Method, device and system for testing braking performance of robot
阅读说明：本技术 一种机器人制动性能的测试方法、装置及系统 (Method, device and system for testing braking performance of robot ) 是由 杨跞 王天网 李羊 许楠 周飞 于 2021-08-06 设计创作，主要内容包括：本发明实施例公开了一种机器人制动性能的测试方法、装置及系统,测试方法包括：在机器人制动开始后,获取机械臂末端的位置信息；根据位置信息计算机械臂末端的速度；如果速度满足制动完成条件,则根据机器人制动开始时间确定机器人的制动时间,并根据位置信息确定机器人的制动距离。本发明实施例提供的技术方案通过监测机器人机械臂末端的制动距离和制动时间,以机械臂末端的制动距离和制动时间作为评测机器人的制动性能的标准,提高了机器人制动性能测试的精确性,测试结果有利于实际生产中的安全风险评估,从而保证了机器人工作的安全性。(The embodiment of the invention discloses a method, a device and a system for testing the braking performance of a robot, wherein the testing method comprises the following steps: after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm; calculating the speed of the tail end of the mechanical arm according to the position information; and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information. According to the technical scheme provided by the embodiment of the invention, the braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored, and the braking distance and the braking time of the tail end of the mechanical arm are used as standards for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk evaluation in actual production, thereby ensuring the working safety of the robot.)
1. A method for testing the braking performance of a robot is characterized by comprising the following steps:
after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm;
calculating the speed of the tail end of the mechanical arm according to the position information;
and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information.
2. The method for testing braking performance of a robot according to claim 1, wherein the calculating the velocity of the end of the robot arm based on the position information comprises:
determining the acquisition frequency of the position information so as to determine the acquisition time interval of the position information according to the acquisition frequency of the position information;
and calculating the speed of the tail end of the mechanical arm according to the position information acquired twice and the acquisition time interval.
3. A method of testing braking performance of a robot in accordance with claim 2, characterized in that the braking completion condition includes the velocity of the end of the robot arm being equal to zero.
4. A method of testing braking performance of a robot according to claim 1, wherein determining the braking time of the robot based on the robot braking start time comprises:
determining the acquisition frequency of the position information and the times of the position points acquired in the time from the start of braking to the end of braking;
and determining the braking time of the robot according to the acquisition frequency of the position information and the number of the acquired position points in the time from the braking start to the braking end.
5. The method for testing the braking performance of the robot according to claim 1, wherein the determining the braking distance of the robot according to the position information comprises:
determining the number of times of position points acquired within the time from the start of braking to the end of braking;
and calculating the length of the braking track at the tail end of the mechanical arm according to the position information and the times of the position points collected in the time period from the braking start to the braking end and by combining a differential equation so as to determine the braking distance.
6. The method for testing the braking performance of the robot according to claim 5, wherein the length of the braking track of the tail end of the mechanical arm is calculated to determine the braking distance according to the position information collected in the time period from the braking start to the braking end and the number of the position points by combining a differential equation, and the braking distance is determined based on the following steps:
wherein S is the braking distance of the tail end of the mechanical arm; s (i +1) is position information corresponding to the position point acquired at the (i + 2) th time; and S (i) the position information corresponding to the position point acquired at the (i +1) th time.
7. A method for testing braking performance of a robot according to claim 6, wherein the braking trajectory of the tail end of the mechanical arm comprises a linear motion trajectory and/or a curvilinear motion trajectory.
8. The method for testing the braking performance of a robot according to claim 1, further comprising, before the braking of the robot is started:
sending a preset speed operation instruction to a robot mechanical arm;
acquiring position information of the tail end of the mechanical arm;
calculating the speed of the tail end of the mechanical arm according to the position information;
and judging whether the speed of the tail end of the mechanical arm meets a preset speed or not, and if so, sending a braking instruction to the mechanical arm of the robot.
9. A device for testing the braking performance of a robot, which is used for executing the method for testing the braking performance of the robot according to any one of claims 1 to 8, and which comprises:
the robot braking system comprises a position information acquisition unit, a braking control unit and a braking control unit, wherein the position information acquisition unit is used for acquiring the position information of the tail end of a mechanical arm after the robot starts braking;
the mechanical arm tail end speed calculating unit is used for calculating the speed of the mechanical arm tail end according to the position information;
and the braking distance and braking time determining unit is used for determining the braking time of the robot according to the braking starting time of the robot and determining the braking distance of the robot according to the position information if the speed meets the braking finishing condition.
10. A robot braking performance testing system is characterized by comprising a measuring target ball, a laser tracker and an upper computer, wherein the upper computer is integrated with a robot braking performance testing device according to claim 9;
the laser tracker is used for carrying out light alignment with the measurement target ball so as to realize detection of track point position information of the measurement target ball; the upper computer is in communication connection with the laser tracker and is used for acquiring position information of the tail end of the mechanical arm of the robot; the upper computer is also in communication connection with the mechanical arm controller and is used for sending a braking instruction and a preset speed operation instruction to the mechanical arm controller.
Technical Field
The embodiment of the invention relates to the technical field of robot testing, in particular to a method, a device and a system for testing the braking performance of a robot.
Background
The robot technology is a comprehensive technology developed by modern science, is a product of crossing multiple subjects such as mechanical electronic engineering, computers, automatic control, artificial intelligence and the like, is one of hot spots of current technological development, greatly changes the production and life style of human beings due to the appearance of the robot, and is another great progress of the human development.
The braking function of the robot is a core function for ensuring safety, and the conventional braking performance testing method only monitors the torque or the angle position of joints and motors of the robot to judge the braking performance. However, due to the influences of robot arm extension, rod flexibility, load and the like, the braking performance data of the joint or the motor end cannot completely represent the motion state of the tail end of the robot, the accuracy of the robot braking performance test is reduced, the test result is not favorable for safety risk assessment in actual production, and the situation of contact and collision with surrounding people or objects occurs, so that the safety of the robot in working is influenced.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for testing the braking performance of a robot, which are used for improving the accuracy of the braking performance test of the robot, so that the test result is beneficial to safety risk assessment in actual production, and the working safety of the robot is ensured.
In a first aspect, an embodiment of the present invention provides a method for testing braking performance of a robot, including:
after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm;
calculating the speed of the tail end of the mechanical arm according to the position information;
and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information.
Optionally, the calculating the speed of the end of the mechanical arm according to the position information includes:
determining the acquisition frequency of the position information so as to determine the acquisition time interval of the position information according to the acquisition frequency of the position information;
and calculating the speed of the tail end of the mechanical arm according to the position information acquired twice and the acquisition time interval.
Optionally, the braking completion condition includes that the velocity of the end of the mechanical arm is equal to zero.
Optionally, the determining the braking time of the robot according to the braking start time of the robot includes:
determining the acquisition frequency of the position information and the times of the position points acquired in the time from the start of braking to the end of braking;
and determining the braking time of the robot according to the acquisition frequency of the position information and the number of the acquired position points in the time from the braking start to the braking end.
Optionally, the determining the braking distance of the robot according to the position information includes:
determining the number of times of position points acquired within the time from the start of braking to the end of braking;
and calculating the length of the braking track at the tail end of the mechanical arm according to the position information and the times of the position points collected in the time period from the braking start to the braking end and by combining a differential equation so as to determine the braking distance.
Optionally, the length of the braking track at the end of the mechanical arm is calculated according to the position information and the number of the position points collected in the time period from the braking start to the braking end, in combination with a differential equation, to determine the braking distance, and the determination is based on the following:
wherein S is the braking distance of the tail end of the mechanical arm; s (i +1) is position information corresponding to the position point acquired at the (i + 2) th time; and S (i) the position information corresponding to the position point acquired at the (i +1) th time.
Optionally, the braking track at the tail end of the mechanical arm comprises a linear motion track and/or a curved motion track.
Optionally, before the braking of the robot is started, the method further includes:
sending a preset speed operation instruction to a robot mechanical arm;
acquiring position information of the tail end of the mechanical arm;
calculating the speed of the tail end of the mechanical arm according to the position information;
and judging whether the speed of the tail end of the mechanical arm meets a preset speed or not, and if so, sending a braking instruction to the mechanical arm of the robot.
In a second aspect, an embodiment of the present invention provides a device for testing robot braking performance, configured to execute the method for testing robot braking performance according to any one of the first aspect, where the method includes:
the robot braking system comprises a position information acquisition unit, a braking control unit and a braking control unit, wherein the position information acquisition unit is used for acquiring the position information of the tail end of a mechanical arm after the robot starts braking;
the mechanical arm tail end speed calculating unit is used for calculating the speed of the mechanical arm tail end according to the position information;
and the braking distance and braking time determining unit is used for determining the braking time of the robot according to the braking starting time of the robot and determining the braking distance of the robot according to the position information if the speed meets the braking finishing condition.
In a third aspect, an embodiment of the present invention provides a system for testing robot braking performance, including a measurement target ball, a laser tracker, and an upper computer, wherein the upper computer is integrated with a device for testing robot braking performance according to the second aspect;
the laser tracker is used for carrying out light alignment with the measurement target ball so as to realize detection of track point position information of the measurement target ball; the upper computer is in communication connection with the laser tracker and is used for acquiring position information of the tail end of the mechanical arm of the robot; the upper computer is also in communication connection with the mechanical arm controller and is used for sending a braking instruction and a preset speed operation instruction to the mechanical arm controller.
The embodiment of the invention provides a method, a device and a system for testing the braking performance of a robot, wherein the testing method comprises the following steps: after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm; calculating the speed of the tail end of the mechanical arm according to the position information; and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information. According to the technical scheme provided by the embodiment of the invention, the braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored as the standard for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk evaluation in actual production, thereby ensuring the working safety of the robot.
Drawings
FIG. 1 is a flowchart of a method for testing braking performance of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a system for testing braking performance of a robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for testing braking performance of a robot according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for testing braking performance of a robot according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for testing braking performance of a robot according to an embodiment of the present invention;
fig. 6 is a block diagram of a device for testing braking performance of a robot according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a method for testing the braking performance of a robot, and fig. 1 is a flow chart of the method for testing the braking performance of the robot provided by the embodiment of the invention, and referring to fig. 1, the method comprises the following steps:
and S110, acquiring the position information of the tail end of the mechanical arm after the robot starts to brake.
Specifically, after the robot starts to brake, the position information of the tail end of the mechanical arm can be acquired through the displacement measuring instrument. Fig. 2 is a schematic structural diagram of a system for testing braking performance of a robot according to an embodiment of the present invention, and referring to fig. 2, a displacement measuring instrument may include a laser tracker 220 and a measurement target ball 210. The measurement target ball 210 is mounted at the end of the robot arm of the robot 110, and the measurement target ball 210 may be directly fixed to the robot arm, or a test load may be mounted at the end of the robot arm, and then the test target ball is fixed to the top of the load. The test load may be understood as an object carried by the end of the robot arm when the robot 100 is operating. Preferably, a test load is installed at the tail end of the mechanical arm, and then the test target ball is fixed at the top end of the load, so that data tested in the performance test of the robot is obtained by the tail end of the mechanical arm of the robot under the condition of having the load, the data are more suitable for the actual working condition, the accuracy of the brake performance test of the robot 100 is improved, and the test result is more favorable for safety risk assessment in actual production. The test target ball 210 is mounted in a manner that does not require any orientation and is fixed to the end. The test target ball 210 at the tail end of the mechanical arm of the robot 100 is moved into the detection range of the laser tracker 220, and the laser tracker 220 and the measurement target ball 210 are aligned with each other, so that the laser distance measuring sensor in the laser tracker 220 can measure the measurement target ball 210. The upper computer 300 for testing establishes communication with the laser tracker 220, thereby acquiring the position information of the tail end of the mechanical arm in real time.
And S120, calculating the speed of the tail end of the mechanical arm according to the position information.
Specifically, the speed of the tail end of the mechanical arm is the moving speed of the tail end of the mechanical arm driven by the mechanical arm joint of the robot after the robot starts to brake. After the position information of the tail end of the mechanical arm is obtained, the speed of the tail end of the mechanical arm corresponding to the position information can be calculated according to the position information corresponding to any position point of the tail end of the mechanical arm and the acquisition frequency of the position information based on the calculation relationship between the position information and the speed.
And S130, if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information.
Specifically, the speed of the tail end of the mechanical arm is calculated in real time according to the position information acquisition frequency, whether the tail end of the mechanical arm completes braking is judged according to the data, if the speed meets the braking completion condition, the braking time of the robot is determined according to the braking start time of the robot, and the braking distance of the robot is determined according to the position information. Wherein, the braking completion condition may be that the velocity of the end of the mechanical arm is equal to zero. Namely, after the robot starts to brake, the speed of the tail end of the mechanical arm is calculated in real time according to the position information acquisition frequency, and if the speed of the tail end of the mechanical arm is equal to zero, the tail end of the mechanical arm completes braking. It should be noted that a single joint or a plurality of joints can be designated to move, and the braking distance and the braking time of the single joint, the plurality of joints or the whole machine can be calculated by testing the tail end position of the robot, so that the braking performance of the robot can be comprehensively evaluated.
The embodiment of the invention provides a method for testing the braking performance of a robot, which comprises the following steps: after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm; calculating the speed of the tail end of the mechanical arm according to the position information; and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information. According to the technical scheme provided by the embodiment of the invention, the braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored as the standard for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk evaluation in actual production, thereby ensuring the working safety of the robot.
Fig. 3 is a flowchart of another method for testing braking performance of a robot according to an embodiment of the present invention, and referring to fig. 3, the method includes:
and S210, acquiring the position information of the tail end of the mechanical arm after the robot starts to brake.
And S220, determining the acquisition frequency of the position information so as to determine the acquisition time interval of the position information according to the acquisition frequency of the position information.
Specifically, the collection frequency of the position information may be set, the collection frequency of the position information may be determined, and the collection time interval of the position information may be determined according to the collection frequency of the position information. For example, if the acquisition frequency of the position information is set to 100HZ and the position information is acquired 100 times in 1 second, the acquisition time interval of the position information is set to 0.01 second.
And S230, calculating the speed of the tail end of the mechanical arm according to the position information acquired twice and the acquisition time interval.
Specifically, the current speed of the tail end of the mechanical arm can be calculated according to the position information corresponding to the current position point of the tail end of the mechanical arm, the position information corresponding to the last acquired position point and the preset acquisition frequency, and the current speed calculation formula is determined based on the following formula:
(St-St-1)/t＝vt；
wherein StAs position information of the current position point, St-1For the position information of the last track point, vtFor the current speed, t is the time interval for collecting position information at a preset collection frequency.
And S240, if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information.
The embodiment of the invention provides a method for testing the braking performance of a robot, which comprises the following steps: after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm; determining the acquisition frequency of the position information so as to determine the acquisition time interval of the position information according to the acquisition frequency of the position information; calculating the speed of the tail end of the mechanical arm according to the position information acquired twice and the acquisition time interval; and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information. The braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored to serve as standards for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk assessment in actual production, and the working safety of the robot is guaranteed.
Fig. 4 is a flowchart of another method for testing braking performance of a robot according to an embodiment of the present invention, and referring to fig. 4, the method includes:
and S310, acquiring the position information of the tail end of the mechanical arm after the robot starts to brake.
And S320, calculating the speed of the tail end of the mechanical arm according to the position information.
S330, if the speed meets the braking completion condition, determining the acquisition frequency of the position information and the number of times of the position points acquired in the time from the braking start to the braking end.
Specifically, after the robot starts to brake, the speed of the tail end of the mechanical arm is calculated in real time according to the position information acquisition frequency, and if the speed of the tail end of the mechanical arm is equal to zero, the tail end of the mechanical arm completes braking. And after the tail end of the mechanical arm finishes braking, determining the acquisition frequency of the position information and the times of the position points acquired in the time from the braking start to the braking end.
And S340, calculating the length of the braking track at the tail end of the mechanical arm according to the position information and the number of the position points collected in the time period from the braking start to the braking end and by combining a differential equation so as to determine the braking distance.
Specifically, when the speed at the end of the robot arm is equal to zero, it is determined that the robot has completed braking. According to the position information and the number of times of position points collected in the time period from the beginning of braking to the end of braking, the length of the braking track of the tail end of the mechanical arm is calculated by combining a differential equation to determine the braking distance, and the braking distance is determined on the basis of the following steps:
wherein S is the braking distance of the tail end of the mechanical arm; s (i +1) is position information corresponding to the position point acquired at the (i + 2) th time; and S (i) the position information corresponding to the position point acquired at the (i +1) th time. The tail end braking track of the mechanical arm comprises a linear motion track and/or a curved motion track. For the braking track of the tail end of the mechanical arm is a curvilinear motion track, according to the differential thought, the sum of the distances of all position points collected in the whole braking process is the braking distance, and compared with the length directly obtained according to position information, the accuracy of the braking distance can be improved, so that the testing result is more accurate, and the braking safety performance can be more represented.
And S350, determining the braking time of the robot according to the acquisition frequency of the position information and the number of times of the position points acquired in the time from the braking start to the braking end.
Specifically, when the speed at the tail end of the mechanical arm is equal to zero, the robot is judged to be braked, and the whole sampling time is the braking time. And determining the braking time of the robot according to the acquisition frequency of the position information and the number of the acquired position points in the time from the braking start to the braking end. The braking time is T ═ i × 1/a, and a is the acquisition frequency of the position information.
The embodiment of the invention provides a method for testing the braking performance of a robot, which comprises the following steps: after the robot starts to brake, acquiring the position information of the tail end of the mechanical arm; calculating the speed of the tail end of the mechanical arm according to the position information; if the speed meets the braking completion condition, determining the acquisition frequency of the position information and the number of times of the position points acquired within the time from the braking start to the braking end; according to the position information collected in the time period from the beginning of braking to the end of braking and the times of the position points, combining a differential equation, calculating the length of the braking track at the tail end of the mechanical arm to determine the braking distance, and according to the collection frequency of the position information and the times of the position points collected in the time period from the beginning of braking to the end of braking, determining the braking time of the robot. The braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored to serve as standards for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk assessment in actual production, and the working safety of the robot is guaranteed.
Optionally, before the braking of the robot is started, the method further includes:
sending a preset speed operation instruction to a robot mechanical arm;
acquiring position information of the tail end of the mechanical arm;
calculating the speed of the tail end of the mechanical arm according to the position information;
and judging whether the speed of the tail end of the mechanical arm meets the preset speed or not, and if so, sending a braking instruction to the mechanical arm of the robot.
In particular, the robot may be at rest prior to testing. Sending a preset speed operation instruction to a robot mechanical arm to enable a specified joint to start to operate, acquiring the real-time position of a test target ball at the tail end of the mechanical arm from a laser tracker by an upper computer according to a preset sampling frequency, calculating the speed at the tail end of the mechanical arm in real time according to a sampling time interval single differentiation mode corresponding to the sampling frequency, and when the speed at the tail end of the mechanical arm is monitored to reach the rated speed of the test, namely the preset speed included in the preset speed operation instruction, sending a braking instruction to the mechanical arm of the robot by the upper computer, enabling the robot to have a braking function, and starting the braking function at the moment. And the upper computer starts to acquire the actual position of the tail end of the mechanical arm from the laser tracker again at a preset acquisition frequency, and calculates the actual speed of the tail end. When the monitored speed is 0, the robot is judged to be braked, and the whole sampling time is the braking time. And the upper computer acquires a complete braking track of the robot from the laser tracker, and the sum of the distances of adjacent points is the length of the whole braking track through the differential thought, and the length of the whole braking track is the braking distance of the tail end of the mechanical arm.
In summary, fig. 6 is a flowchart of another method for testing braking performance of a robot according to an embodiment of the present invention, and referring to fig. 6, the method includes:
and S410, sending a preset speed operation instruction to the robot mechanical arm.
And S420, acquiring the position information of the tail end of the mechanical arm, and calculating the speed of the tail end of the mechanical arm according to the position information.
And S430, judging whether the speed of the tail end of the mechanical arm meets a preset speed, if so, executing a step S440, and if not, executing a step S420.
And S440, sending a braking command to the robot mechanical arm.
And S450, acquiring the position information of the tail end of the mechanical arm, and calculating the speed of the tail end of the mechanical arm according to the position information.
S460, judging whether the speed of the tail end of the mechanical arm is equal to zero, and if so, executing the step S470; if not, go to step S450.
And S470, determining the braking time of the robot according to the braking starting time of the robot, and determining the braking distance of the robot according to the position information.
The embodiment of the present invention further provides a device for testing robot braking performance, configured to execute any method for testing robot braking performance described above, where fig. 6 is a block diagram of a structure of the device for testing robot braking performance provided in the embodiment of the present invention, and the device for testing robot braking performance includes:
a position information acquiring unit 10 for acquiring position information of the end of the robot arm after the robot starts to brake;
a robot arm end speed calculation unit 20 for calculating a speed of the robot arm end based on the position information;
and a braking distance and braking time determining unit 30 for determining the braking time of the robot according to the robot braking start time and determining the braking distance of the robot according to the position information if the speed satisfies the braking completion condition.
Specifically, the testing device for the braking performance of the robot comprises a position information acquisition unit 10, a mechanical arm tail end speed calculation unit 20 and a braking distance and braking time determination unit 30. The position information acquiring unit 10 is used to acquire position information of the end of the robot arm after the robot braking starts. The robot arm tip speed calculation unit 20 is configured to calculate the speed of the robot arm tip from the position information. The speed of the tail end of the mechanical arm can be calculated in real time according to a single differentiation mode of a sampling time interval corresponding to the sampling frequency. The braking distance and braking time determination unit 30 is configured to determine the braking time of the robot according to the robot braking start time and determine the braking distance of the robot according to the position information if the speed satisfies the braking completion condition. The brake completion condition includes zero velocity at the end of the robot arm. When the speed of the tail end of the mechanical arm is monitored to be 0, the robot is judged to be braked, and the whole sampling time is the braking time. And the testing device of the braking performance of the robot obtains a complete braking track of the robot from the laser tracker, and the sum of the distances of adjacent points is the length of the whole braking track through the differential thought, and the length of the whole braking track is the braking distance of the tail end of the mechanical arm.
The robot braking performance testing device further comprises an instruction sending unit, and if the robot is possibly in a static state before testing, the instruction sending unit is further used for sending a preset running speed instruction to the mechanical arm. The position information acquisition unit is also used for acquiring the position information of the tail end of the mechanical arm; and calculating the speed of the tail end of the mechanical arm according to the position information. Testing arrangement of robot braking performance. And if the speed of the tail end of the mechanical arm meets the preset speed, the command sending unit is also used for sending a braking command to the mechanical arm of the robot.
The embodiment of the invention provides a testing device for the braking performance of a robot, which comprises: the robot braking system comprises a position information acquisition unit, a braking control unit and a braking control unit, wherein the position information acquisition unit is used for acquiring the position information of the tail end of a mechanical arm after the robot starts braking; the mechanical arm tail end speed calculating unit is used for calculating the speed of the mechanical arm tail end according to the position information; and the braking distance and braking time determining unit is used for determining the braking time of the robot according to the braking starting time of the robot and determining the braking distance of the robot according to the position information if the speed meets the braking finishing condition. . The braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored to serve as standards for evaluating the braking performance of the robot, so that the accuracy of the braking performance test of the robot is improved, and the test result is favorable for safety risk assessment in actual production, and the working safety of the robot is guaranteed.
The embodiment of the invention also provides a system for testing the braking performance of the robot, which refers to fig. 2 and comprises a measuring target ball 210, a laser tracker 220 and an upper computer 300, wherein the upper computer 300 is integrated with a device for testing the braking performance of the robot, which is described in any embodiment above;
the measurement target ball 210 is arranged at the tail end of a mechanical arm of the robot 100, and the laser tracker 220 is used for carrying out light alignment with the measurement target ball 210 so as to realize detection of track point position information of the measurement target ball 210; the upper computer 300 is in communication connection with the laser tracker 220 and is used for acquiring position information of the tail end of the mechanical arm of the robot 100; the upper computer 300 is also in communication connection with the arm controller 110 and is used for sending a braking instruction and a preset speed operation instruction to the arm controller 110.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.