CN114706822A - Platform for analyzing vibration data of mechanical arm - Google Patents
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Abstract
The invention provides a platform for analyzing vibration data of a mechanical arm, which executes the following functions: analyzing the data file according to the data file selected by a user to generate an image of a component in the x direction of the vibration time domain data before filtering, an image of a component in the y direction of the vibration time domain data before filtering, an image of a component in the z direction of the vibration time domain data before filtering, an image of a component in the x direction of the vibration frequency domain data before filtering and an image of a component in the y direction of the vibration frequency domain data before filtering; and after the data which is required to be processed and displayed is selected in the speed section selection column, executing a data filtering function, and seeing the data image after filtering in the image of the x-direction component of the filtered vibration time domain data, the image of the y-direction component of the filtered vibration time domain data, the image of the z-direction component of the filtered vibration time domain data, the image of the x-direction component of the filtered vibration frequency domain data, the image of the y-direction component of the filtered vibration frequency domain data and the image of the z-direction component of the filtered vibration frequency domain data.
Description
Technical Field
The invention relates to the technical field of multi-joint robots, in particular to a platform for analyzing vibration data of a mechanical arm.
Background
The most common application scenario of the multi-joint robot, also commonly referred to as a robot arm, is an industrial robot on an industrial production line, and the robot arm used in the scenario mostly needs higher motion performance and precision requirements to meet the actual requirements of the industrial scenario. However, in the actual production test process, due to the influence of various factors, the tail end of the mechanical arm vibrates to a certain extent, and the vibration performance of the robot determines the upper limit of the performance of the robot to a large extent, so that the analysis and evaluation of the vibration condition of the tail end of the mechanical arm are very important in the production and detection processes of the mechanical arm.
Under the application requirement of specifically evaluating the vibration of the mechanical arm, the mainstream method at present is to subjectively evaluate the vibration of the robot on site by an experienced engineer, for example, sense the vibration condition of the mechanical arm through touch sense or observe the vibration of the end of the mechanical arm through naked eyes. Although the method can intuitively sense the vibration condition of the mechanical arm, certain experience accumulation is required for operators, the evaluation method is not standard, and different operators can have completely different evaluation conclusions. At present, a plurality of sensors which can be used for measuring vibration exist on the market, the sensors are arranged at corresponding positions of a mechanical arm, position, speed or acceleration data in the operation process of the mechanical arm can be obtained, the vibration condition of the mechanical arm can be obtained by processing the data to a certain extent, the mainstream data processing method is Fourier transform, so that time domain and frequency domain analysis is carried out on the vibration data, the vibration condition of the mechanical arm under different frequencies is obtained, the reason that the vibration is possibly generated and the influence of the vibration on the performance of the mechanical arm are analyzed, and a basis is provided for subsequent mechanical arm performance analysis, vibration suppression and the like.
However, in the general data processing process, there are not many software capable of intuitively importing data for data processing in the market, and data processing and analysis on other software through a programming method are often required, which puts high technical requirements on field operators and is not beneficial to operation and use of actual production testers.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
To this end, the invention aims to provide a platform for analyzing vibration data of a mechanical arm.
To achieve the above object, embodiments of the present invention provide a platform for analyzing vibration data of a robot arm, which performs the following functions: analyzing the data file according to the data file selected by a user to generate an image of a component in the x direction of the vibration time domain data before filtering, an image of a component in the y direction of the vibration time domain data before filtering, an image of a component in the z direction of the vibration time domain data before filtering, an image of a component in the x direction of the vibration frequency domain data before filtering and an image of a component in the y direction of the vibration frequency domain data before filtering;
and after data which is required to be processed and displayed is selected in the speed section selection column, executing a data filtering function, seeing the filtered data image in the image of the x-direction component of the filtered vibration time domain data, the image of the y-direction component of the filtered vibration time domain data, the image of the z-direction component of the filtered vibration time domain data, the image of the x-direction component of the filtered vibration frequency domain data, the image of the y-direction component of the filtered vibration frequency domain data and the image of the z-direction component of the filtered vibration frequency domain data, and analyzing the vibration condition of the mechanical arm through the images.
Further, the image of the x-direction component of the pre-filtering vibration time domain data, the image of the y-direction component of the pre-filtering vibration time domain data, the image of the z-direction component of the pre-filtering vibration time domain data, the image of the x-direction component of the pre-filtering vibration frequency domain data, and the image of the y-direction component of the pre-filtering vibration frequency domain data can be dragged to display ranges independently, and can be enlarged and reduced.
Furthermore, the image of the x-direction component of the pre-filtering vibration time domain data, the image of the y-direction component of the pre-filtering vibration time domain data, and the image area of the z-direction component of the pre-filtering vibration time domain data may use a mouse to select demarcation points of different speed ranges, the demarcation lines may be automatically displayed at corresponding positions after selection, and the data of the demarcation lines may be displayed at corresponding positions in a data text box of the demarcation lines.
Further, still include: and the data processing function key is used for customizing a desired data processing function according to requirements.
Further, still include: and the reset function key is used for clearing all image areas and text boxes in the window so as to process the next group of data.
Further, the platform further performs the following functions: selecting vibration data of different positions collected on the same robot, and generating a first data image before filtering, a second data image before filtering, a third data image before filtering and a fourth data image before filtering by using data which is not subjected to filtering processing;
filtering the selected data to generate a first filtered data image, a second filtered data image, a third filtered data image and a fourth filtered data image; and the first filtered data image, the second filtered data image, the third filtered data image and the fourth filtered data image display data according to a preset vibration standard, and when the data are displayed according to the vibration standard, the data are highlighted in the images so as to show whether the vibration of the mechanical arm exceeds a specified standard.
Further, the first pre-filtering data image, the second pre-filtering data image, the third pre-filtering data image and the fourth pre-filtering data image are allowed to be dragged, and the range is enlarged and reduced.
Furthermore, the first pre-filter data image, the second pre-filter data image, the third pre-filter data image and the fourth pre-filter data image select a speed boundary, and the boundary is directly displayed in the image in the region in a mode of a vertical line with different colors.
Further, data is displayed by modifying the vibration criteria to update the first filtered data image, the second filtered data image, the third filtered data image, and the fourth filtered data image.
According to the platform for analyzing the vibration data of the mechanical arm, the requirements and functions of the vibration data processing of the mechanical arm are integrated, the data are analyzed and processed through an intuitive software interface, a multifunctional partition is provided, the result after the data are analyzed and processed can be intuitively displayed to a tester, and the platform is finally mainly embodied in the following aspects: a convenient data import function; a visual data display function; and the function of displaying the data analysis result can be customized according to the requirement.
The platform for analyzing the vibration data of the mechanical arm provided by the invention has the advantages that through providing a software design for processing and analyzing the vibration data of the mechanical arm, a user can select, process and display the corresponding vibration data of the mechanical arm collected by the sensor in the software, and the platform is suitable for being applied to data collection and data analysis of the vibration condition of the mechanical arm and can intuitively display the application scene of the vibration performance of the mechanical arm.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1a and 1b are interface diagrams of a platform for analyzing vibration data of a robotic arm, according to an embodiment of the present invention.
Reference numerals
1-software interface; 2-file title bar; 3-file select button; 4-image of x-direction component of the vibration time domain data before filtering; 5-image of y-direction component of vibration time domain data before filtering; 6-image of the z-direction component of the vibration time domain data before filtering; 7-image of the x-direction component of the vibration frequency domain data before filtering; 8-image of the y-direction component of the vibration frequency domain data before filtering; 9-image of z-direction component of vibration frequency domain data before filtering; 10-boundary data text box; 11-speed segment selection bar; 12-a filter button; 13-image of x-direction component of the filtered vibration time domain data; 14-images of y-direction components of the filtered vibration time domain data; 15-image of z-direction component of the filtered vibration time domain data; 16-image of x-direction component of the filtered vibration frequency domain data; 17-images of y-direction components of the filtered vibration frequency domain data; 18-image of z-direction component of the filtered vibration frequency domain data; 19-data processing key 1; 20-data processing key 2; 21-data processing result; 22-reset button; 23-title and logo;
24-file select button(s); 25-data file title bar(s); 26-a first pre-filtered data image; 27-a second pre-filtered data image; 28-a third pre-filtered data image; 29-a fourth pre-filtered data image; 30-first filtered data image 1; 31-a second filtered data image; 32-a third filtered data image; 33-a fourth filtered data image; 34-a filter key; 35-reset button; 36-speed segment selection bar; 37-vibration criteria may be entered into text box(s); 38-title and logo area;
wherein, 2, 3, 12 and 22 form a file and a key area; 4. 5, 6, 7, 8, 9, 13, 14, 15, 16, 17 and 18 form an image area; 10. 19, 20, 21 constitute a data area.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1a, the platform for analyzing vibration data of a robot arm according to an embodiment of the present invention performs the following functions: and analyzing the data file according to the data file selected by the user to generate an image of the component in the x direction of the vibration time domain data before filtering, an image of the component in the y direction of the vibration time domain data before filtering, an image of the component in the z direction of the vibration time domain data before filtering, an image of the component in the x direction of the vibration frequency domain data before filtering and an image of the component in the y direction of the vibration frequency domain data before filtering. And after data which is required to be processed and displayed is selected in the speed section selection column, executing a data filtering function, seeing the filtered data image in the image of the x-direction component of the filtered vibration time domain data, the image of the y-direction component of the filtered vibration time domain data, the image of the z-direction component of the filtered vibration time domain data, the image of the x-direction component of the filtered vibration frequency domain data, the image of the y-direction component of the filtered vibration frequency domain data and the image of the z-direction component of the filtered vibration frequency domain data, and analyzing the vibration condition of the mechanical arm through the images.
In the embodiment of the present invention, the image of the x-direction component of the pre-filtering vibration time domain data, the image of the y-direction component of the pre-filtering vibration time domain data, the image of the z-direction component of the pre-filtering vibration time domain data, the image of the x-direction component of the pre-filtering vibration frequency domain data, and the image of the y-direction component of the pre-filtering vibration frequency domain data can be respectively dragged to display ranges, and can be enlarged and reduced.
The image of the x-direction component of the vibration time domain data before filtering, the image of the y-direction component of the vibration time domain data before filtering, and the image area of the z-direction component of the vibration time domain data before filtering can select demarcation points of different speed ranges by using a mouse, the demarcation lines can be automatically displayed at corresponding positions after selection, and meanwhile, the data of the demarcation lines can be displayed at corresponding positions in a demarcation line data text box.
Specifically, after the platform is opened, a file selection button 3 is clicked to enter a file selection window, after a corresponding data file is selected, the file name of the file is displayed in a file title bar 2, and if the file is required to be reselected, the file selection button 3 can be clicked again; after the corresponding data file is selected, the image 4 of the vibration time domain data x-direction component before filtering, the image 5 of the vibration time domain data y-direction component before filtering, the image 6 of the vibration time domain data z-direction component before filtering, the image 7 of the vibration frequency domain data x-direction component before filtering, the image 8 of the vibration frequency domain data y-direction component before filtering and the image 9 of the vibration frequency domain data z-direction component before filtering can display corresponding data images, and each image can independently use a mouse to drag the display range and can be enlarged and reduced. Dividing points of different speed ranges can be selected by using a mouse in regions of an image 4 of the vibration time domain data x-direction component before filtering, an image 5 of the vibration time domain data y-direction component before filtering, and an image 6 of the vibration time domain data z-direction component before filtering, the selected dividing line can be automatically displayed in corresponding positions of the image 4 of the vibration time domain data x-direction component before filtering, the image 5 of the vibration time domain data y-direction component before filtering, and the image 6 of the vibration time domain data z-direction component before filtering, and meanwhile, data of the dividing line can be displayed in corresponding positions in a text box 10; after data to be processed and displayed are selected in the speed selection column 11, the filtering key 12 is clicked, so that the filtered data images can be seen from the image 13 of the x-direction component of the filtered vibration time domain data, the image 14 of the y-direction component of the filtered vibration time domain data, the image 15 of the z-direction component of the filtered vibration time domain data, the image 16 of the x-direction component of the filtered vibration frequency domain data, the image 17 of the y-direction component of the filtered vibration frequency domain data and the image 18 of the z-direction component of the filtered vibration frequency domain data, the images are data images capable of visually reflecting the vibration condition of the mechanical arm, and the vibration condition of the mechanical arm can be analyzed through the images; the keys 19 and 20 can be customized as a desired data processing function according to requirements, after clicking the keys with a mouse, processed data results can be directly displayed in the data processing result text box 21, and meanwhile, the keys 19 and 20 can also be defined as a function of copying data in the data processing result text box 2; after the whole data processing process is completed, the reset key 22 is clicked, so that all the image areas and the text boxes in the window can be emptied, and the next group of data can be processed; the title and logo area 24 can custom display the name of the software and the corresponding logo.
In addition, the platform for analyzing vibration data of a mechanical arm of the present invention further comprises: and the data processing function key is used for customizing a desired data processing function according to requirements. And the reset function key is used for clearing all image areas and text boxes in the window so as to process the next group of data.
As shown in fig. 1b, the platform for analyzing vibration data of a robot arm of the present invention further performs the following functions: and selecting vibration data of different positions collected on the same robot, and generating a first pre-filtering data image, a second pre-filtering data image, a third pre-filtering data image and a fourth pre-filtering data image by using the data which is not subjected to filtering processing. Filtering the selected data to generate a first filtered data image, a second filtered data image, a third filtered data image and a fourth filtered data image; and the first filtered data image, the second filtered data image, the third filtered data image and the fourth filtered data image display data according to a preset vibration standard, and when the data are displayed according to the vibration standard, the data are highlighted in the images so as to show whether the vibration of the mechanical arm exceeds a specified standard.
In an embodiment of the present invention, the first pre-filter data image, the second pre-filter data image, the third pre-filter data image, and the fourth pre-filter data image allow the dragging and the enlargement and reduction of the range. The first pre-filter data image, the second pre-filter data image, the third pre-filter data image and the fourth pre-filter data image select a speed boundary, and the boundary is directly displayed in the image in the area in a mode of a vertical line with different colors.
In addition, the data is displayed by modifying the vibration criteria to update the first filtered data image, the second filtered data image, the third filtered data image, and the fourth filtered data image.
Specifically, after the platform is opened, firstly, the vibration data collected at different positions on the same robot are respectively selected through the plurality of file selection keys 24, the selected plurality of data file names are sequentially displayed in the data file name text box 25, meanwhile, the data images without filtering processing are displayed in the data image areas of the first pre-filtering data image 26, the second pre-filtering data image 27, the third pre-filtering data image 28 and the fourth pre-filtering data image 29, and the images in the data image areas can be dragged by using a mouse and the range can be enlarged and reduced by using a mouse wheel. The images in the area of the first pre-filtered data image 26, the second pre-filtered data image 27, the third pre-filtered data image 28 and the fourth pre-filtered data image 29 may be provided with a speed boundary line that is directly displayed in the image in the area as a vertical line of a different color by mouse clicking. After the filtering key 34 is clicked to filter the selected data, the corresponding images are displayed in the image areas of the first filtered data image 30, the second filtered data image 31, the third filtered data image 32 and the fourth filtered data image 33, and the images in the areas can be dragged, enlarged and reduced. The images in the first, second, third and fourth filtered data images 30, 31, 32 and 33 may be entered into the text box 37 to display data according to a vibration criterion, and the data entered into the text box 37 beyond the vibration criterion may be displayed in red (or other color clearly distinguishable from the images) in the image to show whether the vibration of the robot arm exceeds a prescribed criterion; the data in which the vibration criteria may be entered in the text box 37 may be modified and adjusted directly in the software to better correspond to the actual subjective determination, and after modifying the criteria in the vibration criteria, the images in the first filtered data image 30, the second filtered data image 31, the third filtered data image 32, and the fourth filtered data image 33 may be updated by clicking the filter key 34 again. The title and logo area 38 allows custom display of the software's name and corresponding logo.
It should be noted that the number of text boxes, images, and keys in the software shown in fig. 1a and 1b is only schematic, and the actual number may be adjusted according to the requirement, but the layout and the operation logic of the whole software interface should be consistent with the above operation process.
According to the platform for analyzing the vibration data of the mechanical arm, the requirements and functions of the vibration data processing of the mechanical arm are integrated, the data are analyzed and processed through an intuitive software interface, a multifunctional partition is provided, the result after the data are analyzed and processed can be intuitively displayed to a tester, and the platform is finally mainly embodied in the following aspects: a convenient data import function; a visual data display function; and the function of displaying the data analysis result can be customized according to the requirement.
The platform for analyzing the vibration data of the mechanical arm provided by the invention has the advantages that through providing a software design for processing and analyzing the vibration data of the mechanical arm, a user can select, process and display the corresponding vibration data of the mechanical arm collected by the sensor in the software, and the platform is suitable for being applied to data collection and data analysis of the vibration condition of the mechanical arm and can intuitively display the application scene of the vibration performance of the mechanical arm.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A platform for analyzing vibration data of a robotic arm, performing the functions of: analyzing the data file according to the data file selected by a user to generate an image of a component in the x direction of the vibration time domain data before filtering, an image of a component in the y direction of the vibration time domain data before filtering, an image of a component in the z direction of the vibration time domain data before filtering, an image of a component in the x direction of the vibration frequency domain data before filtering and an image of a component in the y direction of the vibration frequency domain data before filtering;
and after data which is required to be processed and displayed is selected in the speed section selection column, executing a data filtering function, seeing the filtered data image in the image of the x-direction component of the filtered vibration time domain data, the image of the y-direction component of the filtered vibration time domain data, the image of the z-direction component of the filtered vibration time domain data, the image of the x-direction component of the filtered vibration frequency domain data, the image of the y-direction component of the filtered vibration frequency domain data and the image of the z-direction component of the filtered vibration frequency domain data, and analyzing the vibration condition of the mechanical arm through the images.
2. The platform for analyzing vibration data of a mechanical arm as claimed in claim 1, wherein the image of the x-direction component of the pre-filtering vibration time domain data, the image of the y-direction component of the pre-filtering vibration time domain data, the image of the z-direction component of the pre-filtering vibration time domain data, the image of the x-direction component of the pre-filtering vibration frequency domain data and the image of the y-direction component of the pre-filtering vibration frequency domain data can be dragged to display ranges separately and can be zoomed in and zoomed out.
3. The platform for analyzing vibration data of a mechanical arm as claimed in claim 1, wherein the image of the x-direction component of the vibration time domain data before filtering, the image of the y-direction component of the vibration time domain data before filtering, and the image area of the z-direction component of the vibration time domain data before filtering can simultaneously use a mouse to select demarcation points of different speed ranges, the demarcation lines can be automatically displayed on corresponding positions after selection, and meanwhile, the data of the demarcation lines can be displayed on corresponding positions in a text box of the demarcation line data.
4. The platform for analyzing vibration data of a robotic arm as set forth in claim 1, further comprising: and the data processing function key is used for customizing a desired data processing function according to requirements.
5. The platform for analyzing vibration data of a robotic arm as set forth in claim 1, further comprising: and the reset function key is used for clearing all image areas and text boxes in the window so as to process the next group of data.
6. A platform for analyzing vibration data of a robotic arm as defined in claim 1, wherein the platform further performs the functions of: selecting vibration data of different positions collected on the same robot, and generating a first pre-filtering data image, a second pre-filtering data image, a third pre-filtering data image and a fourth pre-filtering data image by using the data which is not subjected to filtering processing;
filtering the selected data to generate a first filtered data image, a second filtered data image, a third filtered data image and a fourth filtered data image; and the first filtered data image, the second filtered data image, the third filtered data image and the fourth filtered data image display data according to a preset vibration standard, and when the data are displayed according to the vibration standard, the data are highlighted in the images so as to show whether the vibration of the mechanical arm exceeds a specified standard.
7. The platform for analyzing vibration data of a robotic arm as claimed in claim 6, wherein the first pre-filtered data image, the second pre-filtered data image, the third pre-filtered data image and the fourth pre-filtered data image allow for dragging and zooming in and out.
8. The platform for analyzing vibration data of a robotic arm as defined in claim 6, wherein the first pre-filtered data image, the second pre-filtered data image, the third pre-filtered data image, and the fourth pre-filtered data image select a velocity boundary that is directly displayed in the intra-area image as a vertical line of a different color.
9. The platform for analyzing vibration data of a robotic arm as defined in claim 6, wherein the data is displayed by modifying the vibration criteria to update the first filtered data image, the second filtered data image, the third filtered data image, and the fourth filtered data image.
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