CN112171015B

CN112171015B - Welding process monitoring robot and monitoring method

Info

Publication number: CN112171015B
Application number: CN202011374804.XA
Authority: CN
Inventors: 余阳; 李太江; 张瑞刚; 吴易洋
Original assignee: Xian Thermal Power Research Institute Co Ltd
Current assignee: Xi'an Thermal Engineering Research Institute Co Ltd; Huaneng Group Technology Innovation Center Co Ltd; Sichuan Huaneng Baoxinghe Hydropower Co Ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-04-06
Anticipated expiration: 2040-12-01
Also published as: CN112171015A

Abstract

The application discloses welding process monitoring robot and monitoring method, includes: the monitoring camera comprises a movable base, a control box arranged on the movable base, a mechanical arm arranged on the control box, a monitoring camera assembly arranged at the tail end of the mechanical arm and a control module arranged in the control box; wherein the robot arm includes: the device comprises a first rotary joint, a first telescopic arm, a second rotary joint, a third rotary joint and a second telescopic arm; the control module is used for controlling the movable base, the first rotary joint, the first telescopic arm, the second rotary joint and the third rotary joint, the second telescopic arm and the monitoring camera assembly, and the control module further comprises an image processing module electrically connected with the monitoring camera assembly and an alarm module electrically connected with the image processing module. The method and the device solve the problems that in the related technology, the manual welding process is not monitored in place, the problems are inconvenient to find in time and adjustment is made.

Description

Welding process monitoring robot and monitoring method

Technical Field

The application relates to the field of welding monitoring, in particular to a welding process monitoring robot and a monitoring method.

Background

For large steel structural members, on-site welding is necessary due to the large working range. The welding operation has the characteristics of complex field conditions, large welding construction amount, irregular welding seams, complex welding process and the like, and the automatic and intelligent welding of the robot is a main means for solving the problem. For the welding of large steel structures, the influence of the structure and the weight of components is not suitable for rotation or rotation, so that the welding is not suitable for the operation of a special machine or a fixed manipulator, and only a manual welding mode can be adopted. The method has the advantages that the stable welding quality is guaranteed on important parts, the key problem is that the quality of manual multi-layer and multi-channel welding is difficult to stabilize under the influence of emotion of a welder and the labor intensity of welding, and the problems are inconvenient to find and adjust in time due to the fact that the manual welding process is not monitored in place in the related technology.

Aiming at the problems that the manual welding process is not monitored in place, the problems are inconvenient to find in time and adjust in the related technology, and an effective solution is not provided at present.

Disclosure of Invention

The application mainly aims to provide a welding process monitoring robot and a monitoring method, so as to solve the problems that in the related art, the manual welding process is not monitored in place, the problems are not convenient to find in time and adjust.

In order to achieve the above object, the present application provides a welding process monitoring robot comprising: the welding device comprises a movable base, a control box arranged on the movable base, a mechanical arm arranged on the control box, a monitoring camera assembly, a temperature monitoring module, a current and voltage monitoring module and a welding speed monitoring module which are arranged at the tail end of the mechanical arm, and a control module arranged in the control box; wherein the content of the first and second substances,

the robot arm includes: the device comprises a first rotary joint, a first telescopic arm, a second rotary joint, a third rotary joint and a second telescopic arm;

the first rotary joint is arranged on the control box and can rotate around a vertical shaft, the first telescopic arm is longitudinally arranged on the first rotary joint, the second rotary joint is arranged at the tail end of the first telescopic arm and can rotate around the vertical shaft, the third rotary joint is arranged on the second rotary joint and can rotate around a horizontal shaft, and the second telescopic arm is transversely arranged on the third rotary joint;

the control module is used for controlling the movable base, the first rotary joint, the first telescopic arm, the second rotary joint and the third rotary joint, the second telescopic arm, the monitoring camera assembly, the temperature monitoring module, the current and voltage monitoring module and the welding speed monitoring module, and further comprises an image processing module electrically connected with the monitoring camera assembly and an alarm module electrically connected with the image processing module;

the current and voltage monitoring module is used for being connected with the welding equipment so as to monitor the current and the voltage of the welding equipment in the welding process.

Furthermore, a first rotary joint comprises a first driving motor arranged on the control box and a first rotary disc arranged on the output end of the first driving motor, and the first telescopic arm is fixedly arranged on the first rotary disc.

Furthermore, first flexible arm includes first drive section, first slip section and is used for the record first slip section removes the first encoder of displacement, first drive section is fixed on the first carousel, first slip section cover is established can follow the straight line and slide on the first drive section, and the one end and the second rotary joint fixed connection of first drive section are kept away from to first slip section.

Furthermore, the second rotary joint comprises a second driving motor arranged on the first sliding section and a second rotary disc arranged at the output end of the second driving motor, and the third rotary joint is fixedly arranged on the second rotary disc.

Furthermore, the third rotary joint comprises a third driving motor fixedly arranged on the second rotary table and a third rotary table arranged at the tail end of the third driving motor, and the second telescopic arm is fixedly arranged on the third rotary table.

Furthermore, the flexible arm of second includes second drive section, second sliding section and is used for the record the second encoder that the second sliding section removed the displacement, the second drive section is fixed on the third carousel, the second sliding section cover is established can follow the straight line and slide on the second drive section, and the second sliding section is kept away from the one end and the monitoring camera subassembly fixed connection of second drive section.

Furthermore, the monitoring camera assembly comprises a first support transversely arranged on the second sliding section, a second support hinged on the first support, a fourth driving motor used for driving the second support to rotate and a depth camera arranged at the lower end of the second support, and the image processing module is electrically connected with the depth camera.

Further, still including locating first laser radar on the degree of depth camera and locate the light source at degree of depth camera rear, first laser radar with control module electric connection.

Furthermore, the temperature monitoring module comprises an infrared heat sensor arranged on the second bracket, and the infrared heat sensor is electrically connected with the control module;

the current and voltage monitoring module comprises a current measuring line electrically connected with a current output end of the welding equipment and a current measuring instrument arranged on the control box, and the current measuring instrument is electrically connected with the current measuring line;

the welding speed monitoring module is electrically connected with the monitoring camera assembly and used for determining the position of an electric arc of the welding equipment in each frame of image of the monitoring camera assembly so as to obtain welding speed information.

Furthermore, be provided with second laser radar and route planning camera on the control box, second laser radar and route planning camera all with control module electric connection.

The welding seam welding device further comprises a wireless communication module arranged in the control box and used for transmitting image information of a welding seam, and the wireless communication module is electrically connected with the control module; the first driving section comprises a first shell, one side of the first shell is provided with an opening, a plurality of first driving rollers distributed along a straight line are rotatably arranged in the first shell, a first conveying belt is sleeved on each first driving roller, and a motor for driving the first driving rollers to rotate is arranged on the first shell; the first sliding section comprises a second shell which is covered at the opening end of the first shell, first sliding strips are arranged on two inner sides of the second shell, first sliding grooves matched with the first sliding strips in a sliding mode are arranged on two outer sides of the first shell, and sliding blocks connected with the first conveying belt in a transmission mode are rotationally arranged in the second shell.

According to another aspect of the present application, there is provided a welding process monitoring method, comprising the steps of:

starting the movable base, the monitoring camera assembly, the temperature monitoring module, the current and voltage monitoring module, the welding speed monitoring module and the control module, as well as the first rotary joint, the first telescopic arm, the second rotary joint, the third rotary joint and the second telescopic arm to enable the movable base, the monitoring camera assembly, the temperature monitoring module, the current and voltage monitoring module, the welding speed monitoring module and the control module to be in a working state;

determining a position to be welded, and controlling the movement of the movable base, the first rotary joint, the first telescopic arm, the second rotary joint, the third rotary joint and the second telescopic arm through the control module to enable the monitoring camera assembly, the temperature monitoring module and the current and voltage monitoring module to be in working positions;

starting welding equipment for welding;

the method comprises the steps that image information of a welding process is obtained in real time through a monitoring camera assembly, temperature information of the welding process is obtained in real time through a temperature monitoring module, current and voltage information of the welding process is obtained in real time through a current and voltage module, welding speed information is obtained in real time through a welding speed monitoring module, and the information is fed back to a control module;

the control module processes and analyzes the received information, and when the image information or the current and voltage information or the welding speed information in the welding process does not accord with the preset requirement, the alarm module gives an alarm to remind an operator to find a corresponding problem.

In the embodiment of the application, a monitoring camera assembly is mounted at the tail end of a mechanical arm, and the monitoring camera assembly is characterized in that a movable base, a control box arranged on the movable base, the mechanical arm arranged on the control box, the monitoring camera assembly arranged at the tail end of the mechanical arm and a control module arranged in the control box are arranged; wherein, the arm includes: the device comprises a first rotary joint, a first telescopic arm, a second rotary joint, a third rotary joint and a second telescopic arm; the first rotary joint is arranged on the control box and can rotate around a vertical shaft, the first telescopic arm is longitudinally arranged on the first rotary joint, the second rotary joint is arranged at the tail end of the first telescopic arm and can rotate around the vertical shaft, the third rotary joint is arranged on the second rotary joint and can rotate around a horizontal shaft, and the second telescopic arm is transversely arranged on the third rotary joint; the control module is used for controlling the movable base, the first rotary joint, the first telescopic arm, the second rotary joint, the third rotary joint, the second telescopic arm and the camera, and also comprises an image processing module electrically connected with the monitoring camera component and an alarm module electrically connected with the image processing module, so that the purpose that the movable base drives the mechanical arm to move to drive the monitoring camera component to move to a position to be monitored is achieved, and the first telescopic arm and the second telescopic arm are adjusted to lead the monitoring camera component to be capable of comprehensively monitoring the welding process, thereby realizing the comprehensive timely acquisition and analysis of the welding seam generated in the welding process and the collection of the welding temperature, the current, the voltage and the speed, effectively improving the technical effect of the welding quality of manual welding, and then solved among the relevant art to the manual welding process control not in place, be not convenient for in time discover the problem and make the problem of adjusting.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic structural diagram according to an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view of a first telescoping arm according to an embodiment of the present application;

FIG. 3 is a schematic side view of a first telescoping arm according to an embodiment of the present disclosure;

FIG. 4 is another schematic diagram of an embodiment according to the present application;

the system comprises a mobile base 1, a control box 2, a first turntable 3, a first rotary joint 4, a first telescopic arm 5, a second rotary joint 6, a second driving motor 61, a second turntable 62, a third rotary joint 7, a third driving motor 71, a third turntable 72, a second telescopic arm 8, a second driving section 9, a second sliding section 10, a first bracket 11, a fourth driving motor 12, a second bracket 13, a first laser radar 14, a depth camera 15, a light source 16, a first sliding section 17, a monitoring camera assembly 18, a first conveyor belt 19, a motor 20, a first driving motor 21, a second laser radar 22, a path planning camera 23, a sliding strip 24, a first driving roller 25, a sliding block 26, a second shell 27, a first shell 28, a first driving section 29, a temperature monitoring module 30 and a current measuring instrument 31.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, an embodiment of the present application provides a welding process monitoring robot, including: the welding robot comprises a movable base 1, a control box 2 arranged on the movable base 1, a mechanical arm arranged on the control box 2, a monitoring camera assembly 18, a temperature monitoring module 30, a current and voltage monitoring module and a welding speed monitoring module which are arranged at the tail end of the mechanical arm, and a control module arranged in the control box 2; wherein the content of the first and second substances,

the arm includes: a first rotary joint 4, a first telescopic arm 5, a second rotary joint 6, a third rotary joint 7 and a second telescopic arm 8;

the first rotary joint 4 is arranged on the control box 2 and can rotate around a vertical shaft, the first telescopic arm 5 is longitudinally arranged on the first rotary joint 4, the second rotary joint 6 is arranged at the tail end of the first telescopic arm 5 and can rotate around the vertical shaft, the third rotary joint 7 is arranged on the second rotary joint 6 and can rotate around a horizontal shaft, and the second telescopic arm 8 is transversely arranged on the third rotary joint 7;

the control module is used for controlling the movable base 1, the first rotary joint 4, the first telescopic arm 5, the second rotary joint 6, the third rotary joint 7, the second telescopic arm 8, the monitoring camera assembly 18, the temperature monitoring module 30, the current and voltage monitoring module and the welding speed monitoring module, and further comprises an image processing module electrically connected with the monitoring camera assembly 18 and an alarm module electrically connected with the image processing module;

the current and voltage monitoring module is connected with the welding equipment and used for monitoring the current and the voltage of the welding equipment in the welding process.

In this embodiment, referring to fig. 1, the mobile base 1 adopts a self-walking type mobile chassis structure having a driving motor and a walking wheel, which can directly use the mobile chassis structure in the related art, and will not be described herein, the control box 2 is fixed on the mobile base 1, in the robot arm on the control box 2, the first rotary joint 4 drives the first telescopic arm 5 to rotate around a vertical axis, the first telescopic arm 5 has a telescopic function, so that the use length thereof can be changed, the second rotary joint 6 drives the third rotary joint 7 and the second telescopic arm 8 to rotate around a vertical axis, and when in use, the second rotary joint 6 can be driven to rotate alone, so that the use flexibility is improved, the second telescopic arm 8 is driven to rotate around a horizontal axis by the third rotary joint 7, while the second telescopic arm 8 also has a telescopic function, so that the use length thereof can be changed, and the monitoring camera assembly 18 is fixed at the end of the second telescopic arm 8, the rotation of the monitoring camera assembly 18 in two degrees of freedom is achieved through the first rotary joint 4 and the third rotary joint 7, the expansion of the monitoring camera assembly 18 in two degrees of freedom is achieved through the first telescopic arm 5 and the second telescopic arm 8, the acquisition of welding seam images formed in the welding process in multiple ranges and multiple angles is achieved, the welding seam image information acquired by the monitoring camera assembly 18 is transmitted to the image processing module, the image processing module carries out preprocessing and preliminary analysis on the welding seam images, and an alarm module sends out an alarm to a welding seam with problems in time to inform a worker of timely processing;

through temperature monitoring module, the temperature in the welding process can be acquireed in real time to current-voltage monitoring module and welding speed monitoring module, current-voltage and welding speed, thereby further carry out diversified control to the welding process, the welding seam that has realized producing in the welding process comprehensively in time acquires the analysis, and welding temperature, current-voltage and speed are gathered, can effectively improve manual welding's welding quality's technological effect, and then it is not in place to manual welding process control in the correlation technique to have solved, be not convenient for in time discover the problem and make the problem of adjustment.

As shown in fig. 1, the first rotary joint 4 includes a first driving motor 21 disposed on the control box 2 and a first rotating disk 3 disposed on an output end of the first driving motor 21, and the first telescopic arm 5 is fixedly disposed on the first rotating disk 3. The second rotary joint 6 comprises a second driving motor 61 arranged on the first sliding section 17 and a second turntable 62 arranged at the output end of the second driving motor 61, and the third rotary joint 7 is fixedly arranged on the second turntable 62. The third rotary joint 7 comprises a third driving motor 71 fixedly arranged on the second rotary table 62 and a third rotary table 72 arranged at the tail end of the third driving motor 71, and the second telescopic arm 8 is fixedly arranged on the third rotary table 72.

As shown in fig. 1, the first telescopic arm 5 includes a first driving section 29, a first sliding section 17 and a first encoder for recording the movement displacement of the first sliding section 17, the first driving section 29 is fixed on the first rotary disk 3, the first sliding section 17 is sleeved on the first driving section 29 and can slide along a straight line, and one end of the first sliding section 17 away from the first driving section 29 is fixedly connected with the second rotary joint 6. The first encoder can adopt a grating encoder, the first telescopic arm 5 adopts a mode of matching the first driving section 29 and the first sliding section 17 to realize a telescopic function, and the length of the first telescopic arm can be adjusted as required, so that the requirement of obtaining welding seam images at various positions is met.

As shown in fig. 1, the second telescopic arm 8 includes a second driving section 9, a second sliding section 10 and a second encoder for recording the movement displacement of the second sliding section 10, the second driving section 9 is fixed on the third turntable 72, the second sliding section 10 is sleeved on the second driving section 9 and can slide along a straight line, and one end of the second sliding section 10 away from the second driving section 9 is fixedly connected with the monitoring camera assembly 18. The second encoder can adopt the grating encoder, and the flexible arm 8 of second adopts second drive section 9 and the 10 complex modes of second slip section, realizes flexible function, can adjust its length as required to under the mating reaction of the flexible arm 8 of first flexible arm 5 and second, satisfy the welding seam image acquisition of each position.

As shown in fig. 1, the monitoring camera assembly 18 includes a first bracket 11 transversely disposed on the second sliding section 10, a second bracket 13 hinged to the first bracket 11, a fourth driving motor 12 for driving the second bracket 13 to rotate, and a depth camera 15 disposed at a lower end of the second bracket 13, and the image processing module is electrically connected to the depth camera 15. The fourth driving motor 12 drives the depth camera 15 to adjust the pitch angle, and part of the welding line is arc-shaped, so that the depth camera 15 capable of adjusting the pitch angle can clearly acquire image information of the welding line, the depth camera 15 can distinguish three-dimensional information of the welding line, and analysis of an image processing module on the welding line image is facilitated.

As shown in fig. 1, the system further includes a first laser radar 14 disposed on the depth camera 15 and a light source 16 disposed behind the depth camera 15, and the first laser radar 14 is electrically connected to the control module. Obtain the interval between degree of depth camera 15 and the welding seam through first laser radar 14 to be convenient for degree of depth camera 15 to focus the welding seam, in order to obtain more clear image, make through light source 16 and also can obtain clear image in the relatively poor place of light, light source 16 can adopt annular light filling lamp, and the while is surveyed the welding workpiece through first laser radar 14 and is made a distance measurement, can avoid degree of depth camera 15 and welding workpiece to produce the collision.

As shown in fig. 1, the temperature monitoring module 30 includes an infrared heat sensor disposed on the second bracket 13, the infrared heat sensor is electrically connected to the control module, the infrared heat sensor sends real-time temperature of the welding process to the control module, the control module analyzes temperature information, and when the temperature is not within a preset temperature range, an alarm is given;

the current and voltage monitoring module comprises a current measuring line electrically connected with the current output end of the welding equipment and a current measuring instrument 31 arranged on the control box 2, the current measuring instrument 31 is electrically connected with the current measuring line, the current measuring instrument 31 is electrically connected with the control module, the current measuring instrument 31 obtains a current value and a voltage value by directly detecting the output current of the welding equipment and sends the information to the control module, and when the current value and the voltage value are not in a preset range, alarm processing is carried out;

welding speed monitoring module and surveillance camera subassembly 18 electric connection for confirm the electric arc position of welding equipment in every frame image of surveillance camera subassembly 18, according to electric arc position information and time information, obtain welding speed information, every frame image that surveillance camera subassembly 18 acquireed also sends welding speed monitoring module in step, welding speed monitoring module confirms the position of electric arc in every frame image, thereby obtain speed information and send control module, control module handles and analyzes the information that receives, when welding process image information or current voltage information or welding speed information do not accord with preset requirement, report to the police through alarm module, remind the operator to seek corresponding problem.

As shown in fig. 1, the control box 2 is provided with a second laser radar 22 and a route planning camera, and both the second laser radar 22 and the route planning camera are electrically connected with the control module. The second laser radar 22 cooperates with the route planning camera to plan the path of the mobile base 1, so that the robot can move in a safe path, and the monitoring of the welding process is completed.

As shown in fig. 1 and 2, the welding seam monitoring system further comprises a wireless communication module arranged in the control box 2 and used for transmitting image information of the welding seam, wherein the image information can be analyzed or stored to a server by background staff so as to be convenient for later retrieval, and the wireless communication module is electrically connected with the control module; the first driving section 29 comprises a first shell 28, one side of the first shell 28 is provided with an opening, a plurality of first driving rollers 25 distributed along a straight line are rotatably arranged in the first shell 28, and a first conveying belt 19 is sleeved on each first driving roller 25; the first sliding section 17 comprises a second shell 27 covering the opening end of the first shell 28, first sliding strips 24 are arranged on two inner sides of the second shell 27, first sliding grooves matched with the first sliding strips 24 in a sliding mode are arranged on two outer sides of the first shell 28, and sliding blocks 26 connected with the first conveying belt 19 in a transmission mode are arranged in the second shell 27 in a rotating mode.

First drive roll 25 is connected with the transmission of motor 20, drive first drive roll 25 by motor 20 and rotate, thereby drive first conveyer belt 19 and remove, drive the slider 26 of being connected with first conveyer belt 19 and remove, realize the rectilinear movement of second casing 27, slider 26 can with first conveyer belt 19 fixed connection, also can make first conveyer belt 19 pass through the take-up pulley and be connected with slider 26 transmission, the sliding connection mode between second casing 27 and the first casing 28 is for realizing through spout and draw runner 24, and can carry out spacingly through spout and draw runner 24 to the displacement of second casing 27, avoid droing from first casing 28, second drive section 9 and the second sliding section 10 of second telescopic arm 8 can adopt first drive section 29 and the setting of first sliding section 17, also can adopt lead screw structure or cylinder structure, no longer repeated description here.

starting the movable base 1, the monitoring camera assembly 18, the temperature monitoring module 30, the current and voltage monitoring module, the welding speed monitoring module and the control module, and the first rotary joint 4, the first telescopic arm 5, the second rotary joint 6, the third rotary joint 7 and the second telescopic arm 8 to enable the movable base 1, the monitoring camera assembly 18, the temperature monitoring module 30, the current and voltage monitoring module, the welding speed monitoring module and the control module to be in working states;

determining the position to be welded, and controlling the movement of the movable base 1, the first rotary joint 4, the first telescopic arm 5, the second rotary joint 6, the third rotary joint 7 and the second telescopic arm 8 through the control module to enable the monitoring camera assembly 18, the temperature monitoring module 30 and the current and voltage monitoring module to be in working positions;

starting welding equipment for welding;

the method comprises the steps that image information of a welding process is obtained in real time through a monitoring camera assembly 18, temperature information of the welding process is obtained in real time through a temperature monitoring module 30, current and voltage information of the welding process is obtained in real time through a current and voltage module, welding speed information is obtained in real time through a welding speed monitoring module, and the information is fed back to a control module;

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A welding process monitoring robot, comprising:

the welding device comprises a movable base (1), a control box (2) arranged on the movable base (1), a mechanical arm arranged on the control box (2), a monitoring camera assembly (18), a temperature monitoring module (30), a current and voltage monitoring module and a welding speed monitoring module which are arranged at the tail end of the mechanical arm, and a control module arranged in the control box (2); wherein the content of the first and second substances,

the robot arm includes: a first rotary joint (4), a first telescopic arm (5), a second rotary joint (6), a third rotary joint (7) and a second telescopic arm (8);

the first rotary joint (4) is arranged on the control box (2) and can rotate around a vertical shaft, the first telescopic arm (5) is longitudinally arranged on the first rotary joint (4), the second rotary joint (6) is arranged at the tail end of the first telescopic arm (5) and can rotate around the vertical shaft, the third rotary joint (7) is arranged on the second rotary joint (6) and can rotate around a horizontal shaft, and the second telescopic arm (8) is transversely arranged on the third rotary joint (7);

the first rotary joint (4) comprises a first driving motor (21) arranged on the control box (2) and a first rotary table (3) arranged on the output end of the first driving motor (21), and the first telescopic arm (5) is fixedly arranged on the first rotary table (3);

the first telescopic arm (5) comprises a first driving section (29), a first sliding section (17) and a first encoder for recording the movement displacement of the first sliding section (17), the first driving section (29) is fixed on the first turntable (3), the first sliding section (17) is sleeved on the first driving section (29) and can slide along a straight line, and one end, far away from the first driving section (29), of the first sliding section (17) is fixedly connected with the second rotary joint (6);

the second rotary joint (6) comprises a second driving motor (61) arranged on the first sliding section (17) and a second rotary table (62) arranged at the output end of the second driving motor (61), and the third rotary joint (7) is fixedly arranged on the second rotary table (62);

the third rotary joint (7) comprises a third driving motor (71) fixedly arranged on the second rotary table (62) and a third rotary table (72) arranged at the tail end of the third driving motor (71), and the second telescopic arm (8) is fixedly arranged on the third rotary table (72);

the second telescopic arm (8) comprises a second driving section (9), a second sliding section (10) and a second encoder for recording the moving displacement of the second sliding section (10), the second driving section (9) is fixed on the third turntable, the second sliding section (10) is sleeved on the second driving section (9) and can slide along a straight line, and one end, far away from the second driving section (9), of the second sliding section (10) is fixedly connected with the monitoring camera assembly (18);

the control module is used for controlling the movable base (1), the first rotary joint (4), the first telescopic arm (5), the second rotary joint (6) and the third rotary joint (7), the second telescopic arm (8), the monitoring camera assembly (18), the temperature monitoring module (30), the current and voltage monitoring module and the welding speed monitoring module, and further comprises an image processing module electrically connected with the monitoring camera assembly (18) and an alarm module electrically connected with the image processing module;

the current and voltage monitoring module is used for being connected with welding equipment so as to monitor the current and the voltage of the welding equipment in the welding process;

the welding speed monitoring module is electrically connected with the monitoring camera assembly (18) and is used for determining the position of an electric arc of the welding equipment in each frame of image of the monitoring camera assembly (18) so as to obtain welding speed information;

the monitoring camera assembly (18) comprises a first support (11) transversely arranged on the second sliding section (10), a second support (13) hinged to the first support (11), a fourth driving motor (12) used for driving the second support (13) to rotate and a depth camera (15) arranged at the lower end of the second support (13), and the image processing module is electrically connected with the depth camera (15).

2. Welding process monitoring robot according to claim 1, further comprising a first lidar (14) arranged on the depth camera (15) and a light source (16) arranged behind the depth camera (15), the first lidar (14) being electrically connected to the control module.

3. Welding process monitoring robot according to claim 2, characterized in that said temperature monitoring module (30) comprises an infrared heat sensor arranged on said second support (13), said infrared heat sensor being electrically connected to a control module;

the current and voltage monitoring module comprises a current measuring line electrically connected with the current output end of the welding equipment and a current measuring instrument (31) arranged on the control box (2), and the current measuring instrument (31) is electrically connected with the current measuring line.

4. The welding process monitoring robot according to claim 3, further comprising a wireless communication module disposed in the control box (2) for transmitting image information of a weld, wherein the wireless communication module is electrically connected to the control module;

the first driving section (29) comprises a first shell (28), one side of the first shell (28) is provided with an opening, a plurality of first driving rollers (25) distributed along a straight line are rotatably arranged in the first shell (28), a first conveying belt (19) is sleeved on each first driving roller (25), and a motor (20) for driving each first driving roller (25) to rotate is arranged on each first shell (28);

the first sliding section (17) comprises a second shell (27) covered at the opening end of the first shell (28), first sliding strips (24) are arranged on two inner sides of the second shell (27), first sliding grooves matched with the first sliding strips (24) in a sliding mode are formed in two outer sides of the first shell (28), and sliding blocks (26) connected with the first conveying belt (19) in a transmission mode are rotationally arranged in the second shell (27).

5. A welding process monitoring method of a welding process monitoring robot according to any one of claims 1-4, characterized by comprising the steps of:

starting the movable base (1), the monitoring camera assembly (18), the temperature monitoring module (30), the current and voltage monitoring module, the welding speed monitoring module and the control module, as well as the first rotary joint (4), the first telescopic arm (5), the second rotary joint (6), the third rotary joint (7) and the second telescopic arm (8) to enable the movable base, the monitoring camera assembly (18), the temperature monitoring module (30), the current and voltage monitoring module, the welding speed monitoring module and the control module to be in a working state;

determining a position to be welded, and controlling the movement of the movable base (1), the first rotary joint (4), the first telescopic arm (5), the second rotary joint (6), the third rotary joint (7) and the second telescopic arm (8) through the control module to enable the monitoring camera assembly (18), the temperature monitoring module (30) and the current and voltage monitoring module to be in working positions;

starting welding equipment for welding;

the method comprises the steps that image information of a welding process is obtained in real time through a monitoring camera assembly (18), temperature information of the welding process is obtained in real time through a temperature monitoring module (30), current and voltage information of the welding process is obtained in real time through a current and voltage module, welding speed information is obtained in real time through a welding speed monitoring module, and the information is fed back to a control module;