CN106970323B - Robot servo driver testing calibration device - Google Patents
Robot servo driver testing calibration device Download PDFInfo
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- CN106970323B CN106970323B CN201710059500.6A CN201710059500A CN106970323B CN 106970323 B CN106970323 B CN 106970323B CN 201710059500 A CN201710059500 A CN 201710059500A CN 106970323 B CN106970323 B CN 106970323B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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Abstract
The present invention relates to servo-driver testing calibration fields, disclose robot servo driver testing calibration device, including measurement module, data processing module, rectification module and console, and console connects measurement module, data processing module and rectification module；Data processing module includes data processing chip and judgment module, and data processing chip is used to obtain and handle the real time data of measurement module；Judgment module is used to be arranged the value of the cycle of operation and data；By the criteria threshold of setting, the valid data that data processing module obtains are judged rectification module, and quantity value is fed back to console and is shown；Console is for being arranged effective period, setting threshold values, obtaining quantity value and being adjusted parameter to servo-driver.The present invention is measured by output quantity of the measurement module to servo-driver, and servo-driver is detected and calibrated in real time, has the advantages that detection is easy to operate, detection is comprehensive, accuracy of judgement.
Description
Technical field
The present invention relates to servo-driver testing calibration fields, fill more particularly to robot servo driver testing calibration
It sets.
Background technique
During use, engineers and technicians are exactly to measure in the most concerned problem of testing field to servo-driver
Accuracy.But in actual test process, due in operational process, it may appear that signal interference, environmental disturbances and part mill
Situations such as damage, cause servo-driver output and motor export it is not corresponding, if none device, can according to revolving speed come
Determining servo-driver, whether output size is correct at work, can not just judge the output of used servo-driver
Order of accuarcy.
And existing servo-driver testing calibration device is less, that there are technologies is incomplete, structure is complicated, precision
It is low, using it is cumbersome the disadvantages of.
Summary of the invention
The present invention provides a kind of robot servo driver for the disadvantage that structure is complicated in the prior art, precision is low
Testing calibration device.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals.
Robot servo driver testing calibration device, including measurement module, data processing module, rectification module and control
Platform, console connect measurement module, data processing module and rectification module；
Measurement module includes mainboard and the on-off model output board connecting with mainboard, on-off model input board, A/D defeated
Enter plate, D/A output board, pulsed quantity signal output board and pulsed quantity signal input board；On-off model output board and servo-drive
Switch value input interface connects in device, and on-off model input board is connect with output switch parameter interface in servomechanism driving；A/D is defeated
Enter plate to connect with analog output interface circuit in servo-driver, analog input interface in D/A output interface and servo-driver
Connection；Pulsed quantity signal output board is connect with pulsed quantity input interface in servo-driver, pulsed quantity signal input board and servo
Pulsed quantity output interface connects in driver；
Data processing module includes data processing chip and judgment module, and data processing chip is for obtaining and handling measurement
The real time data of module；Judgment module is used to be arranged the value of the cycle of operation and data, to judge the real time data of acquisition
And screening, obtain valid data；
Rectification module passes through the criteria threshold of setting, and the valid data that data processing module obtains are judged, and will be poor
Magnitude feeds back to console and is shown；
Console is used to be arranged effective period, setting threshold values, obtains quantity value and be adjusted parameter to servo-driver,
Console is connected with speed probe, and speed probe includes shell, magnetic field sensor elements, sealing element and regulating device,
Magnetic field sensor elements are set in the housing, and sealing element is set to shell and regulating device junction, regulating device be set to shell with
Between servo-driver, regulating device includes positioning shaft sleeve and fixed hub, and positioning shaft sleeve is fixedly connected with fixed hub, fixing axle
Set is threadably secured connection shell.
Preferably, console includes control button, display and data storage, data storage is for storing data
It is recorded with to setting data；Display is for showing real time operating data；Control button includes the first control button, second
Control button and third control button, the first control button and the second control button are big for adjusting servo-driver output quantity
Small, third control button is emergency stop button.
If preferably, the deterministic process of data processing module is the data within the cycle of operation, for valid data；If
Data outside the cycle of operation are then invalid data.
Preferably, being connected with reinforcing rib between positioning shaft sleeve and fixed hub；Collet is equipped in fixed hub, in collet
Wall is equipped with form friction pattern, and collet is equipped with the gap of perforation, and collet is equipped with 2 fasteners, is equipped with fixed hole on 2 fasteners, and 2
A fastener is fixed on speed probe by fixing bolt through fixed hole.
Preferably, being connected with shaft coupling between speed probe and driving motor, shaft coupling is equipped with position sensor.
Preferably, being equipped with lifting device between positioning shaft sleeve and servo-driver, lifting device includes elevating lever and liter
Frame drops, and elevating lever upper end connects positioning shaft sleeve, and elevating lever lower end is set in crane.
The present invention is due to using above technical scheme, with significant technical effect:
The present invention is measured by output quantity of the measurement module to servo-driver, is carried out to servo-driver real-time
Detection has the advantages that detection is easy to operate, detection is comprehensive, accuracy of judgement；The drive that data processing module measures measurement module
Dynamic device output quantity is collected and handles, and returns to valid data, has filtered the interference of invalid data, has enhanced the accurate of calibration
Property；The valid data that rectification module will acquire are obtained, and are compared with the criteria threshold set, to obtain
Quantity value determines the size of the margin of error, facilitates the reference of subsequent corrective；The output size of console observable servo-driver,
Motor actual speed is obtained by the speed probe of connection, is calibrated after the two, and there is accurate calibration, anti-interference
The strong effect of ability.
Detailed description of the invention
Fig. 1 is operation logic schematic diagram in robot servo driver testing calibration device of the present invention；
Fig. 2 is the connection structure of console and speed probe in robot servo driver testing calibration device of the present invention
Schematic diagram；
Fig. 3 is the enlarged drawing in Fig. 2 at A.
In figure: 1-console, the 11-the first control button, the 12-the second control button, 13-third control buttons,
14-displays, 21-shells, 22-positioning shaft sleeves, 23-fixed hubs, 231-collets, 232-gaps, 233-fasteners,
234-fixing bolts, 24-elevating levers, 25-cranes, 3-reinforcing ribs.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
As shown in Figure 1 to Figure 3, robot servo driver testing calibration device, including measurement module, data processing mould
Block, rectification module and console 1, console 1 connect measurement module, data processing module and rectification module；
Measurement module includes mainboard and the on-off model output board connecting with mainboard, on-off model input board, A/D defeated
Enter plate, D/A output board, pulsed quantity signal output board and pulsed quantity signal input board；On-off model output board and servo-drive
Switch value input interface connects in device, and on-off model input board is connect with output switch parameter interface in servomechanism driving；A/D is defeated
Enter plate to connect with analog output interface circuit in servo-driver, analog input interface in D/A output interface and servo-driver
Connection；Pulsed quantity signal output board is connect with pulsed quantity input interface in servo-driver, pulsed quantity signal input board and servo
Pulsed quantity output interface connects in driver；
Data processing module includes data processing chip and judgment module, and data processing chip is for obtaining and handling measurement
The real time data of module；Judgment module is used to be arranged the value of the cycle of operation and data, to judge the real time data of acquisition
And screening, obtain valid data；Such as the setting time is half an hour, and carries out value by starting and end time,
Under normal circumstances, it needs except the preceding of deactivation runing time to start that number is measured and obtained according to the period of setting after ten minutes
According to keeping result more accurate to obtain more accurate data.
Rectification module passes through the criteria threshold of setting, and the valid data that data processing module obtains are judged, and will be poor
Magnitude feeds back to console 1 and is shown；Such as the data of acquisition are not within the cycle time of setting, then are invalid data.
Console 1 is for being arranged effective period, setting threshold values, obtaining quantity value and being adjusted ginseng to servo-driver
Number, console 1 are connected with speed probe, and speed probe includes shell 21, magnetic field sensor elements, sealing element and adjusting
Device, magnetic field sensor elements are set in shell 21, and sealing element is set to shell 21 and regulating device junction, and regulating device is set
Between shell 21 and servo-driver, regulating device includes positioning shaft sleeve 22 and fixed hub 23, and positioning shaft sleeve 22 is fixed to be connected
Fixed hub 23 is connect, fixed hub 23 is threadably secured connection shell 21, is connected between speed probe and driving motor
Shaft coupling, shaft coupling are equipped with position sensor.Console 1 includes that control button, display 14 and data storage, data are deposited
Reservoir records for storing data and to setting data；Display 14 is for showing real time operating data；Control button packet
Include the first control button 11, the second control button 12 and third control button 13, the first control button 11 and the second control button
12 for adjusting servo-driver output quantity size, and third control button 13 is emergency stop button.
If the deterministic process of data processing module is the data within the cycle of operation, for valid data；If in operation week
Data outside phase are then invalid data.
Reinforcing rib 3 is connected between positioning shaft sleeve 22 and fixed hub 23；Collet 231, collet are equipped in fixed hub 23
231 inner walls are equipped with form friction pattern, and collet 231 is equipped with the gap 232 of perforation, and collet 231 is equipped with 2 fasteners, 233,2 fasteners
Fixed hole is equipped on 233,2 fasteners 233 are fixed on speed probe by fixing bolt 234 through fixed hole.
Lifting device is equipped between positioning shaft sleeve 22 and servo-driver, lifting device includes elevating lever 24 and crane
25,24 upper end of elevating lever connects positioning shaft sleeve 22, and 24 lower end of elevating lever is set in crane 25.
The present invention is measured by output quantity of the measurement module to servo-driver, is carried out to servo-driver real-time
Detection has the advantages that detection is easy to operate, detection is comprehensive, accuracy of judgement；The drive that data processing module measures measurement module
Dynamic device output quantity is collected and handles, and returns to valid data, has filtered the interference of invalid data, has enhanced the accurate of calibration
Property；The valid data that rectification module will acquire are obtained, and are compared with the criteria threshold set, to obtain
Quantity value determines the size of the margin of error, facilitates the reference of subsequent corrective；The output size of 1 observable servo-driver of console,
Motor actual speed is obtained by the speed probe of connection, is calibrated after the two, and there is accurate calibration, anti-interference
The strong effect of ability.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (5)
1. robot servo driver testing calibration device, including measurement module, data processing module, rectification module and console
(1), console (1) connection measurement module, data processing module and rectification module, it is characterised in that:
Measurement module includes mainboard and the on-off model output board connecting with mainboard, on-off model input board, A/D input
Plate, D/A output board, pulsed quantity signal output board and pulsed quantity signal input board；On-off model output board and servo-driver
Middle switch value input interface connection, on-off model input board are connect with output switch parameter interface in servomechanism driving；A/D input
Plate is connect with analog output interface circuit in servo-driver, and analog input interface connects in D/A output interface and servo-driver
It connects；Pulsed quantity signal output board is connect with pulsed quantity input interface in servo-driver, and pulsed quantity signal input board and servo are driven
Pulsed quantity output interface connection in dynamic device；
Data processing module includes data processing chip and judgment module, and data processing chip is for obtaining and handling measurement module
Real time data；Judgment module is used to be arranged the value of the cycle of operation and data, the real time data of acquisition is judged and be sieved
Choosing, obtains valid data；
Rectification module is by the criteria threshold of setting, and the valid data that data processing module obtains are judged, and by quantity value
Console (1) is fed back to be shown；
Console (1) is used to be arranged effective period, setting threshold values, obtains quantity value and be adjusted parameter to servo-driver,
Console (1) is connected with speed probe, and shaft coupling is connected between speed probe and driving motor, and shaft coupling is equipped with position
Sensor is set, speed probe includes shell (21), magnetic field sensor elements, sealing element and regulating device, magnetic field sensor
Element is set in shell (21), and sealing element is set to shell (21) and regulating device junction, and regulating device is set to shell (21)
Between servo-driver, regulating device includes positioning shaft sleeve (22) and fixed hub (23), and positioning shaft sleeve (22) is fixedly connected
Fixed hub (23), fixed hub (23) are threadably secured connection shell (21).
2. robot servo driver testing calibration device according to claim 1, it is characterised in that: console (1) packet
Control button, display (14) and data storage are included, data storage records for storing data and to setting data；
Display (14) is for showing real time operating data；Control button includes the first control button (11), the second control button (12)
With third control button (13), the first control button (11) and the second control button (12) are for adjusting servo-driver output quantity
Size, third control button (13) are emergency stop button.
3. robot servo driver testing calibration device according to claim 1, it is characterised in that: data processing module
If deterministic process be the data within the cycle of operation, for valid data；If the data outside the cycle of operation, for invalid number
According to.
4. robot servo driver testing calibration device according to claim 1, it is characterised in that: positioning shaft sleeve (22)
Reinforcing rib (3) are connected between fixed hub (23)；Collet (231) are equipped in fixed hub (23), collet (231) inner wall is set
There is form friction pattern, collet (231) is equipped with the gap (232) of perforation, and collet (231) is equipped with 2 fasteners (233), 2 fasteners
(233) fixed hole is equipped on, 2 fasteners (233) are fixed on revolution speed sensing through fixed hole by fixing bolt (234)
On device.
5. robot servo driver testing calibration device according to claim 4, it is characterised in that: positioning shaft sleeve (22)
Lifting device is equipped between servo-driver, lifting device includes elevating lever (24) and crane (25), on elevating lever (24)
End connection positioning shaft sleeve (22), elevating lever (24) lower end are set in crane (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710059500.6A CN106970323B (en) | 2017-01-24 | 2017-01-24 | Robot servo driver testing calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710059500.6A CN106970323B (en) | 2017-01-24 | 2017-01-24 | Robot servo driver testing calibration device |
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| CN106970323A CN106970323A (en) | 2017-07-21 |
| CN106970323B true CN106970323B (en) | 2019-07-26 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101445229B1 (en) * | 2014-04-01 | 2014-09-29 | 주식회사 엠이티 | Checking device of servo driver |
| CN203929912U (en) * | 2014-03-10 | 2014-11-05 | 台州富凌电气有限公司 | A kind of test macro of servo-driver |
| CN204807301U (en) * | 2015-04-20 | 2015-11-25 | 重庆有法数控设备有限责任公司 | Servo driver's real -time online test system |
| CN205193605U (en) * | 2015-12-08 | 2016-04-27 | 南通大学 | Pneumatic motor servo |
| CN106154160A (en) * | 2016-06-28 | 2016-11-23 | 无锡新大力电机有限公司 | A kind of servomotor test system |
| CN106248997A (en) * | 2016-08-22 | 2016-12-21 | 沈阳华创风能有限公司 | A kind of speed probe test equipment |
-
2017
- 2017-01-24 CN CN201710059500.6A patent/CN106970323B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203929912U (en) * | 2014-03-10 | 2014-11-05 | 台州富凌电气有限公司 | A kind of test macro of servo-driver |
| KR101445229B1 (en) * | 2014-04-01 | 2014-09-29 | 주식회사 엠이티 | Checking device of servo driver |
| CN204807301U (en) * | 2015-04-20 | 2015-11-25 | 重庆有法数控设备有限责任公司 | Servo driver's real -time online test system |
| CN205193605U (en) * | 2015-12-08 | 2016-04-27 | 南通大学 | Pneumatic motor servo |
| CN106154160A (en) * | 2016-06-28 | 2016-11-23 | 无锡新大力电机有限公司 | A kind of servomotor test system |
| CN106248997A (en) * | 2016-08-22 | 2016-12-21 | 沈阳华创风能有限公司 | A kind of speed probe test equipment |
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| CN106970323A (en) | 2017-07-21 |
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