CN112964439A - Terminal jitter simulation detection system and method and detection system of jitter suppression function - Google Patents
Terminal jitter simulation detection system and method and detection system of jitter suppression function Download PDFInfo
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Abstract
The application provides a tail end shaking simulation detection system and method and a detection system with a shaking suppression function, wherein the simulation detection system is used for detecting the shaking condition of a load end driven by a driving component to be detected in a simulation way, and the load end is provided with a water bottle; the water bottle is provided with a liquid level sensor; the liquid level sensor is electrically connected with the control device, the liquid level sensor acquires liquid level state data, and the control device acquires vibration data capable of judging the shaking condition of the load body according to the liquid level state data in the water bottle. The terminal jitter simulation detection system, the terminal jitter simulation detection method and the terminal jitter suppression function detection system can intuitively and accurately measure terminal jitter data and jitter suppression data of a transmission link in a robot servo driver, reflect the effectiveness of suppressing jitter and the strength of suppression effect, have the characteristics of high detection precision, wide detection range and strong universality, and are beneficial to popularization and application; and multi-axis multi-mode contrast detection of the multi-axis robot can be realized, and the method has the characteristic of wide application range.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a terminal jitter simulation detection system and method and a jitter suppression function detection system.
Background
In recent years, with the rapid development of automation technology, industrial robots, numerical control machines and automatic production lines are gradually replacing manual work; however, in practical applications, a robot servo drive system inevitably needs to add transmission links, such as a speed reducer, a transmission shaft and other links connecting a servo motor and a load, and the added transmission links are not ideal pure rigid bodies due to certain elasticity, and elastic deformation generated by stress cannot be ignored.
In the operation process, when the working frequency of the transmission links is close to the operation frequency of the servo motor, certain mechanical end jitter can be generated, which causes serious damage to the transmission links in the middle of the whole robot servo system, seriously influences the instruction tracking of the robot servo system, greatly limits the application of the robot servo system in high-precision occasions and possibly causes shaft breakage accidents.
In the prior art, for the detection of the terminal shaking data of the robot, an analog detection mode of laser tracking is generally adopted, the method can only roughly detect the terminal shaking condition data, has the defects of low detection precision and narrow detection range, and has few types of detected data, thereby restricting the development of the shaking suppression function of a robot servo driver.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the embodiments of the present application is to provide an end-point jitter simulation detecting system and method to improve the detection accuracy of jitter data; the embodiment of the application also provides a detection system based on the terminal jitter suppression function of the robot servo driver of the simulation detection system, which can accurately judge the terminal jitter suppression function of the robot servo driver, and has the advantages of wide detection range and more comprehensive detection data types.
In a first aspect, an embodiment of the present application provides a terminal shaking simulation detection system, configured to detect a shaking condition of a load end driven by a driving component to be tested in a simulated manner, where the load end is provided with a water bottle; the water bottle is provided with a liquid level sensor; the liquid level sensor is electrically connected with a control device; the liquid level sensor acquires liquid level state data in the water bottle when the driving component to be detected works in a simulation mode; the control device acquires vibration data capable of judging the shaking condition of the load body according to the liquid level state data in the water bottle; the vibration data includes vibration frequency, vibration amplitude, and vibration displacement oscillograms.
The terminal shaking simulation detection system is characterized in that the liquid level sensor is a non-contact liquid level sensor and is tightly attached to the outer side of the water bottle.
The terminal shake simulation detection system, wherein, level sensor is two, and is located the upper and lower side of interior liquid level in the water-jug respectively.
The terminal jitter simulation detection system is characterized in that the control device comprises a data acquisition card and an industrial personal computer; the data acquisition card converts the liquid level state data acquired by the liquid level sensor into vibration data; the industrial personal computer acquires vibration data of the data acquisition card and the operation condition of the driving assembly to be tested, and can show the vibration data and the operation condition of the driving assembly to be tested independently or in combination.
The simulation detection system for the terminal shaking condition of the robot is characterized in that the load end can horizontally slide under the driving action of the driving component to be detected.
The terminal shaking simulation detection system, wherein the water bottle is detachably mounted on the load end.
In a second aspect, an embodiment of the present application provides an analog detection method for end jitter, where the detection method includes the following steps: acquiring the internal liquid level state data of a water bottle on a load end when the driving component to be tested is in simulation work; and acquiring vibration data for judging the shaking condition of the load end according to the liquid level state data in the water bottle, wherein the vibration data comprises vibration frequency, vibration amplitude and vibration displacement oscillogram.
In a third aspect, an embodiment of the present application provides a system for detecting a jitter suppression function at a terminal of a servo driver to be detected in a robot, where the servo driver to be detected is electrically connected to a driving mechanism; the driving mechanism is provided with a load end driven by the driving mechanism; the load end is provided with a water bottle; the water bottle is provided with a liquid level sensor; the liquid level sensor is electrically connected with a control device; the servo driver to be tested can control the driving mechanism to operate in a normal working mode or a jitter suppression mode; the liquid level sensor acquires liquid level state data in the water bottle when the driving mechanism works; the control device may acquire first vibration data that can determine the shake condition of the load body from the liquid level state data inside the water bottle when the drive mechanism is operating in the normal operation mode, and may acquire second vibration data that can determine the shake condition of the load body from the liquid level state data inside the water bottle when the drive mechanism is operating in the shake suppression mode.
The detection system of shake suppression function, wherein, actuating mechanism includes with the servo motor that awaits measuring servo driver electric connection, by the ball screw of servo motor drive operation, the load end is the slider that sets up on the ball screw motion end for the transmission link when simulation robot moves.
The detection system of the jitter suppression function, wherein the servo motor is connected with the shaft end of the ball screw through a coupler.
The detection system of the jitter suppression function, wherein the number of the driving mechanisms is more than two, and the working states of the driving mechanisms are independently controlled by the servo driver to be detected.
The shake suppression function detection system is characterized in that the liquid level sensor is a non-contact liquid level sensor and is tightly attached to the outer side of the water bottle.
The detection system of the shake suppression function, wherein, the non-contact liquid level sensor is two, and is located the upper and lower side of interior liquid level in the water-jug respectively.
The jitter suppression function detection system is characterized in that the control device comprises a data acquisition card and an industrial personal computer; the data acquisition card can calculate and acquire first vibration data according to the liquid level state data in the water bottle when the driving mechanism operates in a normal working mode, and can calculate and acquire second vibration data according to the liquid level state data in the water bottle when the driving mechanism operates in a shake suppression mode; the industrial personal computer obtains the data calculation result of the data acquisition card and the operation condition of the driving component to be tested, and can independently display or combine to display the data.
The detection system of the jitter suppression function, wherein the load end can slide horizontally under the driving action of the driving assembly to be detected.
The shake suppression function detection system described above, wherein the water bottle is detachably mounted on the load side.
As can be seen from the above, the end-shaking simulation detection system, the end-shaking simulation detection method and the detection system with the shaking suppression function provided by the embodiments of the present application utilize a to-be-detected driving component to simulate and drive a load end to move, a mechanical end shaking is generated on the load end, a water bottle is utilized to cooperate with a liquid level sensor to obtain liquid level state data, and vibration data capable of determining the end-shaking situation is obtained through calculation of a control device; compared with the traditional detection mode, the analog detection system has higher detection precision and larger detection range and can detect more data types; the simulation detection system is applied to the detection of the terminal jitter suppression function of the robot servo driver, can visually and accurately measure terminal jitter data and jitter suppression data of a transmission link in the robot servo driver, reflects the effectiveness of jitter suppression and the strength of suppression effect, has the characteristics of high detection precision, wide detection range and strong universality, and is beneficial to popularization and application; and multi-axis multi-mode contrast detection of the multi-axis robot can be realized, and the method has the characteristic of wide application range.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic diagram of an embodiment of the application.
FIG. 2 is a schematic structural diagram of an embodiment of the present application.
Description of reference numerals: 1. a chassis; 2. a drive mechanism; 21. a servo motor; 22. a ball screw; 23. a coupling; 3. a load end; 4. a servo driver to be tested; 5. an industrial personal computer; 6. a water bottle; 7. a liquid level sensor; 8. a data acquisition card.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to fig. 1-2 in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In a first aspect, an embodiment of the present application provides a terminal jitter simulation detection system, which has the characteristics of high detection precision and wide detection range, and can intuitively reflect the jitter suppression effect and be generally used for terminal jitter suppression detection of various robot servo drivers.
A terminal jitter simulation detecting system is used for detecting the jitter condition of a load terminal 3 which is simulated and driven by a driving component to be detected,
the load end 3 is provided with a water bottle 6;
the water bottle 6 is provided with a liquid level sensor 7;
the liquid level sensor 7 is electrically connected with a control device;
the liquid level sensor 7 acquires liquid level state data inside the water bottle 6 when the driving component to be detected works in a simulation mode;
the control device obtains vibration data which can judge the shaking condition of the load body 3 according to the liquid level state data in the water bottle 6;
the vibration data includes vibration frequency, vibration amplitude, and vibration displacement waveform diagrams.
The liquid level jitter data collected by the liquid level sensor 7 comprises liquid level change displacement data; the control device is provided with an analysis program aiming at the liquid level change displacement data, and can calculate and obtain information such as the vibration frequency, the vibration amplitude, the vibration displacement oscillogram and the like of the water in the water bottle 6 by utilizing the preset sampling frequency and the displacement data in the analysis program.
The terminal shaking simulation detection system in the embodiment of the application can simulate the terminal shaking generated when the drive component to be detected of the robot runs under the work of the robot, and the specific process is as follows: the driving assembly to be tested drives the load body 3 to move, the load body 3 simulates a transmission link in a robot, so that certain mechanical end shaking can be generated on the load body 3, the end shaking of the load body 3 is transmitted to the water bottle 6, so that liquid in the water bottle 6 shakes, ripples are generated on the liquid level of the water bottle, the liquid level sensor 7 collects liquid level state data in the liquid level of the water bottle 6 in real time, the liquid level state data are converted into analog signals to be sent to the control device, and the control device calculates and obtains vibration data according to the liquid level state data, wherein the vibration data comprise information such as vibration frequency, vibration amplitude, vibration displacement oscillogram and the like.
Compared with the existing detection system, the terminal shaking simulation detection system in the embodiment of the application can preliminarily know the shaking condition by observing the shaking condition of the water body in the water bottle 6 by naked eyes, can convert the liquid level state data generated when the water body in the water bottle 6 is shaken into information such as vibration frequency, vibration amplitude, vibration displacement oscillogram and the like, and can intuitively, effectively and accurately reflect the terminal shaking data generated when the robot operates; in addition, the transmission form of the end jitter and more detailed information about jitter suppression can be understood by combining the waveform diagram.
In certain preferred embodiments, the vibration data may include vibration data of the water bottle 6, the vibration data of the water bottle 6 reflecting the vibration pattern of the liquid in the water bottle 6, so that the inspector can know the vibration condition at the rear end of the transmission link through the vibration data of the water bottle 6. In practical applications, the vibration data of the water bottle 6 can be directly calculated through the liquid level state data.
In some preferred embodiments, the vibration data may further include vibration data of the load end 3, and the vibration data of the load end 3 directly reflects the vibration form on the load body 3, so that the detection personnel can know the vibration condition directly generated at the position of the transmission link through the vibration data of the load end 3. In practical application, the vibration data of the load end 3 can be directly calculated according to the liquid level state data through a set algorithm; alternatively, the vibration data of the water bottle 6 may be calculated from the liquid level state data, and then the vibration data of the water bottle 6 may be adjusted by setting adjustment parameters.
In addition, most mechanical transmission systems have a vibration frequency point, and the vibration frequency point has a certain relation with the mass of the mechanical transmission system; the embodiment of the application can change the amount of water in the water bottle 6, change the frequency point of the terminal shake of the detection system, simulate rigid bodies with different degrees, detect shake data in different frequency ranges, have the characteristic of large detection range, and adapt to the detection of shake data of low-frequency, medium-frequency and high-frequency bands by utilizing the change of the amount of water in the water bottle 6, so that different drive assemblies to be detected can be matched to simulate the transmission links of different robots.
Specifically, varying the amount of water in the water bottle 6 corresponds to simulating a mass parameter that changes the actual stiffness.
The terminal shaking simulation detection system provided by the embodiment of the application can visually and accurately simulate and detect terminal shaking data of a transmission link in a robot, reflects terminal shaking forms and specific vibration data of the robot, has the characteristics of high detection precision, wide detection range and strong universality, and is favorable for popularization and application.
In certain preferred embodiments, the level sensor 7 is a non-contact level sensor 7 and is tightly attached to the outside of the water bottle 6; the liquid level condition in the water bottle 6 can be monitored in real time by utilizing the non-contact liquid level sensor 7, the liquid level state data can be obtained, the measurement precision of the non-contact liquid level sensor 7 can reach +/-1.5 mu m, the detection precision of the shaking data can be effectively improved, and the detection can be carried out within the range of 0-100 kHz in the shaking frequency band according to the water quantity adjustment in the water bottle 6.
In some preferred embodiments, there are two liquid level sensors 7 respectively located above and below the liquid level of the liquid in the water bottle 6, the liquid level state data are collected by using the upper and lower sides of the liquid level, the two liquid level sensors 7 respectively acquire the liquid level state data when the liquid level vibrates upward and the liquid level vibrates downward, the control device acquires the liquid level state data detected by the two liquid level sensors 7, and then performs single or combined analysis and calculation on the liquid level state data detected by the two liquid level sensors 7, and the two liquid level sensors 7 are used to detect the fluctuation of the liquid level in the water bottle 6 divided into the upper and lower sides, thereby further detecting the precision.
Specifically, the two liquid level sensors 7 are symmetrically arranged with respect to the static liquid level as an interface, the distance between the two liquid level sensors 7 can be input into the control device, the two liquid level sensors 7 are symmetrically arranged to respectively acquire liquid level state data above the static liquid level and liquid level state data below the static liquid level, the control device acquires the liquid level state data measured by the two liquid level sensors 7 to perform single or combined analysis and calculation, the two sets of data can mutually calculate and verify vibration frequency and vibration amplitude information, and the information such as a oscillogram and the like is acquired through combined calculation, so that the liquid vibration data can be acquired more accurately.
More specifically, during the simulation test, the amount of water in the water bottle 6 and the distance between the two level sensors 7 are adjusted according to the operation condition of the driving assembly to be tested.
In some preferred embodiments, when the liquid level of the water bottle 6 is still, the sensing ends of the two non-contact liquid level sensors 7 arranged on the water bottle 6 respectively correspond to the positions of +/-20 mm of the liquid level, most of shaking data can be obtained within the arrangement range, and liquid level state data can be detected more universally.
In some preferred embodiments, the control device comprises a data acquisition card 8 and an industrial personal computer 5; the data acquisition card 8 converts the liquid level state data acquired by the liquid level sensor 7 into vibration data; the industrial personal computer 5 acquires vibration data of the data acquisition card 8 and the operation condition of the driving component to be tested, and can independently display or combine the vibration data and the operation condition; wherein, the data acquisition card 8 is internally provided with an analysis program of the liquid level state data, the analysis program is provided with a comparison template for analyzing the liquid level state data, the comparison template has a preset frequency set, a displacement set and a vibration data set corresponding to the frequency set and the displacement set output results, after the data acquisition card 8 acquires the liquid level state data, comparing the frequency and displacement data in the liquid level state data with a comparison template to obtain the closest or consistent preset parameters in the comparison template so as to calculate and output corresponding vibration data, information such as vibration frequency, vibration amplitude, vibration displacement oscillogram and the like of water in the water bottle 6 is obtained, the information can be sent to the industrial personal computer 5, the industrial personal computer 5 can display the information in a picture mode, and detection personnel can directly know the relevant information of vibration data from the picture of the industrial personal computer 5; in addition, the industrial personal computer 5 can also collect and display the operation condition of the driving assembly to be tested, and is beneficial to the analysis of the jitter data by combining the vibration data with the operation condition of the driving assembly to be tested by detection personnel.
More specifically, industrial computer 5 and the drive assembly electric connection that awaits measuring, industrial computer 5 except can obtain the operating condition of the drive assembly that awaits measuring, still can adjust the operating parameter of the drive assembly that awaits measuring through control command.
In some preferred embodiments, the load end 3 can slide horizontally under the driving action of the driving component to be tested; the gravitational potential energy of the load end 3 is kept unchanged in the horizontal sliding process, so that the fluctuation of liquid in the water bottle 6 caused by the change of the gravitational potential energy can be effectively avoided when the liquid is lifted, the shaking state of the liquid in the water bottle 6 when the load end 3 performs linear motion can be visually and accurately reflected, and more accurate vibration data can be acquired.
In certain preferred embodiments, water bottle 6 is removably mounted to load end 3, and water bottle 6 is removable and adjusts the amount of water in water bottle 6; this application embodiment can conveniently take off water-jug 6 and carry out the water yield adjustment, has the convenient characteristics of use.
In a second aspect, an embodiment of the present application provides an analog detection method for end jitter, where the detection method includes the following steps:
s1, acquiring the internal liquid level state data of the water bottle 6 on the load end 3 when the driving component to be tested works in a simulation mode;
and S2, acquiring vibration data for judging the shaking condition of the load end according to the liquid level state data in the water bottle, wherein the vibration data comprises vibration frequency, vibration amplitude and vibration displacement oscillogram.
More specifically, the simulation detection method is applied to the simulation detection system, the liquid level state data of the load end 3 of the simulation transmission link, which generates the end shake and is transmitted to the water bottle 6, is obtained, and the vibration data capable of reflecting the shake data can be obtained through calculation and analysis.
In a third aspect, an embodiment of the present application provides a system for detecting a jitter suppression function, where the system employs the terminal jitter simulation detection system, and is used to detect a terminal jitter suppression function of a servo driver to be detected in a robot, and a servo driver 4 to be detected is electrically connected to a driving mechanism 2; the driving mechanism 2 is provided with a load end 3 driven by the driving mechanism; the load end 3 is provided with a water bottle 6; the water bottle 6 is provided with a liquid level sensor 7; the liquid level sensor 7 is electrically connected with a control device; the servo driver 4 to be tested can control the driving mechanism 2 to operate in a normal working mode or a jitter suppression mode; the liquid level sensor 7 acquires liquid level state data inside the water bottle when the driving mechanism 2 works; the control device may acquire first vibration data that can judge the shaking condition of the load body 3 based on the liquid surface state data inside the water bottle 6 when the drive mechanism 2 is operating in the normal operation mode, and may acquire second vibration data that can judge the shaking condition of the load body 3 based on the liquid surface state data inside the water bottle 6 when the drive mechanism 2 is operating in the shake suppression mode.
In the detection system of the jitter suppression function in the embodiment of the application, the servo driver 4 to be tested is used for controlling the driving mechanism 2 to drive the load end 3 to move, the transmission link of the robot is simulated, and the running state of the robot under the condition of starting or closing the terminal jitter suppression function when the terminal jitter is generated in the use process is simulated by starting or closing the terminal jitter suppression function of the servo driver 4 to be tested.
In this embodiment, the control device may perform single display and analysis and combined display and analysis on the second vibration data in the normal operation mode and the second vibration data in the shake suppression mode.
In the embodiment, different liquid level jitter data can be generated when the water bottle 6 is correspondingly started and stopped to inhibit the terminal jitter, the liquid level sensor 7 is used for collecting liquid level state data generated in the water bottle 6, the liquid level sensor 7 converts the liquid level state data into an analog signal and sends the analog signal to the data acquisition card 8, and the control device analyzes and processes the analog signal containing the liquid level state data to obtain first vibration data or second vibration data of liquid, namely information such as vibration frequency, vibration amplitude, vibration displacement oscillogram and the like of water.
In some preferred embodiments, the control device comprises a data acquisition card 8 and an industrial personal computer 5; the data acquisition card can calculate and acquire first vibration data according to the liquid level state data inside the water bottle when the driving mechanism 2 operates in a normal working mode, and can calculate and acquire second vibration data according to the liquid level state data inside the water bottle when the driving mechanism 2 operates in a shake suppression mode; the industrial personal computer 5 acquires a data calculation result of the data acquisition card 8 and the operation condition of the driving mechanism 2, and can independently display or display the data in a combined manner, wherein the data calculation result of the data acquisition card 8 is first vibration data and/or second vibration data; wherein, the data acquisition card 8 is internally provided with an analysis program of the liquid level state data, the analysis program is provided with a comparison template for analyzing the liquid level state data, the comparison template has a preset frequency set, a displacement set and a vibration data set corresponding to the frequency set and the displacement set output results, after the data acquisition card 8 acquires the liquid level state data, comparing the frequency and displacement data in the liquid level state data with a comparison template to obtain the closest or consistent preset parameters in the comparison template so as to calculate and output corresponding vibration data, information such as vibration frequency, vibration amplitude, vibration displacement oscillogram and the like of water in the water bottle 6 is obtained, the information can be sent to the industrial personal computer 5, the industrial personal computer 5 can display the information in a picture mode, and detection personnel can directly know the relevant information of vibration data from the picture of the industrial personal computer 5.
More specifically, the industrial personal computer 5 is electrically connected with the driving mechanism 2, and the industrial personal computer 5 can obtain the operation condition of the driving mechanism 2 and can adjust the operation parameters of the driving mechanism 2 through a control instruction.
More specifically, since the suppression effect varies from robot to robot, the amount of water in the water bottle 6 and the positions of the two level sensors 7 should be determined in conjunction with the shake suppression effect.
In some preferred embodiments, two liquid level sensors 7 are symmetrically arranged up and down on two sides of the liquid level, when the liquid level of the water bottle 6 is static, the sensing ends of the two non-contact liquid level sensors 7 arranged on the water bottle 6 respectively correspond to the positions of +/-20 mm of the liquid level, most of shaking data can be obtained within the setting range, and the servo driver 4 to be tested with different shaking suppression effects can be detected more universally.
In some preferred embodiments, the driving mechanism 2 is a transmission component, such as an electric linear guideway, which is driven by a motor to perform linear motion on the load end 3. In the detection process, the servo driver 4 to be detected controls the motor to operate and selectively starts the terminal shake suppression function, the actual running state of the motor at the shaft end of the robot is simulated, the load end 3 arranged at the movable end of the linear motion assembly is used for simulating the end of the transmission shaft, and the liquid level state data generated by the liquid in the water bottle 6 can effectively reflect the shake situation at the terminal of the robot and the shake suppression situation at the terminal of the robot.
In addition, the industrial personal computer 5 is electrically connected with the servo driver 4 to be tested, the industrial personal computer 5 can send a control instruction to directly regulate and control the running state of the servo driver 4 to be tested, the regulation and control instruction can comprise information such as a starting switch, a running mode, a control instruction of the driving mechanism 2 and the like, the servo driver 4 to be tested executes the regulation and control instruction so as to control the driving mechanism 2 to run, the driving mechanism 2 can be regulated to work in a normal working mode or a jitter suppression mode, and the running speed, the running time and the like of a motor on the driving mechanism 2 are controlled; in addition, the servo driver 4 to be tested can obtain the real-time operation condition of the driving mechanism 2, including the information of the motor operation parameters, the position of the load end 3 and the like, the industrial personal computer 5 obtains the real-time operation condition of the driving mechanism 2 from the servo driver 4 to be tested, meanwhile, the industrial personal computer 5 obtains the vibration data from the data acquisition card 8, and the industrial personal computer 5 can combine and analyze the real-time operation condition of the driving mechanism 2 and the vibration data obtained from the data acquisition card 8, so that the vibration curve of water can be analyzed in time domain and frequency domain at the same time, more detailed information about jitter suppression can be obtained, and the information can be displayed visually and clearly.
In some preferred embodiments, the driving mechanism 2 includes a servo motor 21 electrically connected to the servo driver 4 to be tested, a ball screw 22 driven by the servo motor 21 to operate, and the load end 3 is a slider disposed on a moving end of the ball screw; specifically, a screw nut of the thread rolling screw is fixedly connected with a sliding block; the detection personnel can send out control signals by the servo driver 4 to be detected to control the start, stop, running speed and the like of the servo motor 21, and the servo motor 21 is started to drive the screw rod of the ball screw 22 to rotate so as to drive the screw nut on the screw rod to horizontally displace.
Compared with an electric synchronous belt structure, the ball screw pair is adopted for transmission control of the displacement of the sliding block, so that a more stable and accurate speed regulation effect is achieved; secondly, the vibration generated by the servo motor 21 in the running process is very little, and the detection result is not influenced; furthermore, the transmission link of the electric synchronous belt has certain elasticity, and is not an ideal pure rigid body, and the elastic deformation generated by the stress of the electric synchronous belt can cause the detection error of the terminal shaking data, and in the embodiment, the ball screw 22 can effectively simulate the rigid body transmission link in the robot due to the precise matching of the components, so that the detection precision of the terminal shaking data is improved.
In addition, the ball screw 22 is used for driving the sliding block to slide, so that the sliding block can be started to move stably, and the influence of shaking detection caused by water oscillation generated by inertia when the water bottle 6 moves at the beginning of the sliding block is reduced.
In some preferred embodiments, the servo motor 21 is connected with the shaft end of the ball screw 22 through a coupling 23; the servo motor 21 and the coupler 23 can be replaced according to detection requirements, wherein the servo motor 21 is further replaced by the servo motor 21 of different manufacturers or different models, so that shaking data of robots with different components can be obtained in a simulated mode.
In addition, in some preferred embodiments, the servo motor 21 may be the servo motor 21 to be tested of the servo driver 4 to be tested in the robot, so that the matched detection of the robot can be realized to more accurately and precisely obtain the terminal shaking suppression technology of the robot; on the contrary, by adopting a known qualified servo driver, the data detection of the servo motor 21 to be detected can be carried out, and the detected data can be used for evaluating the quality of the servo motor 21 to be detected.
In some preferred embodiments, the power line and the encoder line of the servo motor 21 are respectively connected to the power line and the encoder interface of the servo driver under test 4, so that the servo driver under test 4 can control the power switch, the operation speed, the switching of the jitter suppression mode, and the like of the servo motor 21.
In some preferred embodiments, the servo driver 4 to be tested is connected with the industrial personal computer 5 through a 485 serial port line; the servo driver 4 to be tested can feed back the operation parameters of the motor and the current position data of the slide block to the industrial personal computer 5 after receiving the operation instruction of the industrial personal computer 5.
In certain preferred embodiments, the servo driver 4 to be tested is a multi-axis servo driver in a multi-axis robot.
In some preferred embodiments, the number of the driving mechanisms 2 is two or more, and the working states are independently controlled by the servo driver 4 to be tested.
In certain preferred embodiments, such as the embodiment shown in fig. 2, the drive mechanisms 2 are preferably two.
Specifically, the two driving mechanisms 2 are electrically connected with two servo control ports of the servo driver 4 to be tested respectively; the servo driver 4 to be tested can correspondingly and independently control whether the servo motor 21 connected with each port starts a jitter suppression mode or not; the two driving mechanisms 2 are arranged, multi-axis detection of the multi-axis robot can be simulated at the same time, multi-axis of the multi-axis robot is subjected to partition detection, overlapping influence of multi-axis jitter data can be effectively avoided, and therefore the effect of terminal jitter data and terminal jitter suppression functions on the driving mechanisms 2 connected with each port of the servo driver 4 to be detected can be effectively and accurately reflected.
In certain preferred embodiments, the driving mechanism 2 is mounted on the chassis 1, the chassis 1 includes a base, and a column fixed to the base by an angle bracket, and the driving mechanism 2 is mounted on the column.
Two actuating mechanism 2 are connected through the stand on chassis 1, because the vibrations that the shake data produced are slight, and produce in slider 3 and water-jug 6 department, and the vibrations that the operation of ball screw 22 self that servo motor 21 drove produced can be neglected, consequently, the terminal shake that a plurality of actuating mechanism operation produced does not influence each other, can not transmit the vibration each other.
Specifically, as shown in the embodiment of fig. 2, two driving mechanisms 2 are provided, which can simultaneously simulate the detection of two axes of the multi-axis robot; in the detection process, the servo motors 21 on the two driving mechanisms 2 are controlled by the servo driver 4 to be detected to operate in a normal working mode or a jitter suppression mode; the two driving mechanisms 2 are arranged, so that the running modes of the two driving mechanisms can be switched in the detection process to realize contrast detection, and the contrast detection comprises the conditions that the two servo motors 21 run in a normal mode, both run in a jitter suppression mode, one servo motor 21 runs in a normal working mode and the other servo motor 21 runs in the jitter suppression mode, the data acquisition card 8 simultaneously acquires and calculates the vibration data of the load ends 3 on the two driving mechanisms 2, the vibration data is summarized and sent to the industrial personal computer 5, and the industrial personal computer 5 can show the vibration data of the two driving mechanisms 2 singly or in combination; under contrast detection, a detection person can visually observe the shaking difference of water in the water bottle 6 through visual observation, and can preliminarily evaluate the shaking condition caused by the servo motor 21 and the shaking suppression effect of the servo driver.
In addition, the data acquisition card 8 can compare the shaking frequency of the water feeding bottle 6 of the two driving mechanisms 2 in the shaking inhibition mode with the shaking frequency in the normal mode, and calculate the difference value of the two frequencies, and the industrial personal computer 5 can acquire the difference value data and display the difference value data so as to compare the inhibition effects of different output ports of the servo driver 4 to be detected; if the same servo motor 21 is adopted on the two driving mechanisms 2 and the same water quantity is put in the water bottle 6, the two same servo output ends can be simulated, and the consistency of the jitter suppression function effects of the two ports of the servo driver 4 to be tested can be compared, namely the vibration data driven under the suppression function of the same servo end is obtained by the data acquisition card 8 from the water bottles on the two driving mechanisms 2, the frequency difference is calculated, and the difference data is the consistency of the jitter suppression function effects.
In some preferred embodiments, the driving mechanisms 2 connected to the servo driver are all electrically connected to the same data acquisition card 8; if the same servo motor 21 is adopted on the two driving mechanisms 2 and the same water amount is put in the water bottles 6, the shaking frequencies of the two water bottles 6 in the shaking suppression mode and the shaking frequencies of the two water bottles 6 in the normal mode can be respectively measured, the two shaking frequencies are compared, the difference value of the two frequencies is calculated, the difference value data is automatically sent to the industrial personal computer 5, and the difference value of the vibration frequencies in the shaking mode and the vibration frequencies in the normal mode can be obtained and calculated at one time; similarly, the difference between the vibration amplitudes in the dither mode and the normal mode can be calculated in the comparison process.
In some preferred embodiments, the load end 3 can slide horizontally under the driving action of the driving component to be tested; the gravitational potential energy of the load end 3 is kept unchanged in the horizontal sliding process, so that the fluctuation of liquid in the water bottle 6 caused by the change of the gravitational potential energy can be effectively avoided, the shaking state of the liquid in the water bottle 6 when the load end 3 performs linear motion can be visually and accurately reflected, and more accurate first vibration data and/or second vibration data can be acquired.
In certain preferred embodiments, water bottle 6 is removably mounted to load end 3, and water bottle 6 is removable and adjusts the amount of water in water bottle 6; this application embodiment can conveniently take off water-jug 6 and carry out the water yield adjustment, has the convenient characteristics of use.
The detection system with the jitter suppression function provided by the embodiment of the application can intuitively and accurately measure the jitter data and the jitter suppression data at the tail end of the transmission link in the robot servo driver, reflects the effectiveness of suppressing jitter and the strength of suppression effect, has the characteristics of high detection precision, wide detection range and strong universality, and is beneficial to popularization and application; and multi-axis multi-mode contrast detection of the multi-axis robot can be realized, and the method has the characteristic of wide application range.
To sum up, the end-shaking simulation detection system, the end-shaking simulation detection method and the detection system with shaking suppression function provided by the embodiment of the application utilize a to-be-detected driving component to simulate and drive the movement of the load end 3, the mechanical end-shaking is generated on the load end 3, the liquid level state data is obtained by utilizing the water bottle 6 in cooperation with the liquid level sensor 7, and the vibration data capable of judging the end-shaking situation is obtained through calculation of the control device; the simulation detection system is applied to the detection of the terminal jitter suppression function of the robot servo driver, can visually and accurately measure terminal jitter data and jitter suppression data of a transmission link in the robot servo driver, reflects the effectiveness of jitter suppression and the strength of suppression effect, has the characteristics of high detection precision, wide detection range and strong universality, and is beneficial to popularization and application; and multi-axis multi-mode contrast detection of the multi-axis robot can be realized, and the method has the characteristic of wide application range.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (16)
1. A terminal jitter simulation detection system for detecting jitter of a load terminal which is driven by a driving component to be tested in a simulation way is characterized in that,
the load end is provided with a water bottle;
the water bottle is provided with a liquid level sensor;
the liquid level sensor is electrically connected with a control device;
the liquid level sensor acquires liquid level state data in the water bottle when the driving component to be detected works in a simulation mode;
the control device acquires vibration data capable of judging the shaking condition of the load body according to the liquid level state data in the water bottle;
the vibration data includes vibration frequency, vibration amplitude, and vibration displacement oscillograms.
2. The analog end shake detection system according to claim 1, wherein the level sensor is a non-contact level sensor and is attached to the outside of the water bottle.
3. The end-shake simulated detection system of claim 2, wherein the non-contact level sensors are two and located above and below the level of the liquid in the water bottle.
4. The end shake analog detection system according to claim 1, wherein the control device comprises a data acquisition card and an industrial personal computer;
the data acquisition card converts the liquid level state data acquired by the liquid level sensor into vibration data;
the industrial personal computer acquires vibration data of the data acquisition card and the operation condition of the driving assembly to be tested, and can show the vibration data and the operation condition of the driving assembly to be tested independently or in combination.
5. The end-shake simulation test system according to claim 1, wherein the load end can slide horizontally under the driving action of the driving component to be tested.
6. The end-shake simulation detection system of claim 1, wherein the water bottle is removably mounted on the load end.
7. An analog detection method of end jitter, the detection method comprising the steps of:
acquiring the internal liquid level state data of a water bottle on a load end when the driving component to be tested is in simulation work;
and acquiring vibration data for judging the shaking condition of the load end according to the liquid level state data in the water bottle, wherein the vibration data comprises vibration frequency, vibration amplitude and vibration displacement oscillogram.
8. A detection system for a terminal jitter suppressing function, for detecting a terminal jitter suppressing function of a servo driver to be tested in a robot,
the servo driver to be tested is electrically connected with a driving mechanism;
the driving mechanism is provided with a load end driven by the driving mechanism;
the load end is provided with a water bottle;
the water bottle is provided with a liquid level sensor;
the liquid level sensor is electrically connected with a control device;
the servo driver to be tested can control the driving mechanism to operate in a normal working mode or a jitter suppression mode;
the liquid level sensor acquires liquid level state data in the water bottle when the driving mechanism works;
the control device may acquire first vibration data that can determine the shake condition of the load body from the liquid level state data inside the water bottle when the drive mechanism is operating in the normal operation mode, and may acquire second vibration data that can determine the shake condition of the load body from the liquid level state data inside the water bottle when the drive mechanism is operating in the shake suppression mode.
9. The system for detecting the terminal shaking suppression function according to claim 8, wherein the driving mechanism comprises a servo motor electrically connected to the servo driver to be detected, and a ball screw driven by the servo motor to operate, and the load end is a slider disposed on a moving end of the ball screw for simulating a transmission link when the robot operates.
10. The system for detecting a terminal shake suppressing function according to claim 9, wherein the servo motor is connected to a shaft end of the ball screw through a coupling.
11. The system for detecting an end shake suppressing function according to claim 8, wherein the number of the driving mechanisms is two or more, and the operating states are independently controlled by the servo driver under test.
12. The system for detecting a terminal shaking suppression function according to claim 8, wherein the level sensor is a non-contact level sensor and is closely attached to an outside of the water bottle.
13. The terminal-shake blur suppression function detection system according to claim 12, wherein the non-contact liquid level sensors are two and are respectively located above and below a liquid level of the liquid in the water bottle.
14. The system for detecting the terminal jitter suppression function of claim 8, wherein the control device comprises a data acquisition card and an industrial personal computer;
the data acquisition card can calculate and acquire first vibration data according to the liquid level state data in the water bottle when the driving mechanism operates in a normal working mode, and can calculate and acquire second vibration data according to the liquid level state data in the water bottle when the driving mechanism operates in a shake suppression mode;
the industrial personal computer obtains the data calculation result of the data acquisition card and the operation condition of the driving component to be tested, and can independently display or combine to display the data.
15. The system for detecting an end shake suppressing function according to claim 8, wherein the load end can slide horizontally under the driving action of the driving component to be tested.
16. The end-shake blur suppression function detection system according to claim 8, wherein the water bottle is detachably mounted on the load side.
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