CN107402133B - A kind of Novel industrial robot servo-driver Performance Test System and test method - Google Patents
A kind of Novel industrial robot servo-driver Performance Test System and test method Download PDFInfo
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- CN107402133B CN107402133B CN201710600648.6A CN201710600648A CN107402133B CN 107402133 B CN107402133 B CN 107402133B CN 201710600648 A CN201710600648 A CN 201710600648A CN 107402133 B CN107402133 B CN 107402133B
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Abstract
The invention discloses a kind of Novel industrial robot servo-driver Performance Test Systems, including bearing base, workbench, control circuit, oscillograph, detect cabin, irradiated heat device, refrigeration unit, pressure fan, air port, manipulate key, display, servomotor and load, workbench is connect with bearing base upper surface, oscillograph, detect cabin, manipulate key, display, servomotor and load are installed on the workbench surface by guided way, air port and irradiated heat device are evenly arranged on detection cabin inner surface, control circuit, refrigeration unit and pressure fan are embedded in respectively in each bearing cavity；Its test method includes equipment assembling, room temperature detection, high temperature detection, five steps such as low temperature detection and data summarization.Present device structure is simple, versatile, strong operability, and Data Detection precision is high, can fill the operating parameter to servo-driver under various operating statuses and carry out emulation detection, and fidelity is high, testing result and practical operation situation similarity are high.
Description
Technical field
The present invention relates to a kind of Novel industrial robot servo-driver Performance Test System and test methods, belong to servo and drive
Dynamic technical field.
Background technique
At present in the electrically driven and dragging system based on servo-driver and servo drive motor in numerous fields
It is widely used, but in production, selection and the quality testing to servo-driver, is currently mostly by that same will criticize
At least one is randomly selected in secondary or runnability detection test directly is carried out to target servo driver, but in detection test
It was found that currently used detection device is often mechanism complexity, the electrical dragging system of cumbersome emulation, although this
Testing equipment can effectively detect servo-driver operating status, but when detecting, the installation of servo-driver and
Dismantlement work is cumbersome, large labor intensity, and in detection process, and detection device operation energy consumption is big, and detection efficiency is relatively low, and examines
Effectively a variety of responsible use environments can not be emulated when survey, servo-driver equipment is used to significantly limit
The precision and working efficiency of performance detection operation, therefore it is directed to this problem, there is an urgent need to develop a kind of completely new servo-drives
Device detection device and detection method, to meet the needs of actual use.
Summary of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, provides a kind of Novel industrial robot servo-driver performance test
System and test method.
To achieve the above object, the present invention is to be achieved through the following technical solutions:
A kind of Novel industrial robot servo-driver Performance Test System, including bearing base, workbench, control electricity
Road, oscillograph, detection cabin, irradiated heat device, refrigeration unit, pressure fan, air port, manipulation key, display, servomotor and
Load, bearing base is the airtight cavity structure that cross section is rectangle, sets at least one partition in bearing base, and pass through partition
It is at least two bearing cavitys by bearing base inside division, workbench is connected by lift drive mechanism and bearing base upper surface
It connects, and mutually coaxial distribution between workbench, lift drive mechanism and bearing base, worktable upper surface are evenly distributed with several guided ways,
And each guided way is embedded in worktable upper surface, oscillograph, detection cabin, manipulation key, display, servomotor and load are logical
It crosses guided way and is installed on the workbench surface, and by transmission axis connection between servomotor and load, detection cabin is closed chamber
Body structure, side surface set at least three connecting terminals, and electric with oscillograph, control circuit and servo respectively by connecting terminal
Motivation electrical connection, air port and irradiated heat device equal at least two, and it is evenly arranged on detection cabin inner surface around detection cabin axis,
Irradiated heat device and air port axis and detection cabin axis are in 15 ° -90 ° angles, control circuit, refrigeration unit and pressure fan point
Qian Yu not be in each bearing cavity of bearing base, wherein refrigeration unit is interconnected by pressure fan and each air port, control circuit point
Not with oscillograph, irradiated heat device, refrigeration unit, pressure fan, manipulation key, display, servomotor and detection cabin wiring
Terminal electrical connection.
Further, the irradiated heat device is microwave heating equipment, any one in far infrared heater
Or two kinds share.
Further, the control circuit is the automatic control circuit based on fpga chip group, and another in control circuit
If wireless data communication module.
Further, the servo drive motor at least one, and when servomotor is two or more,
Then each servomotor passes through connecting terminal and is electrically connected to each other with detection cabin, and each servomotor is loaded with one
It is connected with each other.
A kind of test method of Novel industrial robot servo-driver Performance Test System, includes the following steps:
Servo-driver to be detected is installed in detection cabin and is positioned first, then basis by the first step, equipment assembling
Servo-driver running parameter selectes power, the matching servomotor of quantity and is connected with servomotor negative
It carries；
Second step, room temperature detection first separate servomotor with load after completing first step operation, keep servo electric
Motivation is in light condition, is then operated together by irradiated heat device and refrigeration unit, will test temperature in cabin and is adjusted to
20 DEG C -30 DEG C, then servo-driver to be detected is manipulated by manipulating key, makes servo-driver pair to be detected
Servomotor under light condition carries out start-stop operation, maximum (top) speed operation, and wherein start-stop operation is continuously repeated at least 3
It is secondary, when maximum (top) speed operates, drive servomotor maximum (top) speed continuous operation 1-3 hours；Then by servomotor
It is connected with load, and load set is servomotor maximum load parameter, is then driven by manipulating key to servo to be detected
Dynamic device is manipulated, and servo-driver to be detected is made to carry out start-stop operation, maximum turn to the servomotor under full load condition
Speed operation, wherein start-stop operation is continuously repeated at least 3 times, when maximum (top) speed operates, drives servomotor maximum (top) speed
Continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor stall turntable, then passes through manipulation
Key manipulates servo-driver to be detected, make servo-driver to be detected to the servomotor under locked rotor condition into
Row start-stop operation and Continuous Drive operation, wherein start-stop operation is continuously repeated at least 3 times, and 3-are divided between start-stop time
10 seconds, when carrying out Continuous Drive operation, ginseng when running servo-driver to be detected according to servomotor under full load condition
Several pairs of servomotors carry out Continuous Drives, and until in servomotor and servo-driver to be detected wherein any one
Until stopping working；It is being manipulated simultaneously, is on the one hand being run collected servo-driver to be detected by control circuit
State parameter is acquired preservation, and shows over the display simultaneously, on the other hand by oscillograph to servo-drive to be detected
Waveform when device is run is detected；
Third step, high temperature detection, after completing second step operation, by by the second step servomotor that uses of detection by with
The completely new servomotor with model be replaced, then carry out detection operation again, when detecting operation, first by servo electricity
Motivation is separated with load, and servomotor is made to be in light condition, is then transported jointly by irradiated heat device and refrigeration unit
Row, will test temperature in cabin and is adjusted to 40 DEG C -80 DEG C, then be manipulated by manipulating key to servo-driver to be detected,
Servo-driver to be detected is set to carry out start-stop operation, maximum (top) speed operation to the servomotor under light condition, wherein rising
Stop operation to be continuously repeated at least 3 times, when maximum (top) speed operates, driving servomotor maximum (top) speed continuous operation 1-3 is small
When；Then servomotor and load are connected, and load set is servomotor maximum load parameter, is then passed through
Manipulation key manipulates servo-driver to be detected, makes servo-driver to be detected to the servo-electric under full load condition
Machine carries out start-stop operation, maximum (top) speed operation, and wherein start-stop operation is continuously repeated at least 3 times, when maximum (top) speed operates, drives
Dynamic servomotor maximum (top) speed continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor
Then stall turntable manipulates servo-driver to be detected by manipulating key, make servo-driver to be detected to stifled
Turn the servomotor under state and carry out start-stop operation and Continuous Drive operation, wherein start-stop operation is continuously repeated at least 3
It is secondary, and be divided between start-stop time 3-10 seconds, when carrying out Continuous Drive operation, make servo-driver to be detected according to fully loaded shape
Servomotor runtime parameter carries out Continuous Drive to servomotor under state, and until servomotor and to be detected watches
It takes until wherein any one stops working in driver；It is being manipulated simultaneously, it on the one hand will be collected by control circuit
Servo-driver running state parameter to be detected is acquired preservation, and shows over the display simultaneously, on the other hand by showing
Waveform when wave device runs servo-driver to be detected detects；
4th step, low temperature detection, after completing third step operation, by by the third step servomotor that uses of detection by with
The completely new servomotor with model be replaced, then carry out detection operation again, when detecting operation, first by servo electricity
Motivation is separated with load, and servomotor is made to be in light condition, is then transported jointly by irradiated heat device and refrigeration unit
Row, will test temperature in cabin and is adjusted to -40 DEG C -0 DEG C, then be manipulated by manipulating key to servo-driver to be detected,
Servo-driver to be detected is set to carry out start-stop operation, maximum (top) speed operation to the servomotor under light condition, wherein rising
Stop operation to be continuously repeated at least 3 times, when maximum (top) speed operates, driving servomotor maximum (top) speed continuous operation 1-3 is small
When；Then servomotor and load are connected, and load set is servomotor maximum load parameter, is then passed through
Manipulation key manipulates servo-driver to be detected, makes servo-driver to be detected to the servo-electric under full load condition
Machine carries out start-stop operation, maximum (top) speed operation, and wherein start-stop operation is continuously repeated at least 3 times, when maximum (top) speed operates, drives
Dynamic servomotor maximum (top) speed continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor
Then stall turntable manipulates servo-driver to be detected by manipulating key, make servo-driver to be detected to stifled
Turn the servomotor under state and carry out start-stop operation and Continuous Drive operation, wherein start-stop operation is continuously repeated at least 3
It is secondary, and be divided between start-stop time 3-10 seconds, when carrying out Continuous Drive operation, make servo-driver to be detected according to fully loaded shape
Servomotor runtime parameter carries out Continuous Drive to servomotor under state, and until servomotor and to be detected watches
It takes until wherein any one stops working in driver；It is being manipulated simultaneously, it on the one hand will be collected by control circuit
Servo-driver running state parameter to be detected is acquired preservation, and shows over the display simultaneously, on the other hand by showing
Waveform when wave device runs servo-driver to be detected detects；
The data of second step, third step and the 4th detection are acquired by the 5th step, data summarization respectively, and same
It registers in same data acquisition tables, to obtain servo-driver under normality, high temperature, low temperature, zero load, fully loaded and locked rotor condition
Operation each group test parameters, and servo-driver runnability testing result to be detected is obtained with this, while by controlling
Circuit save to testing result and remote transmission is to upper workbench.
Further, in the second step, third step and the 4th step, after temperature is stablized in detection cabin, Fang Kejin
Row detection test.
Further, in the second step, third step and the 4th step, when servomotor is in locked rotor condition,
Carry out in Continuous Drive operation process, if it exists servomotor stall and the servo-driver that detects is not alarmed, servo-electric
The servo-driver detected after machine stall does not stop driving servomotor and cause servomotor failure, in above situation
Any one when, then the servo-driver of the detection be rejected product, need to change the servo-driver completely newly detected and detected.
Present device structure is simple, versatile, strong operability, and Data Detection precision is high, can fill to servo-drive
Operating parameter of the device under various operating statuses carries out emulation detection, and fidelity is high, testing result and practical operation situation phase
It is high like degree, thus reach while detection operating cost and labor intensity can be greatly reduced, it is effective to improve detection operation effect
The purpose of rate and detection accuracy.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the method for the present invention flow chart.
Specific embodiment
A kind of Novel industrial robot servo-driver Performance Test System as shown in Figure 1, including bearing base 1, work
Platform 2, control circuit 3, oscillograph 4, detection cabin 5, irradiated heat device 6, refrigeration unit 7, pressure fan 8, air port 9, manipulation key 10,
Display 11, servomotor 12 and load 13, bearing base 1 is the airtight cavity structure that cross section is rectangle, bearing base 1
At least one partition 14 is inside set, and is at least two bearing cavitys 15, workbench 2 by 1 inside division of bearing base by partition 14
It is connect by lift drive mechanism 16 with 1 upper surface of bearing base, and between workbench 2, lift drive mechanism 16 and bearing base 1
Mutually coaxial distribution, workbench 2 is evenly distributed in the upper surface several guided ways 17, and each guided way 17 is embedded in 2 upper surface of workbench, shows
Wave device 4, detection cabin 5, manipulation key 10, display 11, servomotor 12 and load 13 are mounted on work by guided way 17
2 upper surface of platform, and connected between servomotor 12 and load 13 by transmission shaft 18, detection cabin 5 is airtight cavity structure, side
Surface sets at least three connecting terminals 19, and by connecting terminal 19 respectively with oscillograph 4, control circuit 3 and servomotor
12 electrical connections, air port 9 and irradiated heat device 6 equal at least two, and table in detection cabin 5 is evenly arranged on around detection 5 axis of cabin
Face, irradiated heat device 6 and 9 axis of air port and detection 5 axis of cabin are in 15 ° -90 ° angles, control circuit 3,7 and of refrigeration unit
Pressure fan 8 is respectively in each bearing cavity 15 of bearing base 1, and wherein refrigeration unit 7 is mutual by pressure fan 8 and each air port 9
Connection, control circuit 3 respectively with oscillograph 4, irradiated heat device 6, refrigeration unit 7, pressure fan 8, manipulation key 10, display
11, servomotor 12 and detection 5 connecting terminal 19 of cabin electrical connection.
In the present embodiment, the irradiated heat device 6 is microwave heating equipment, any one in far infrared heater
It plants or two kinds shares.
In the present embodiment, the control circuit 3 is the automatic control circuit based on fpga chip group, and in control circuit
Separately set wireless data communication module.
In the present embodiment, the servo drive motor 12 at least one, and when servomotor 12 is two or two
When above, then each servomotor 12 is electrically connected to each other by connecting terminal 19 and detection cabin 5, and each servomotor
12 are connected with each other with a load 13.
As shown in Fig. 2, a kind of test method of Novel industrial robot servo-driver Performance Test System, including it is as follows
Step:
Servo-driver to be detected is installed in detection cabin and is positioned first, then basis by the first step, equipment assembling
Servo-driver running parameter selectes power, the matching servomotor of quantity and is connected with servomotor negative
It carries；
Second step, room temperature detection first separate servomotor with load after completing first step operation, keep servo electric
Motivation is in light condition, is then operated together by irradiated heat device and refrigeration unit, will test temperature in cabin and is adjusted to
25 DEG C, then servo-driver to be detected is manipulated by manipulating key, makes servo-driver to be detected to unloaded shape
Servomotor under state carries out start-stop operation, maximum (top) speed operation, and wherein start-stop operation is continuously repeated at least 3 times, most
When big rotational speed operation, drive servomotor maximum (top) speed continuous operation 2 hours；Then servomotor and load are connected
It connects, and load set is servomotor maximum load parameter, then servo-driver to be detected is carried out by manipulation key
Manipulation makes servo-driver to be detected carry out start-stop operation, maximum (top) speed operation to the servomotor under full load condition,
Middle start-stop operation is continuously repeated 5 times, when maximum (top) speed operates, drives servomotor maximum (top) speed continuous operation 3 hours
?；Finally adjustment load, makes load value reach servomotor stall turntable, then by manipulation key to servo to be detected
Driver is manipulated, and servo-driver to be detected is made to carry out start-stop operation and continuous to the servomotor under locked rotor condition
Driving operation, wherein start-stop operation is continuously repeated 5 times, and is divided between start-stop time 5 seconds, when carrying out Continuous Drive operation,
Servo-driver to be detected is set to carry out continuous driving to servomotor according to servomotor runtime parameter under full load condition
It is dynamic, and until wherein any one stops working in servomotor and servo-driver to be detected；It is being manipulated
Meanwhile collected servo-driver running state parameter to be detected is on the one hand acquired preservation by control circuit, and
It shows over the display simultaneously, waveform when on the other hand being run by oscillograph to servo-driver to be detected detects；
Third step, high temperature detection, after completing second step operation, by by the second step servomotor that uses of detection by with
The completely new servomotor with model be replaced, then carry out detection operation again, when detecting operation, first by servo electricity
Motivation is separated with load, and servomotor is made to be in light condition, is then transported jointly by irradiated heat device and refrigeration unit
Row, will test temperature in cabin and is adjusted to 60 DEG C, is then manipulated, is made to be checked to servo-driver to be detected by manipulating key
The servo-driver of survey carries out start-stop operation to the servomotor under light condition, maximum (top) speed operates, wherein start-stop operation
It is continuously repeated 3 times, when maximum (top) speed operates, drives servomotor maximum (top) speed continuous operation 3 hours；Then will
Servomotor and load connect, and load set is servomotor maximum load parameter, then by manipulation key to be checked
The servo-driver of survey is manipulated, and servo-driver to be detected is made to carry out start-stop behaviour to the servomotor under full load condition
Make, maximum (top) speed operation, wherein start-stop operation is continuously repeated 3 times, and when maximum (top) speed operates, driving servomotor is maximum
Revolving speed continuous operation 2 hours；Finally adjustment load, makes load value reach servomotor stall turntable, then passes through behaviour
Control key manipulates servo-driver to be detected, makes servo-driver to be detected to the servomotor under locked rotor condition
Start-stop operation and Continuous Drive operation are carried out, wherein start-stop operation is continuously repeated 3 times, and is divided between start-stop time 10 seconds,
When carrying out Continuous Drive operation, make servo-driver to be detected according to servomotor runtime parameter under full load condition to watching
It takes motor and carries out Continuous Drive, and until wherein any one stops work in servomotor and servo-driver to be detected
As only；It is being manipulated simultaneously, is on the one hand being joined collected servo-driver operating status to be detected by control circuit
Number is acquired preservation, and shows over the display simultaneously, is on the other hand run by oscillograph to servo-driver to be detected
When waveform detected；
4th step, low temperature detection, after completing third step operation, by by the third step servomotor that uses of detection by with
The completely new servomotor with model be replaced, then carry out detection operation again, when detecting operation, first by servo electricity
Motivation is separated with load, and servomotor is made to be in light condition, is then transported jointly by irradiated heat device and refrigeration unit
Row, will test temperature in cabin and be adjusted to -10 DEG C, then by manipulation key servo-driver to be detected is manipulated, make to
The servo-driver of detection carries out start-stop operation to the servomotor under light condition, maximum (top) speed operates, and wherein start-stop is grasped
Work is continuously repeated 8 times, when maximum (top) speed operates, drives servomotor maximum (top) speed continuous operation 1 hour；Then
Servomotor and load are connected, and load set is servomotor maximum load parameter, is then treated by manipulating key
The servo-driver of detection is manipulated, and servo-driver to be detected is made to carry out start-stop to the servomotor under full load condition
Operation, maximum (top) speed operation, wherein start-stop operation is continuously repeated 8 times, and when maximum (top) speed operates, driving servomotor is most
It is revolving speed continuous operation 3 hours big；Finally adjustment load, makes load value reach servomotor stall turntable, then passes through
Manipulation key manipulates servo-driver to be detected, makes servo-driver to be detected to the servo-electric under locked rotor condition
Machine carries out start-stop operation and Continuous Drive operation, and wherein start-stop operation is continuously repeated 8 times, and 10 are divided between start-stop time
Second, when carrying out Continuous Drive operation, make servo-driver to be detected according to servomotor runtime parameter under full load condition
Continuous Drive is carried out to servomotor, and until wherein any one stops in servomotor and servo-driver to be detected
Until only working；It is being manipulated simultaneously, collected servo-driver to be detected is on the one hand run into shape by control circuit
State parameter is acquired preservation, and shows over the display simultaneously, on the other hand by oscillograph to servo-driver to be detected
Waveform when operation is detected；
The data of second step, third step and the 4th detection are acquired by the 5th step, data summarization respectively, and same
It registers in same data acquisition tables, to obtain servo-driver under normality, high temperature, low temperature, zero load, fully loaded and locked rotor condition
Operation each group test parameters, and servo-driver runnability testing result to be detected is obtained with this, while by controlling
Circuit save to testing result and remote transmission is to upper workbench.
It,, can after temperature is stablized in detection cabin in the second step, third step and the 4th step in the present embodiment
Carry out detection test.
In the present embodiment, in the second step, third step and the 4th step, when servomotor is in locked rotor condition,
In carrying out Continuous Drive operation process, if it exists servomotor stall and the servo-driver that detects is not alarmed, servo electricity
The servo-driver detected after motivation stall does not stop driving servomotor and causes servomotor failure, above situation
In any one when, then the servo-driver of the detection be rejected product, need to change the servo-driver completely newly detected and examined
It surveys.
Present device structure is simple, versatile, strong operability, and Data Detection precision is high, can fill to servo-drive
Operating parameter of the device under various operating statuses carries out emulation detection, and fidelity is high, testing result and practical operation situation phase
It is high like degree, thus reach while detection operating cost and labor intensity can be greatly reduced, it is effective to improve detection operation effect
The purpose of rate and detection accuracy.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of Novel industrial robot servo-driver Performance Test System, including bearing base, workbench, control circuit,
Oscillograph, irradiated heat device, refrigeration unit, pressure fan, air port, manipulates key, display, servomotor and bears detection cabin
It carries, it is characterised in that: the bearing base is the airtight cavity structure that cross section is rectangle, sets at least one in bearing base
Partition, and be at least two bearing cavitys by bearing base inside division by partition, the workbench passes through elevator drive machine
Structure is connect with bearing base upper surface, and mutually coaxial distribution between the workbench, lift drive mechanism and bearing base, institute
The worktable upper surface stated is evenly distributed with several guided ways, and each guided way is embedded in worktable upper surface, the oscillograph, detection
Cabin, manipulation key, display, servomotor and load are installed on the workbench surface, and the servo by guided way
By transmission axis connection between motor and load, the detection cabin is airtight cavity structure, and side surface sets at least three and connects
Line terminals, and be electrically connected respectively with oscillograph, control circuit and servomotor by connecting terminal, the air port and spoke
According to heating device equal at least two, and around detection cabin axis be evenly arranged on detection cabin inner surface, the irradiated heat device and
Air port axis and detection cabin axis are in 15 ° -90 ° angles, and the control circuit, refrigeration unit and pressure fan are embedded in respectively holds
In each bearing cavity for carrying pedestal, wherein the refrigeration unit is interconnected by pressure fan and each air port, the control electricity
Road respectively with oscillograph, irradiated heat device, refrigeration unit, pressure fan, manipulation key, display, servomotor and detection cabin
Connecting terminal electrical connection.
2. a kind of Novel industrial robot servo-driver Performance Test System according to claim 1, it is characterised in that:
The irradiated heat device is that microwave heating equipment, any one or two kinds in far infrared heater share.
3. a kind of Novel industrial robot servo-driver Performance Test System according to claim 1, it is characterised in that:
The control circuit is the automatic control circuit based on fpga chip group, and wireless data communication mould is separately set in control circuit
Block.
4. a kind of Novel industrial robot servo-driver Performance Test System according to claim 1, it is characterised in that:
The servo drive motor at least one, and when servomotor is two or more, then each servomotor is equal
It is electrically connected to each other by connecting terminal and detection cabin, and each servomotor is connected with each other with a load.
5. a kind of test method of Novel industrial robot servo-driver Performance Test System, it is characterised in that: described novel
The test method of industrial robot servo-driver Performance Test System includes the following steps:
Servo-driver to be detected is installed in detection cabin and is positioned first, then according to servo by the first step, equipment assembling
Driver running parameter, selected power, load quantity matching servomotor and be connected with servomotor；
Servomotor is separated with load first after completing first step operation, makes servomotor by second step, room temperature detection
It in light condition, is then operated together by irradiated heat device and refrigeration unit, will test temperature in cabin and be adjusted to 20
DEG C -30 DEG C, then servo-driver to be detected is manipulated by manipulating key, makes servo-driver to be detected to sky
Servomotor under load state carries out start-stop operation, maximum (top) speed operation, and wherein start-stop operation is continuously repeated at least 3
It is secondary, when maximum (top) speed operates, drive servomotor maximum (top) speed continuous operation 1-3 hours；Then by servomotor
It is connected with load, and load set is servomotor maximum load parameter, is then driven by manipulating key to servo to be detected
Dynamic device is manipulated, and servo-driver to be detected is made to carry out start-stop operation, maximum turn to the servomotor under full load condition
Speed operation, wherein start-stop operation is continuously repeated at least 3 times, when maximum (top) speed operates, drives servomotor maximum (top) speed
Continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor stall turntable, then passes through manipulation
Key manipulates servo-driver to be detected, make servo-driver to be detected to the servomotor under locked rotor condition into
Row start-stop operation and Continuous Drive operation, wherein start-stop operation is continuously repeated at least 3 times, and 3-are divided between start-stop time
10 seconds, when carrying out Continuous Drive operation, ginseng when running servo-driver to be detected according to servomotor under full load condition
Several pairs of servomotors carry out Continuous Drives, and until in servomotor and servo-driver to be detected wherein any one
Until stopping working；It is being manipulated simultaneously, is on the one hand being run collected servo-driver to be detected by control circuit
State parameter is acquired preservation, and shows over the display simultaneously, on the other hand by oscillograph to servo-drive to be detected
Waveform when device is run is detected；
Third step, high temperature detection, after completing second step operation, by the servomotor used by second step detection by same therewith
The completely new servomotor of model is replaced, and then carries out detection operation again, when detecting operation, first by servomotor
It is separated with load, so that servomotor is in light condition, be then operated together by irradiated heat device and refrigeration unit, it will
Detection cabin in temperature be adjusted to 40 DEG C -80 DEG C, then by manipulation key servo-driver to be detected is manipulated, make to
The servo-driver of detection carries out start-stop operation to the servomotor under light condition, maximum (top) speed operates, and wherein start-stop is grasped
Work is continuously repeated at least 3 times, when maximum (top) speed operates, is within driving servomotor maximum (top) speed continuous operation 1-3 hours
It can；Then servomotor and load are connected, and load set is servomotor maximum load parameter, then passes through manipulation
Key manipulates servo-driver to be detected, make servo-driver to be detected to the servomotor under full load condition into
Row start-stop operation, maximum (top) speed operation, wherein start-stop operation is continuously repeated at least 3 times, and when maximum (top) speed operates, driving is watched
Take motor maximum (top) speed continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor stall
Then turntable manipulates servo-driver to be detected by manipulating key, makes servo-driver to be detected to stall shape
Servomotor under state carries out start-stop operation and Continuous Drive operation, and wherein start-stop operation is continuously repeated at least 3 times, and
It is divided between start-stop time 3-10 seconds, when carrying out Continuous Drive operation, makes servo-driver to be detected according to watching under full load condition
Parameter carries out Continuous Drive, and until servomotor and servo-drive to be detected to servomotor when taking motor running
Until wherein any one stops working in device；It is being manipulated simultaneously, it on the one hand will be collected to be detected by control circuit
Servo-driver running state parameter be acquired preservation, and show over the display simultaneously, on the other hand by oscillograph pair
Waveform when servo-driver to be detected is run is detected；
4th step, low temperature detection, after completing third step operation, by the servomotor used by third step detection by same therewith
The completely new servomotor of model is replaced, and then carries out detection operation again, when detecting operation, first by servomotor
It is separated with load, so that servomotor is in light condition, be then operated together by irradiated heat device and refrigeration unit, it will
Detection cabin in temperature be adjusted to -40 DEG C -0 DEG C, then by manipulation key servo-driver to be detected is manipulated, make to
The servo-driver of detection carries out start-stop operation to the servomotor under light condition, maximum (top) speed operates, and wherein start-stop is grasped
Work is continuously repeated at least 3 times, when maximum (top) speed operates, is within driving servomotor maximum (top) speed continuous operation 1-3 hours
It can；Then servomotor and load are connected, and load set is servomotor maximum load parameter, then passes through manipulation
Key manipulates servo-driver to be detected, make servo-driver to be detected to the servomotor under full load condition into
Row start-stop operation, maximum (top) speed operation, wherein start-stop operation is continuously repeated at least 3 times, and when maximum (top) speed operates, driving is watched
Take motor maximum (top) speed continuous operation 1-3 hours；Finally adjustment load, makes load value reach servomotor stall
Then turntable manipulates servo-driver to be detected by manipulating key, makes servo-driver to be detected to stall shape
Servomotor under state carries out start-stop operation and Continuous Drive operation, and wherein start-stop operation is continuously repeated at least 3 times, and
It is divided between start-stop time 3-10 seconds, when carrying out Continuous Drive operation, makes servo-driver to be detected according to watching under full load condition
Parameter carries out Continuous Drive, and until servomotor and servo-drive to be detected to servomotor when taking motor running
Until wherein any one stops working in device；It is being manipulated simultaneously, it on the one hand will be collected to be detected by control circuit
Servo-driver running state parameter be acquired preservation, and show over the display simultaneously, on the other hand by oscillograph pair
Waveform when servo-driver to be detected is run is detected；
The data of second step, third step and the 4th detection are acquired by the 5th step, data summarization respectively, and same registration
In same data acquisition tables, to obtain fortune of the servo-driver under normality, high temperature, low temperature, zero load, fully loaded and locked rotor condition
Capable each group test parameters, and servo-driver runnability testing result to be detected is obtained with this, while by control circuit
Testing result save and remote transmission is to upper workbench.
6. a kind of test method of Novel industrial robot servo-driver Performance Test System according to claim 5,
It is characterized by: after temperature is stablized in detection cabin, can be detected in the second step, third step and the 4th step
Test.
7. a kind of test method of Novel industrial robot servo-driver Performance Test System according to claim 5,
It is characterized by:, when servomotor is in locked rotor condition, being connected in the second step, third step and the 4th step
In continuous driving operation process, if it exists servomotor stall and the servo-driver that detects is not alarmed, servomotor stall
The servo-driver detected afterwards does not stop driving servomotor and cause servomotor failure, any one in above situation
When kind, then the servo-driver of the detection is rejected product, needs to change the servo-driver completely newly detected and is detected.
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| CN107797547A (en) * | 2017-12-17 | 2018-03-13 | 成都育芽科技有限公司 | A kind of industrial robot controller Electro Magnetic Compatibility experimental method |
| CN107861499A (en) * | 2017-12-20 | 2018-03-30 | 成都育芽科技有限公司 | A kind of industrial robot controller performance test system |
| CN110542544B (en) * | 2019-07-08 | 2021-03-02 | 重庆智能机器人研究院 | Servo driver test platform |
| CN111781438A (en) * | 2020-05-27 | 2020-10-16 | 国网浙江省电力有限公司衢州供电公司 | Novel industrial robot servo driver electromagnetic compatibility test method |
| CN118746451A (en) * | 2024-08-26 | 2024-10-08 | 常州洛源智能科技有限公司 | Servo driver detection and calibration device and application method thereof |
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| CN102508484A (en) * | 2011-11-02 | 2012-06-20 | 深圳市合信自动化技术有限公司 | Aging test method and system for servo driver |
| CN203929912U (en) * | 2014-03-10 | 2014-11-05 | 台州富凌电气有限公司 | A kind of test macro of servo-driver |
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