CN107797547A - A kind of industrial robot controller Electro Magnetic Compatibility experimental method - Google Patents
A kind of industrial robot controller Electro Magnetic Compatibility experimental method Download PDFInfo
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- CN107797547A CN107797547A CN201711359434.0A CN201711359434A CN107797547A CN 107797547 A CN107797547 A CN 107797547A CN 201711359434 A CN201711359434 A CN 201711359434A CN 107797547 A CN107797547 A CN 107797547A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/001—Measuring interference from external sources to, or emission from, the device under test, e.g. EMC, EMI, EMP or ESD testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
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Abstract
The invention discloses a kind of industrial robot controller Electro Magnetic Compatibility experimental method, including equipment to assemble, normal temperature detection, high temperature detection, five steps such as low temperature detection and data summarization.The present invention sets versatility and workable, Data Detection precision is high, emulation detection can be carried out when Various Complex natural environment and electromagnetic environment are run to controller, fidelity is high, it is convenient to detect data acquisition, so that while detection operation cost and labor intensity is greatly reduced, it is effective to improve detection operation efficiency and accuracy of detection, while additionally aid and provide reliable reference frame for the follow-up research and development of servo-drive device product and use.
Description
Technical field
The present invention relates to a kind of industrial robot controller Electro Magnetic Compatibility experimental method, category Servo Drive Technology's field.
Background technology
Obtained at present in the electrically driven and dragging system based on controller and servo drive motor in numerous fields
It is widely applied, but when controller is in actual motion, because use environment otherness is very big, one side environment temperature is to control
There is strong influence in device runnability processed and service life, often because high pressure in the environment of another aspect controller operation
The equipment such as power network, high-tension motor are run and produce complicated electromagnetic interference, so as to cause controller equiment hardware and software system
System causes serious interference, and impacts controller equiment reliability of operation, while also easily causes the exhausted of controller
Edge protective capacities declines, and even causes the equipment such as capacitor, control chip that breakdown fault occurs when serious, and is asked for this
Topic, currently there is no specialty to be effectively used for controller electromagnetic compatibility detection test method, is currently watched so as to significantly limit
The stability and reliability of driving equipment operation are taken, therefore is directed to this problem, there is an urgent need to develop a kind of brand-new controller
Electromagnetic compatibility detection method, to meet the needs of actual use.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, there is provided a kind of industrial robot controller Electro Magnetic Compatibility experiment side
Method.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of industrial robot controller Electro Magnetic Compatibility experimental method, comprises the following steps：
At least two controllers to be detected, are installed on detection device, each controller is respectively by the first step, equipment assembling first
It is connected with an industrial robot servo drive system, and the another load to match with its rated power of each servo drive system
It is connected with each other, is then coated on controller to be detected in same confined space with sealing protection cover simultaneously, then in confined air
Interior uniform at least two electromagnetic radiation source, at least one air-heater and at least one air-cooler, and each electromagnetic radiation source, hot blast
Machine and air-cooler are uniform around each controller to be detected；
Second step, normal temperature detection, after completing first step operation, is operated together by air-heater and air-cooler, will detect cabin first
Interior temperature is adjusted to 20 DEG C -30 DEG C, in ambient humidity is respectively then 20% -30%, 40% -55% and 60% -80%, and air
In dissociate solid dust in free silica content be 5% -10%, 20% -50% and 60% -80% under the conditions of examined respectively
Operation is surveyed, when being detected, controller to be detected each first is to the industrial machine under Light Condition, full load condition and locked rotor condition
Device people servo drive system carries out start-stop operation, maximum power output, minimum power output and at least three location controls, wherein
Start-stop operation is continuously repeated at least 3 times, maximum power output, minimum power output and during at least three location controls, drives
The continuous operation of industry of starting building robot servo drive system maximum power output 1-3 hours, the continuously operation 1-3 of minimum power output
Hour, two neighboring positioning space is from for 1-10 centimetres during location control, and positioning precision error is 1-10, stall shape
Start-stop operation is continuously repeated at least 3 times under state, and start-stop time was at intervals of 3-10 seconds, and when being tested under locked rotor condition, by work
Wherein any one is stopped and can complete to detect in industry robot servo drive system and controller to be detected, to be detected
Controller is driven in operation excessively, and each controller to be detected is to industrial robot servo drive system driving condition not phase
Together, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetic radiation source to each observing and controlling to be checked
Device processed carries out electromagnetic radiation operation, and simultaneously to current parameters, the voltage parameter of each controller operation to be detected in detection process
It is acquired with electric current, voltage oscillogram, then after completing to detect, after device to be controlled stands 1-10 minutes, to controller electricity
Road carries out Insulation monitoring and controller circuitry operational factor and operation waveforms detection；
3rd step, high temperature detection, after completing second step operation, makes controller and industrial robot servo drive system to be detected equal
10-60 minutes are stood, and makes its temperature keep always, then passing through irradiated heat device and refrigeration machine first with environment temperature
Group is operated together, will detection cabin in temperature be adjusted to 50 DEG C -90 DEG C, then respectively ambient humidity be 20% -30%, 40% -
55% and 60% -90%, and in air dissociate solid dust in free silica content be 5% -10%, 20% -50% and 60% -
Detection operation is carried out under the conditions of 80% respectively, when being detected, controller to be detected each first is to Light Condition, full load condition
And industrial robot servo drive system under locked rotor condition carry out start-stop operation, maximum power output, minimum power output and
At least three location controls, wherein start-stop operation are continuously repeated at least 3 times, maximum power output, minimum power output and
During at least three location controls, the continuous operation of driving industrial robot servo drive system maximum power output 1-3 hours, most
The continuous operation of low-power output 1-3 hours, two neighboring positioning space is from for 1-10 centimetres during location control, and positioning accurate
It is 1-10 to spend error, and start-stop operation is continuously repeated at least 3 times under locked rotor condition, start-stop time at intervals of 3-10 seconds,
And when being tested under locked rotor condition, by wherein any one stops work in industrial robot servo drive system and controller to be detected
Work can be completed to detect, and be driven in controller to be detected in operation excessively, each controller to be detected is to industrial robot servo
Drive system driving condition differs, in controller to be detected driving industrial robot servo drive system operation, by each
Electromagnetic radiation source carries out electromagnetic radiation operation to each controller to be detected, and each controller to be detected in detection process is transported simultaneously
Capable current parameters, voltage parameter and electric current, voltage oscillogram are acquired, and then after completing to detect, device to be controlled is stood
After 1-10 minutes, Insulation monitoring and controller circuitry operational factor and operation waveforms detection are carried out to controller circuitry；
4th step, low temperature detection, after completing the 3rd step operation, makes controller and industrial robot servo drive system to be detected equal
10-60 minutes are stood, and makes its temperature keep always, then passing through irradiated heat device and refrigeration machine first with environment temperature
Group is operated together, and temperature in detection cabin is adjusted into -50 DEG C -0 DEG C, is dissociated in the solid dust that then dissociates in atmosphere respectively
Dioxide-containing silica carries out detection operation respectively under the conditions of being 5% -10%, 20% -50% and 60% -80%, when being detected,
Controller to be detected each first is carried out to the industrial robot servo drive system under Light Condition, full load condition and locked rotor condition
Start-stop operation, maximum power output, minimum power output and at least three location controls, wherein start-stop operation are continuously repeated
At least 3 times, maximum power output, minimum power output and during at least three location controls drive industrial robot servo-drive
The continuous operation of system maximum power output 1-3 hours, minimum power output continuous operation 1-3 hours are adjacent during location control
Two positioning spaces are from for 1-10 centimetres, and positioning precision error is 1-10, and start-stop operation is continuously anti-under locked rotor condition
Multiple to carry out at least 3 times, start-stop time was at intervals of 3-10 seconds, and when being tested under locked rotor condition, by industrial robot servo-drive system
Wherein any one is stopped and can complete to detect in system and controller to be detected, and operation is driven in controller to be detected
In crossing, each controller to be detected differs to industrial robot servo drive system driving condition, is driven in controller to be detected
When industry of starting building robot servo drive system is run, electromagnetic radiation work is carried out to each controller to be detected by each electromagnetic radiation source
Industry, and current parameters, voltage parameter and electric current, the voltage oscillogram of each controller operation to be detected in detection process are entered simultaneously
Row collection, then after completing to detect, after device to be controlled stands 1-10 minutes, Insulation monitoring and control are carried out to controller circuitry
Device circuit operational factor processed and operation waveforms detection；
5th step, data summarization, the data that second step, the 3rd step and the 4th step detect are acquired respectively, and same registration
In same data acquisition table, so as to obtain controller in normality, high temperature, low temperature, zero load, fully loaded, stall and be accurately positioned state
Under operation each group test parameters, and controller runnability testing result to be detected is obtained with this, while by control circuit
Testing result preserve and remote transmission is to upper workbench.
Further, in described second step, the 3rd step and the 4th step, in detection cabin after temperature stabilization, Fang Kejin
Row detection experiment.
Further, in described second step, the 3rd step and the 4th step, when industrial robot servo drive system is in stifled
Turn state to carry out in Continuous Drive operation process, if industrial robot servo drive system stall be present, controller to be detected is not
Alarm, controller to be detected does not stop driving industrial robot servo drive system after industrial robot servo drive system stall
Move and cause industrial robot servo drive system failure, in case above any one when, then the controller to be detected is not
Certified products, brand-new controller to be detected need to be changed and detected.
Further, air-heater and the air-cooler axis and controller axis to be detected are in 15 ° -60 ° angles, and heat
The ventilation volume per minute of blower fan and air-cooler is 1/5-the 1/3 of sealing protection cover total measurement (volume).
Further, in described second step, the 3rd step and the 4th step, to controller to be detected and insulating properties inspection is carried out
After survey, insulating properties is less than equipment operation standard, then the numerical value is recorded and continue detection operation, until all detections
Operation is completed, and when any one breaks down because of insulation damages in controller to be detected, returns to the first step, and to complete
The controller to be detected in portion is changed, and is started again at and is carried out detection testing operation.
Further, dissociate in described air in solid dust, conducting metal particles content is the solid that dissociates in air
10%-the 30% of dust total content.
Further, described electromagnetic radiation source axis and controller surface to be detected are in 0 ° -90 ° angles, and to be detected
Controller surface spacing is 1-20 centimetres.
Further, described electromagnetic radiation source electromagnetic radiation intensity is controller self electromagnetism radiation intensity to be detected
0.1-5 times.
Further, described electromagnetic radiation source simulation scale includes electromagnetic field, channel radio caused by High-voltage AC Network
Interrogate perception concussion electromagnetic field caused by the electric equipment operation such as high-frequency electromagnetic signal, high voltage motor caused by the operation of base station
In any one or it is any several common.
The present invention sets versatility and workable, Data Detection precision height, can be to controller in Various Complex nature ring
Border and electromagnetic environment carry out emulation detection when running, fidelity is high, and detection data acquisition is convenient, so as to reduce detection great
It is effective to improve detection operation efficiency and accuracy of detection while operating cost and labor intensity, while additionally aid as servo
Driving equipment product is subsequently researched and developed and using the reliable reference frame of offer.
Brief description of the drawings
Fig. 1 is the inventive method flow chart.
Embodiment
Embodiment 1
A kind of industrial robot controller Electro Magnetic Compatibility experimental method as shown in Figure 1, comprises the following steps：
The first step, equipment assembling, the first step, equipment assembling, at least two controllers to be detected are installed to detection device first
On, each controller is respectively connected with an industrial robot servo drive system, and each servo drive system it is another with its volume
Determine the load that power matches to be connected with each other, controller to be detected is then coated on same confined air with sealing protection cover simultaneously
In, then uniform at least two electromagnetic radiation source, at least one air-heater and at least one air-cooler in confined space, and
Each electromagnetic radiation source, air-heater and air-cooler around each controller to be detected it is uniform, wherein electromagnetic radiation source axis with it is to be checked
It is in 90 ° of angles to survey controller surface, is 20 centimetres with controller surface to be detected spacing, each electromagnetic radiation source is handed over high pressure respectively
Electromagnetic field caused by power network, high-frequency electromagnetic signal, high voltage motor caused by wireless communication base station operation etc. is flowed electrically to set
Perception concussion electromagnetic field is emulated caused by received shipment row, and electromagnetic radiation source electromagnetic radiation intensity is controller to be detected itself
1.5 times of electromagnetic radiation intensity, air-heater and air-cooler axis and controller axis to be detected be in 45 ° of angles, and air-heater with
The ventilation volume per minute of air-cooler is the 1/3 of sealing protection cover total measurement (volume)；
Second step, normal temperature detection, after completing first step operation, is operated together by air-heater and air-cooler, will detect cabin first
Interior temperature is adjusted to 25 DEG C, then respectively ambient humidity be 25%, and in air dissociate solid dust in free silicon dioxide contain
Measure to carry out detection operation respectively under the conditions of 10%, when being detected, controller to be detected each first is to Light Condition, fully loaded
Industrial robot servo drive system under state and locked rotor condition carries out start-stop operation, maximum power exports, minimum power is defeated
Go out and at least three location controls, wherein start-stop operation be continuously repeated 5 times, maximum power output, minimum power output and
During three location controls, the continuous operation of driving industrial robot servo drive system maximum power output 3 hours, minimum power is defeated
Go out continuous operation 2 hours, two neighboring positioning space is from for 5 centimetres during location control, and positioning precision error is 3, is blocked up
Turn start-stop operation under state to be continuously repeated 5 times, start-stop time was at intervals of 5 seconds, and when testing under locked rotor condition, by industrial machine
Wherein any one is stopped and can complete to detect in device people servo drive system and controller to be detected, in control to be detected
Device is driven in operation excessively, and each controller to be detected differs to industrial robot servo drive system driving condition,
During controller driving industrial robot servo drive system operation to be detected, each controller to be detected is entered by each electromagnetic radiation source
Row electromagnetic radiation operation, and simultaneously to current parameters, voltage parameter and the electric current of each controller to be detected operation in detection process,
Voltage oscillogram is acquired, and then after completing to detect, after device to be controlled stands 5 minutes, controller circuitry is insulated
Detection and controller circuitry operational factor and operation waveforms detection；
3rd step, high temperature detection, after completing second step operation, makes controller and industrial robot servo drive system to be detected equal
30 minutes are stood, and makes its temperature keep always, being then total to by irradiated heat device and refrigeration unit first with environment temperature
With operation, will detection cabin in temperature be adjusted to 60 DEG C, then respectively ambient humidity be 55%, and in air dissociate solid dust
Middle free silica content carries out detection operation respectively under the conditions of being 40%, when being detected, controller to be detected each first
Start-stop operation, maximum power are carried out to the industrial robot servo drive system under Light Condition, full load condition and locked rotor condition
Output, minimum power output and at least three location controls, wherein start-stop operation are continuously repeated 10 times, and maximum power is defeated
Go out, minimum power output and during five location controls, the continuous fortune of driving industrial robot servo drive system maximum power output
Row 2 hours, continuous operation 2 hours of minimum power output, two neighboring positioning space is and fixed from for 3 centimetres during location control
Position trueness error is 1, and start-stop operation is continuously repeated 10 times under locked rotor condition, and start-stop time was at intervals of 10 seconds, and stall
When being tested under state, by wherein any one is stopped in industrial robot servo drive system and controller to be detected
Detection is completed, is driven in controller to be detected in operation excessively, each controller to be detected is to industrial robot servo-drive system
System driving condition differs, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetism spoke
Penetrate source and electromagnetic radiation operation is carried out to each controller to be detected, and simultaneously to the electricity of each controller operation to be detected in detection process
Stream parameter, voltage parameter and electric current, voltage oscillogram are acquired, and then after completing to detect, device to be controlled stands 3 minutes
Afterwards, Insulation monitoring and controller circuitry operational factor and operation waveforms detection are carried out to controller circuitry；
4th step, low temperature detection, after completing the 3rd step operation, makes controller and industrial robot servo drive system to be detected equal
60 minutes are stood, and makes its temperature keep always, being then total to by irradiated heat device and refrigeration unit first with environment temperature
With operation, temperature in detection cabin is adjusted to -20 DEG C, free silicon dioxide contains in the solid dust that then dissociates in atmosphere respectively
Measure to carry out detection operation respectively under the conditions of 60%, when being detected, controller to be detected each first is to Light Condition, fully loaded
Industrial robot servo drive system under state and locked rotor condition carries out start-stop operation, maximum power exports, minimum power is defeated
Go out and at least three location controls, wherein start-stop operation be continuously repeated 10 times, maximum power output, minimum power output and
During at least three location controls, the continuous operation of driving industrial robot servo drive system maximum power output 3 hours, most petty action
The continuous operation of power output 1 hour, two neighboring positioning space is from for 10 centimetres during location control, and positioning precision error is 10
Silk, start-stop operation is continuously repeated 10 times under locked rotor condition, and start-stop time was at intervals of 8 seconds, and when being tested under locked rotor condition, by
Wherein any one is stopped and can complete to detect in industrial robot servo drive system and controller to be detected, to be checked
Survey controller to be driven in operation excessively, each controller to be detected is to industrial robot servo drive system driving condition not phase
Together, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetic radiation source to each observing and controlling to be checked
Device processed carries out electromagnetic radiation operation, and simultaneously to current parameters, the voltage parameter of each controller operation to be detected in detection process
It is acquired with electric current, voltage oscillogram, then after completing to detect, after device to be controlled stands 8 minutes, controller circuitry is entered
Row Insulation monitoring and controller circuitry operational factor and operation waveforms detection；
5th step, data summarization, the data that second step, the 3rd step and the 4th step detect are acquired respectively, and same registration
In same data acquisition table, so as to obtain controller in normality, high temperature, low temperature, zero load, fully loaded, stall and be accurately positioned state
Under operation each group test parameters, and controller runnability testing result to be detected is obtained with this, while by control circuit
Testing result preserve and remote transmission is to upper workbench.
,, can in detection cabin after temperature stabilization in described second step, the 3rd step and the 4th step in the present embodiment
Carry out detection experiment.
In the present embodiment, in described second step, the 3rd step and the 4th step, when industrial robot servo drive system is in
Locked rotor condition is carried out in Continuous Drive operation process, if industrial robot servo drive system stall be present and controller to be detected
Do not alarm, controller to be detected does not stop to industrial robot servo drive system after industrial robot servo drive system stall
Drive and cause industrial robot servo drive system failure, in case above any one when, then the controller to be detected is
Defective work, brand-new controller to be detected need to be changed and detected.
In the present embodiment, in described second step, the 3rd step and the 4th step, to controller to be detected and insulating properties are carried out
After detection, insulating properties is less than equipment operation standard, then the numerical value is recorded and continue detection operation, until all inspections
Survey operation to complete, and when any one breaks down because of insulation damages in controller to be detected, return to the first step, and it is right
Whole controllers to be detected are changed, and are started again at and are carried out detection testing operation.
Embodiment 2
As shown in figure 1, a kind of industrial robot controller Electro Magnetic Compatibility experimental method, comprises the following steps：
The first step, equipment assembling, the first step, equipment assembling, at least two controllers to be detected are installed to detection device first
On, each controller is respectively connected with an industrial robot servo drive system, and each servo drive system it is another with its volume
Determine the load that power matches to be connected with each other, controller to be detected is then coated on same confined air with sealing protection cover simultaneously
In, then uniform at least two electromagnetic radiation source, at least one air-heater and at least one air-cooler in confined space, and
Each electromagnetic radiation source, air-heater and air-cooler around each controller to be detected it is uniform, wherein electromagnetic radiation source axis with it is to be checked
It is in 45 ° of angles to survey controller surface, is 10 centimetres with controller surface to be detected spacing, each electromagnetic radiation source is handed over high pressure respectively
Electromagnetic field caused by power network, high-frequency electromagnetic signal, high voltage motor caused by wireless communication base station operation etc. is flowed electrically to set
Perception concussion electromagnetic field is emulated caused by received shipment row, and electromagnetic radiation source electromagnetic radiation intensity is controller to be detected itself
3 times of electromagnetic radiation intensity, air-heater and air-cooler axis and controller axis to be detected are in 60 ° of angles, and air-heater and cold
The ventilation volume per minute of blower fan is the 1/4 of sealing protection cover total measurement (volume)；
Second step, normal temperature detection, after completing first step operation, is operated together by air-heater and air-cooler, will detect cabin first
Interior temperature is adjusted to 30 DEG C, then respectively ambient humidity be 30%, and in air dissociate solid dust in free silicon dioxide contain
Measure to carry out detection operation respectively under the conditions of 5%, when being detected, controller to be detected each first is to Light Condition, fully loaded shape
Industrial robot servo drive system under state and locked rotor condition carries out start-stop operation, maximum power output, minimum power output
And at least three location controls, wherein start-stop operation are continuously repeated 8 times, maximum power output, minimum power output and three
During individual location control, the continuous operation of driving industrial robot servo drive system maximum power output 2 hours, minimum power output
Continuous operation 1 hour, two neighboring positioning space is from for 10 centimetres during location control, and positioning precision error is 8, stall
Start-stop operation is continuously repeated 3 times under state, and start-stop time was at intervals of 10 seconds, and when being tested under locked rotor condition, by industrial machine
Wherein any one is stopped and can complete to detect in device people servo drive system and controller to be detected, in control to be detected
Device is driven in operation excessively, and each controller to be detected differs to industrial robot servo drive system driving condition,
During controller driving industrial robot servo drive system operation to be detected, each controller to be detected is entered by each electromagnetic radiation source
Row electromagnetic radiation operation, and simultaneously to current parameters, voltage parameter and the electric current of each controller to be detected operation in detection process,
Voltage oscillogram is acquired, and then after completing to detect, after device to be controlled stands 8 minutes, controller circuitry is insulated
Detection and controller circuitry operational factor and operation waveforms detection；
3rd step, high temperature detection, after completing second step operation, makes controller and industrial robot servo drive system to be detected equal
10 minutes are stood, and makes its temperature keep always, being then total to by irradiated heat device and refrigeration unit first with environment temperature
With operation, will detection cabin in temperature be adjusted to 80 DEG C, then respectively ambient humidity be 40%, and in air dissociate solid dust
Middle free silica content carries out detection operation respectively under the conditions of being 50%, when being detected, controller to be detected each first
Start-stop operation, maximum power are carried out to the industrial robot servo drive system under Light Condition, full load condition and locked rotor condition
Output, minimum power output and at least three location controls, wherein start-stop operation are continuously repeated 8 times, maximum power output,
When minimum power output and five location controls, the continuous operation 3 of driving industrial robot servo drive system maximum power output
Hour, continuous operation 3 hours of minimum power output, two neighboring positioning space is from for 5 centimetres during location control, and positioning accurate
It is 1 to spend error, and start-stop operation is continuously repeated 15 times under locked rotor condition, and start-stop time was at intervals of 5 seconds, and under locked rotor condition
During test, by wherein any one is stopped and can complete to examine in industrial robot servo drive system and controller to be detected
Survey, be driven in controller to be detected in operation excessively, each controller to be detected drives to industrial robot servo drive system
State differs, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetic radiation source pair
Each controller to be detected carries out electromagnetic radiation operation, and the electric current of each controller operation to be detected in detection process is joined simultaneously
Number, voltage parameter and electric current, voltage oscillogram are acquired, right after device to be controlled stands 5 minutes then after completing to detect
Controller circuitry carries out Insulation monitoring and controller circuitry operational factor and operation waveforms detection；
4th step, low temperature detection, after completing the 3rd step operation, makes controller and industrial robot servo drive system to be detected equal
60 minutes are stood, and makes its temperature keep always, being then total to by irradiated heat device and refrigeration unit first with environment temperature
With operation, temperature in detection cabin is adjusted to -30 DEG C, free silicon dioxide contains in the solid dust that then dissociates in atmosphere respectively
Measure to carry out detection operation respectively under the conditions of 80%, when being detected, controller to be detected each first is to Light Condition, fully loaded
Industrial robot servo drive system under state and locked rotor condition carries out start-stop operation, maximum power exports, minimum power is defeated
Go out and at least three location controls, wherein start-stop operation be continuously repeated 6 times, maximum power output, minimum power output and
During at least three location controls, the continuous operation of driving industrial robot servo drive system maximum power output 2.5 hours is minimum
Continuous operation 1.5 hours of power output, two neighboring positioning space is from for 8 centimetres during location control, and positioning precision error
For 5, start-stop operation is continuously repeated 6 times under locked rotor condition, and start-stop time was tested at intervals of 10 seconds under locked rotor condition
When, by wherein any one is stopped and can complete to detect in industrial robot servo drive system and controller to be detected,
It is driven in controller to be detected in operation excessively, each controller to be detected is to industrial robot servo drive system driving condition
Differ, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetic radiation source to respectively treating
Detect controller and carry out electromagnetic radiation operation, and simultaneously to current parameters, the electricity of each controller operation to be detected in detection process
Pressure parameter and electric current, voltage oscillogram are acquired, then after completing to detect, after device to be controlled stands 6 minutes, to controller
Circuit carries out Insulation monitoring and controller circuitry operational factor and operation waveforms detection；
5th step, data summarization, the data that second step, the 3rd step and the 4th step detect are acquired respectively, and same registration
In same data acquisition table, so as to obtain controller in normality, high temperature, low temperature, zero load, fully loaded, stall and be accurately positioned state
Under operation each group test parameters, and controller runnability testing result to be detected is obtained with this, while by control circuit
Testing result preserve and remote transmission is to upper workbench.
,, can in detection cabin after temperature stabilization in described second step, the 3rd step and the 4th step in the present embodiment
Carry out detection experiment.
In the present embodiment, in described second step, the 3rd step and the 4th step, when industrial robot servo drive system is in
Locked rotor condition is carried out in Continuous Drive operation process, if industrial robot servo drive system stall be present and controller to be detected
Do not alarm, controller to be detected does not stop to industrial robot servo drive system after industrial robot servo drive system stall
Drive and cause industrial robot servo drive system failure, in case above any one when, then the controller to be detected is
Defective work, brand-new controller to be detected need to be changed and detected.
In the present embodiment, in described second step, the 3rd step and the 4th step, to controller to be detected and insulating properties are carried out
After detection, insulating properties is less than equipment operation standard, then the numerical value is recorded and continue detection operation, until all inspections
Survey operation to complete, and when any one breaks down because of insulation damages in controller to be detected, return to the first step, and it is right
Whole controllers to be detected are changed, and are started again at and are carried out detection testing operation.
The present invention sets versatility and workable, Data Detection precision height, can be to controller in Various Complex nature ring
Border and electromagnetic environment carry out emulation detection when running, fidelity is high, and detection data acquisition is convenient, so as to reduce detection great
It is effective to improve detection operation efficiency and accuracy of detection while operating cost and labor intensity, while additionally aid as servo
Driving equipment product is subsequently researched and developed and using the reliable reference frame of offer.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, 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 (9)
- A kind of 1. industrial robot controller Electro Magnetic Compatibility experimental method, it is characterised in that：The Novel industrial robot is watched Controller Electro Magnetic Compatibility experimental method comprises the following steps：At least two controllers to be detected, are installed on detection device, each controller is respectively by the first step, equipment assembling first It is connected with an industrial robot servo drive system, and the another load to match with its rated power of each servo drive system It is connected with each other, is then coated on controller to be detected in same confined space with sealing protection cover simultaneously, then in confined air Interior uniform at least two electromagnetic radiation source, at least one air-heater and at least one air-cooler, and each electromagnetic radiation source, hot blast Machine and air-cooler are uniform around each controller to be detected；Second step, normal temperature detection, after completing first step operation, is operated together by air-heater and air-cooler, will detect cabin first Interior temperature is adjusted to 20 DEG C -30 DEG C, in ambient humidity is respectively then 20% -30%, 40% -55% and 60% -80%, and air In dissociate solid dust in free silica content be 5% -10%, 20% -50% and 60% -80% under the conditions of examined respectively Operation is surveyed, when being detected, controller to be detected each first is to the industrial machine under Light Condition, full load condition and locked rotor condition Device people servo drive system carries out start-stop operation, maximum power output, minimum power output and at least three location controls, wherein Start-stop operation is continuously repeated at least 3 times, maximum power output, minimum power output and during at least three location controls, drives The continuous operation of industry of starting building robot servo drive system maximum power output 1-3 hours, the continuously operation 1-3 of minimum power output Hour, two neighboring positioning space is from for 1-10 centimetres during location control, and positioning precision error is 1-10, stall shape Start-stop operation is continuously repeated at least 3 times under state, and start-stop time was at intervals of 3-10 seconds, and when being tested under locked rotor condition, by work Wherein any one is stopped and can complete to detect in industry robot servo drive system and controller to be detected, to be detected Controller is driven in operation excessively, and each controller to be detected is to industrial robot servo drive system driving condition not phase Together, in controller to be detected driving industrial robot servo drive system operation, by each electromagnetic radiation source to each observing and controlling to be checked Device processed carries out electromagnetic radiation operation, and simultaneously to current parameters, the voltage parameter of each controller operation to be detected in detection process It is acquired with electric current, voltage oscillogram, then after completing to detect, after device to be controlled stands 1-10 minutes, to controller electricity Road carries out Insulation monitoring and controller circuitry operational factor and operation waveforms detection；3rd step, high temperature detection, after completing second step operation, makes controller and industrial robot servo drive system to be detected equal 10-60 minutes are stood, and makes its temperature keep always, then passing through irradiated heat device and refrigeration machine first with environment temperature Group is operated together, will detection cabin in temperature be adjusted to 50 DEG C -90 DEG C, then respectively ambient humidity be 20% -30%, 40% - 55% and 60% -90%, and in air dissociate solid dust in free silica content be 5% -10%, 20% -50% and 60% - Detection operation is carried out under the conditions of 80% respectively, when being detected, controller to be detected each first is to Light Condition, full load condition And industrial robot servo drive system under locked rotor condition carry out start-stop operation, maximum power output, minimum power output and At least three location controls, wherein start-stop operation are continuously repeated at least 3 times, maximum power output, minimum power output and During at least three location controls, the continuous operation of driving industrial robot servo drive system maximum power output 1-3 hours, most The continuous operation of low-power output 1-3 hours, two neighboring positioning space is from for 1-10 centimetres during location control, and positioning accurate It is 1-10 to spend error, and start-stop operation is continuously repeated at least 3 times under locked rotor condition, start-stop time at intervals of 3-10 seconds, And when being tested under locked rotor condition, by wherein any one stops work in industrial robot servo drive system and controller to be detected Work can be completed to detect, and be driven in controller to be detected in operation excessively, each controller to be detected is to industrial robot servo Drive system driving condition differs, in controller to be detected driving industrial robot servo drive system operation, by each Electromagnetic radiation source carries out electromagnetic radiation operation to each controller to be detected, and each controller to be detected in detection process is transported simultaneously Capable current parameters, voltage parameter and electric current, voltage oscillogram are acquired, and then after completing to detect, device to be controlled is stood After 1-10 minutes, Insulation monitoring and controller circuitry operational factor and operation waveforms detection are carried out to controller circuitry；4th step, low temperature detection, after completing the 3rd step operation, makes controller and industrial robot servo drive system to be detected equal 10-60 minutes are stood, and makes its temperature keep always, then passing through irradiated heat device and refrigeration machine first with environment temperature Group is operated together, and temperature in detection cabin is adjusted into -50 DEG C -0 DEG C, is dissociated in the solid dust that then dissociates in atmosphere respectively Dioxide-containing silica carries out detection operation respectively under the conditions of being 5% -10%, 20% -50% and 60% -80%, when being detected, Controller to be detected each first is carried out to the industrial robot servo drive system under Light Condition, full load condition and locked rotor condition Start-stop operation, maximum power output, minimum power output and at least three location controls, wherein start-stop operation are continuously repeated At least 3 times, maximum power output, minimum power output and during at least three location controls drive industrial robot servo-drive The continuous operation of system maximum power output 1-3 hours, minimum power output continuous operation 1-3 hours are adjacent during location control Two positioning spaces are from for 1-10 centimetres, and positioning precision error is 1-10, and start-stop operation is continuously anti-under locked rotor condition Multiple to carry out at least 3 times, start-stop time was at intervals of 3-10 seconds, and when being tested under locked rotor condition, by industrial robot servo-drive system Wherein any one is stopped and can complete to detect in system and controller to be detected, and operation is driven in controller to be detected In crossing, each controller to be detected differs to industrial robot servo drive system driving condition, is driven in controller to be detected When industry of starting building robot servo drive system is run, electromagnetic radiation work is carried out to each controller to be detected by each electromagnetic radiation source Industry, and current parameters, voltage parameter and electric current, the voltage oscillogram of each controller operation to be detected in detection process are entered simultaneously Row collection, then after completing to detect, after device to be controlled stands 1-10 minutes, Insulation monitoring and control are carried out to controller circuitry Device circuit operational factor processed and operation waveforms detection；5th step, data summarization, the data that second step, the 3rd step and the 4th step detect are acquired respectively, and same registration In same data acquisition table, so as to obtain controller in normality, high temperature, low temperature, zero load, fully loaded, stall and be accurately positioned state Under operation each group test parameters, and controller runnability testing result to be detected is obtained with this, while by control circuit Testing result preserve and remote transmission is to upper workbench.
- A kind of 2. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute In second step, the 3rd step and the 4th step stated, detection experiment can be carried out after temperature stabilization in detection cabin.
- A kind of 3. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute In second step, the 3rd step and the 4th step stated, Continuous Drive is carried out when industrial robot servo drive system is in locked rotor condition In operation process, if industrial robot servo drive system stall be present, controller to be detected is not alarmed, and industrial robot is watched Controller to be detected does not stop driving industrial robot servo drive system and causes industrial machine after taking drive system stall People's servo drive system failure, in case above any one when, then the controller to be detected is defective work, need to be changed brand-new Controller to be detected is detected.
- A kind of 4. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute It is in 15 ° -60 ° angles to state air-heater and air-cooler axis and controller axis to be detected, and air-heater and air-cooler is per minute Ventilation volume is 1/5-the 1/3 of sealing protection cover total measurement (volume).
- A kind of 5. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute In second step, the 3rd step and the 4th step stated, after controller to be detected and progress insulating properties detection, insulating properties is less than equipment Operation standard, then the numerical value is recorded and continue detection operation, until whole detection operations are completed, and to be detected When any one in controller breaks down because of insulation damages, the first step is returned to, and the controller to be detected of whole is entered Row is changed, and is started again at and is carried out detection testing operation.
- A kind of 6. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute Dissociate in the air stated in solid dust, conducting metal particles content be dissociate in air solid dust total content 10%- 30%。
- A kind of 7. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute The electromagnetic radiation source axis stated and controller surface to be detected be in 0 °-90 ° angles, with controller surface to be detected spacing for 1- 20 centimetres.
- A kind of 8. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute The electromagnetic radiation source electromagnetic radiation intensity stated is 0.1-5 times of controller self electromagnetism radiation intensity to be detected.
- A kind of 9. industrial robot controller Electro Magnetic Compatibility experimental method according to claim 1, it is characterised in that：Institute The electromagnetic radiation source simulation scale stated includes electromagnetic field caused by High-voltage AC Network, high frequency caused by wireless communication base station operation In perception concussion electromagnetic field caused by the electric equipment operations such as electromagnetic signal, high voltage motor any one or it is any several Kind is common.
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| 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 |
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