply system, and indicate current state with indicating member. As it is shown in figure 5, control module is made up of MCU, CAN interface, D/A output interface, RS-485 interface, RS-232 interface, power source system interface and instruction output interface. MCU is in order to control the various functions of control module. RS-232 interface connects RS-232/USB modular converter, in order to realize the communication controlling detection unit with test evaluation subsystem. CAN interface connects CAN/LAN modular converter, in order to realize the control detection unit control to robotic transfer unit. RS-485 interface is in order to realize the communication controlling detection unit with movement parameter measurement sensor. D/A output interface is in order to realize 0-10V analog output. Power source system interface is in order to connect power-supply system. Instruction output interface is in order to connect indicating member.
As shown in Figure 6, test evaluation subsystem is controlled module, movement parameter measurement module, data communication module and data analysis module formed by DBM, human-computer interaction module, process control module, control module for servo motor, loading moment. DBM is in order to store the test data of robotic transfer unit object operational factor, preset testing scheme and robotic transfer unit. Human-computer interaction module is for receiving the instruction such as the startup testing process of operator, parameter reading, storage and display. Process control module designs testing scheme according to the target operating parameters of robotic transfer unit, controls module by control module for servo motor, loading moment and data communication module controls testing process. Then pass through movement parameter measurement module and data communication module obtains test parameter. It is analyzed processing to test data finally by data analysis module and DBM, generates test report and shown by human-computer interaction module.
Claims (1)
1. a robotic transfer unit extreme sport characteristic test system, it is characterised in that this robotic transfer unit extreme sport characteristic test system includes test platform, controls detection unit and test evaluation subsystem;
Robotic transfer unit includes servo controller, servomotor and decelerator, it is achieved the core of robot movement function;
Test platform includes fixed fastener, platform stand, adjustable installing rack, rocking handle, leading screw, screw-threaded shaft elevator, lifting platform, support platform, loading moment controller, shaft joint and movement parameter measurement sensor; Fixed fastener upper surface is provided with X-direction and moves chute, which is provided with X-direction shifting sledge, and lower surface is provided with Y direction shifting sledge, which is provided with Y direction and moves chute, and fixed fastener is provided with mounting platform; Robotic transfer unit is fixed on mounting platform by fixing screw hole, fixed fastener moves chute by Y direction shifting sledge and Y direction and is fixed on lifting platform, its two ends coordinate with the chute on adjustable installing rack, being positioned in the middle of adjustable installing rack, adjustable installing rack is fixed on surface, platform stand upper left; Move chute by X-direction shifting sledge and X-direction and adjust robotic transfer unit in the position of X-direction, move chute by Y direction shifting sledge and Y direction and adjust robotic transfer unit in the position of Y direction; Rocking handle makes screw-threaded shaft elevator raise by leading screw or reduces lifting platform position, to adjust the robotic transfer unit position in Z-direction; Pass through position adjustment, the power transmission shaft of robotic transfer unit is connected by shaft joint coaxial line with the output shaft of loading moment controller, the installation completing robotic transfer unit is fixed, loading moment controller is positioned on support platform, supporting platform and be fixed on platform stand, shaft joint is fixed on adjustable installing rack; By loading moment controller, robotic transfer unit is applied loading moment, to simulate actual motion environment; Test parameter by the movement parameter measurement sensor inspecting manipuator gear unit on the right side of loading moment controller;
Control detection unit and include control module, RS-232/USB modular converter, CAN/LAN modular converter, 4 binding posts, indicating member and power-supply system; Control detection unit with control module for core, by binding post 1 and RS-232/USB modular converter and test evaluation subsystem communication, obtain dependence test instruction and test data are uploaded to test evaluation subsystem; According to the instruction that test evaluation subsystem sends, control detection unit and control the servo controller in robotic transfer unit by binding post 2 and CAN/LAN modular converter, and then control robotic transfer unit, and control loading moment controller by binding post 3 with 0-10V analogue signal, simultaneously by binding post 4 with RS-485 communication modes from movement parameter measurement sensor read test data; Control detection unit to power with power-supply system, and indicate current state with indicating member; Described control module includes MCU, CAN interface, D/A output interface, RS-485 interface, RS-232 interface, power source system interface and instruction output interface; MCU is in order to control control module; RS-232 interface connects RS-232/USB modular converter, in order to realize the communication controlling detection unit with test evaluation subsystem; CAN interface connects CAN/LAN modular converter, in order to realize the control detection unit control to robotic transfer unit; RS-485 interface is in order to realize the communication controlling detection unit with movement parameter measurement sensor; D/A output interface is in order to realize 0-10V analog output, and power source system interface is in order to connect power-supply system, and instruction output interface is in order to connect indicating member;
Test evaluation subsystem includes DBM, human-computer interaction module, process control module, control module for servo motor, loading moment control module, movement parameter measurement module, data communication module and data analysis module, and DBM is in order to store the test data of robotic transfer unit object operational factor, preset testing scheme and robotic transfer unit; Human-computer interaction module obtains the instruction of operator; Robotic transfer unit object operational factor in the instruction and data library module that process control module obtains according to human-computer interaction module and preset testing scheme, generate the testing process to robotic transfer unit, and send control instruction to control module for servo motor, loading moment control module and movement parameter measurement module respectively according to the sequential of testing process, make to test and perform according to set flow process and sequential, and testing process is shown by human-computer interaction module; Control module for servo motor is by data communication module and the servo controller communication in robotic transfer unit, underlying control instruction, and then control robotic transfer unit, make robotic transfer unit according to testing process realize accelerate, slow down, at the uniform velocity with the jerk method of operation; Loading moment controls module by data communication module and control detection unit communications, the control instruction of underlying loading moment controller, makes loading moment controller according to testing process to robotic transfer unit offered load moment; Movement parameter measurement module is by data communication module and control detection unit communications, the acquisition instructions of underlying movement parameter measurement measured sensor data, and by data communication module, the test data collected are uploaded to DBM; Data analysis module is according to the test data in DBM and robotic transfer unit object operational factor analytical calculation deviation, lag time, overshoot, duration of oscillation parameter, and generates test report; Test report is shown finally by data disaply moudle.
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2015
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