CN110871302A - Crawling arc welding robot and reminding method and device thereof - Google Patents

Abstract

The invention discloses a crawling arc welding robot, and a reminding method and a reminding device of the crawling arc welding robot, wherein the method comprises the following steps: detecting whether the crawling arc welding robot has an intention of welding; when the welding intention exists, acquiring and judging whether the pose information of the workpiece to be machined is an error pose; and if the pose is the wrong pose, giving an alarm prompt, controlling the crawling arc welding robot to cut off a power supply, and forbidding welding of the workpiece to be machined. The method can cut off the power supply when the working condition of the crawling arc welding robot is wrong, thereby avoiding production accidents, improving the production reliability, saving resources and reducing the cost.

Description

Crawling arc welding robot and reminding method and device thereof

Technical Field

The invention relates to the field of arc welding robot control, in particular to a crawling arc welding robot, and a reminding method and a reminding device of the crawling arc welding robot.

Background

With the continuous development of science and technology and the introduction of information technology, computer technology and artificial intelligence technology, the research on the crawling arc welding robot gradually goes out of the industrial field and gradually expands to the fields of medical treatment, health care, families, entertainment, service industry and the like. The demand for the crawling arc welding robot is also raised from simple and repetitive mechanical actions to a crawling arc welding robot with high intelligence, autonomy and interaction with other agents. The crawling arc welding robot is widely applied due to strong flexibility and good economical efficiency.

In the related technology, when the crawling arc welding robot is used for welding workpieces to be machined, once an error occurs in the middle link, if the workpieces are not placed correctly and a manufacturer does not find the error, production accidents are very easy to occur, the production reliability is greatly reduced, resources are wasted, and the cost is increased.

Disclosure of Invention

The embodiment of the invention provides a crawling arc welding robot, and a reminding method and device of the crawling arc welding robot, and aims to at least solve the technical problem that warning reminding cannot be performed when the working condition of the crawling arc welding robot is wrong in the prior art.

According to an aspect of an embodiment example of the present invention, there is provided a warning method of a crawling arc welding robot, including the steps of: detecting whether the crawling arc welding robot has an intention of welding; when the welding intention exists, acquiring and judging whether the pose information of the workpiece to be machined is an error pose; and if the pose is the wrong pose, giving an alarm prompt, controlling the crawling arc welding robot to cut off a power supply, and forbidding welding of the workpiece to be machined.

Further, the method for reminding the crawling arc welding robot of the invention, which sends out the warning reminder, further comprises the following steps: and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

Further, the reminding method of the crawling arc welding robot of the invention further comprises the following steps: and after the power supply of the crawling arc welding robot is cut off and the preset conditions are met, controlling the crawling arc welding robot to be electrified to start welding the workpiece to be machined.

Further, the method for reminding the crawling arc welding robot of the present invention, which detects whether the crawling arc welding robot has the welding intention, further comprises: collecting the current distance between a welding gun of the crawling arc welding robot and the workpiece to be machined; and/or detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot.

Further, the warning method of the crawling arc welding robot of the invention is characterized in that if the current distance is smaller than a preset threshold value, the welding intention is judged to exist; and/or determining that the welding intent exists if the current action corresponds to a welding action.

According to an aspect of an embodiment example of the present invention, there is provided a warning apparatus of a crawling arc welding robot, including: the first judgment module is used for detecting whether the crawling arc welding robot has the welding intention; the second judging module is used for acquiring and judging whether the pose information of the workpiece to be processed is an error pose when the welding intention exists; and the first control module is used for giving an alarm prompt when the workpiece is in the wrong pose, and simultaneously controlling the crawling arc welding robot to cut off a power supply and forbid welding of the workpiece to be machined.

Further, the reminding device of the crawling arc welding robot of the invention comprises a control module, wherein the control module is specifically used for: and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

Further, the warning device of the crawling arc welding robot of the invention further comprises: and the second control module is used for controlling the creeping arc welding robot to be electrified to start welding the workpiece to be machined after the creeping arc welding robot cuts off the power supply and meets the preset conditions.

Further, the second judging module of the warning device for the crawling arc welding robot of the invention is specifically configured to: collecting the current distance between a welding gun of the crawling arc welding robot and the workpiece to be machined; and/or detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot; wherein if the current distance is less than a preset threshold, it is determined that the welding intention exists; and/or determining that the welding intent exists if the current action corresponds to a welding action.

According to an aspect of an embodiment example of the present invention, there is provided a crawling arc welding robot including the above-described reminding apparatus of the crawling arc welding robot.

In the embodiment of the invention, whether the crawling arc welding robot has the welding intention can be detected, whether the pose information of the workpiece to be processed is the wrong pose is collected and judged when the welding intention exists, and if the pose information is the wrong pose, an alarm prompt is sent out, and meanwhile, the crawling arc welding robot is controlled to cut off the power supply, and the workpiece to be processed is forbidden to be welded.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a flowchart of a warning method of a crawling arc welding robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a left side view of a crawling arc welding robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a warning device of a crawling arc welding robot according to an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention 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 is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

In accordance with an embodiment of the present invention, there is provided an embodiment of a warning method for a crawling arc welding robot, it is noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.

Fig. 1 is a flowchart of a warning method of a crawling arc welding robot according to an embodiment of the present invention. As shown in fig. 2, the creeping arc welding robot structure according to the embodiment of the present invention includes: the welding line tracking device comprises a walking trolley 1, a mechanical arm 2, a welding gun 3, a welding line tracking sensor 4, a lifting joint 201, a telescopic joint 202 for realizing horizontal adjustment, and a rotary joint 203 for adjusting the detection direction of the welding line tracking sensor, wherein when the welding line turns, the telescopic joint can be adjusted in advance before the walking trolley 1 does not turn, so that the welding line tracking sensor 4 can be always positioned at the position for monitoring the welding line and the target is not lost. In addition, the wheels in the walking trolley can adopt mechanisms such as differential or guide wheels to realize the integral steering of the robot.

As shown in fig. 1, the warning method of the crawling arc welding robot comprises the following steps:

and S1, detecting whether the crawling arc welding robot has the welding intention.

Further, the warning method of the crawling arc welding robot of the invention detects whether the crawling arc welding robot has the welding intention, and further comprises the following steps: collecting the current distance between a welding gun of the crawling arc welding robot and a workpiece to be machined; and/or detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot.

Further, the warning method of the crawling arc welding robot of the invention is characterized in that if the current distance is smaller than a preset threshold value, the existence of the welding intention is judged; and/or determining that a welding intent exists if the current action corresponds to a welding action.

It can be understood that the current distance between the welding gun of the crawling arc welding robot and the workpiece to be processed may be collected by the collecting device, or the current actions of the lifting joint, the telescopic joint and the rotating joint of the crawling arc welding robot may be detected, or the current distance between the welding gun of the crawling arc welding robot and the workpiece to be processed may be collected at the same time and the current actions of the lifting joint, the telescopic joint and the rotating joint of the crawling arc welding robot may be detected, and if the current distance is smaller than a preset threshold, or if the current action corresponds to the welding action, or if the current distance is smaller than the preset threshold and the current action corresponds to the welding action, it is determined that the welding.

It should be noted that, the preset threshold and the judgment of whether the current action conforms to the welding action may be designed by those skilled in the art according to actual conditions, or the results obtained by those skilled in the art after a big data experiment, which is not limited specifically herein.

And S2, when the welding intention exists, acquiring and judging whether the pose information of the workpiece to be processed is an error pose.

Specifically, when the welding intention is determined to exist, the pose information of the workpiece to be machined can be acquired through the camera, for example, the next welding path of the crawling arc welding robot is transverse welding, the pose of the workpiece to be machined is in a vertical state, and the pose of the workpiece to be machined is an error pose; and if the pose of the workpiece to be processed and the next welding path of the crawling arc welding robot are the same, the pose of the workpiece to be processed is the correct pose.

And S3, if the pose is wrong, giving an alarm prompt, controlling the creeping arc welding robot to cut off the power supply and forbidding welding of the workpiece to be machined.

Further, the warning method for the crawling arc welding robot of the invention sends out warning, and further comprises the following steps: and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

Specifically, when the pose information of the workpiece to be machined is an error pose, if welding is continued, danger occurs, and therefore if the pose information is an error pose, the control instrument desk performs pose correction reminding and sends out alarm reminding.

In particular, the alarm may be provided by an optical display device (e.g., a warning light) and an acoustic reminding device (e.g., a warning horn) to remind the relevant technician. That is to say, when the pose information of the workpiece to be processed is an error pose, the optical display device can be controlled to perform optical reminding, the acoustic reminding device can be controlled to perform acoustic reminding, or the optical display device and the acoustic reminding device can be controlled to alarm at the same time so as to remind related technicians.

For example, the reminding mode can be various, when the pose information of the workpiece to be processed is an error pose, the optical reminding device can be controlled to emit flickering light, the aim of multi-directional reminding is achieved, and the warning effect on related technicians is achieved; the acoustic reminding device can also be controlled to emit a "drip" sound or to voice prompt "there is an obstacle, please note! "etc., it should be noted that the above-mentioned setting manner is only illustrative, and those skilled in the art can set the setting according to the actual situation, and the setting is not limited in detail here.

Further, the reminding method of the crawling arc welding robot of the invention further comprises the following steps: and after the power supply of the crawling arc welding robot is cut off and when preset conditions are met, controlling the crawling arc welding robot to be electrified and starting to weld the workpiece to be machined.

Specifically, the preset condition is that the position and posture of the workpiece to be welded is corrected through a control instrument desk, or the workpiece to be welded is corrected by a person skilled in the art, and the crawling arc welding robot is controlled to be powered on to start welding the workpiece to be welded.

According to the reminding method of the crawling arc welding robot provided by the embodiment of the invention, whether the crawling arc welding robot has the welding intention can be detected, whether the pose information of the workpiece to be processed is the wrong pose is collected and judged when the welding intention exists, an alarm prompt is sent out if the pose information is the wrong pose, the crawling arc welding robot is controlled to cut off a power supply, the workpiece to be processed is forbidden to be welded, the technical problem that the warning prompt cannot be sent out when the working condition of the crawling arc welding robot is wrong in the prior art is solved, the production accident is avoided, the personal safety is protected, the safety of the crawling arc welding robot is improved, the use experience of a user is improved, the production reliability is improved, the resource is saved, the cost is reduced, and the method is simple and.

Example 2

According to the embodiment of the invention, the embodiment of the reminding device of the crawling arc welding robot is also provided.

Fig. 3 is a block schematic diagram of a warning apparatus of a crawling arc welding robot according to an embodiment of the present invention. As shown in fig. 3, the warning apparatus of the crawling arc welding robot includes: a first judging module 100, a second judging module 200 and a first control module 300.

The first judging module 100 is used for detecting whether the crawling arc welding robot has a welding intention. The second judging module 200 is configured to collect and judge whether the pose information of the workpiece to be processed is an error pose when the welding intention exists. The first control module 300 is used for giving an alarm prompt when the robot is in a wrong pose, and simultaneously controlling the crawling arc welding robot to cut off the power supply and forbid welding of workpieces to be machined.

Further, in the warning device for the crawling arc welding robot according to the present invention, the first control module 300 is specifically configured to: and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

Further, the warning device of the crawling arc welding robot of the invention further comprises: and the second control module is used for controlling the creeping arc welding robot to be electrified to start welding the workpiece to be machined after the creeping arc welding robot cuts off the power supply and meets the preset conditions.

Further, the second determining module 200 of the warning device for the crawling arc welding robot of the present invention is specifically configured to: collecting the current distance between a welding gun of the crawling arc welding robot and a workpiece to be machined; and/or detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot; if the current distance is smaller than a preset threshold value, judging that the welding intention exists; and/or determining that a welding intent exists if the current action corresponds to a welding action.

It should be noted that the first determining module 100, the second determining module 200 and the first control module 300 correspond to steps S1 to S3 in embodiment 1, and the modules are the same as the corresponding three steps in the implementation example and application scenarios, but are not limited to the disclosure of embodiment 1.

According to the reminding device for the crawling arc welding robot provided by the embodiment of the invention, whether the crawling arc welding robot has the welding intention can be detected through the first judging module, whether the pose information of the workpiece to be processed is the wrong pose is collected and judged through the second judging module when the welding intention exists, the warning reminding is sent out through the first control module when the pose information of the workpiece to be processed is the wrong pose, and meanwhile, the crawling arc welding robot is controlled to cut off the power supply and forbid the welding of the workpiece to be processed.

Example 3

According to the embodiment of the invention, the crawling arc welding robot is further provided, and comprises the reminding device of the crawling arc welding robot.

According to the crawling arc welding robot provided by the embodiment of the invention, the reminding device of the crawling arc welding robot solves the technical problem that the crawling arc welding robot cannot give an alarm to remind when the working condition is wrong in the prior art, avoids production accidents, protects personal safety, improves the safety of the crawling arc welding robot, improves the reliability of production, saves resources, reduces cost, and is simple and easy to implement.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A warning method for a crawling arc welding robot is characterized by comprising the following steps:

detecting whether the crawling arc welding robot has an intention of welding;

when the welding intention exists, acquiring and judging whether the pose information of the workpiece to be machined is an error pose; and

and if the pose is the wrong pose, giving an alarm prompt, controlling the crawling arc welding robot to cut off a power supply, and forbidding welding of the workpiece to be machined.

2. The warning method for the crawling arc welding robot according to claim 1, wherein the sending of the warning further comprises:

and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

3. The warning method for the crawling arc welding robot according to claim 1, further comprising:

and after the power supply of the crawling arc welding robot is cut off and the preset conditions are met, controlling the crawling arc welding robot to be electrified to start welding the workpiece to be machined.

4. The warning method for the crawling arc welding robot according to claim 1, wherein the detection of whether the crawling arc welding robot has the welding intention further comprises:

collecting the current distance between a welding gun of the crawling arc welding robot and the workpiece to be machined; and/or

And detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot.

5. The warning method of the crawling arc welding robot according to claim 4, wherein,

if the current distance is smaller than a preset threshold value, judging that the welding intention exists; and/or

Determining that the welding intent exists if the current action corresponds to a welding action.

6. A warning device of crawling arc welding robot is characterized by comprising:

the first judgment module is used for detecting whether the crawling arc welding robot has the welding intention;

the second judging module is used for acquiring and judging whether the pose information of the workpiece to be processed is an error pose when the welding intention exists; and

and the first control module is used for giving an alarm prompt when the workpiece is in the wrong pose, and simultaneously controlling the crawling arc welding robot to cut off a power supply and forbid welding of the workpiece to be machined.

7. The warning device of the crawling arc welding robot according to claim 6, wherein the control module is specifically configured to:

and controlling the instrument desk to carry out pose correction reminding and controlling the acoustic alarm device and/or the optical alarm device to carry out reminding.

8. The warning device for the crawling arc welding robot according to claim 6, further comprising:

and the second control module is used for controlling the creeping arc welding robot to be electrified to start welding the workpiece to be machined after the creeping arc welding robot cuts off the power supply and meets the preset conditions.

9. The warning device for the crawling arc welding robot according to claim 6, wherein the second judgment module is specifically configured to:

collecting the current distance between a welding gun of the crawling arc welding robot and the workpiece to be machined; and/or

Detecting the current actions of a lifting joint, a telescopic joint and a rotating joint of the crawling arc welding robot; wherein if the current distance is less than a preset threshold, it is determined that the welding intention exists; and/or

Determining that the welding intent exists if the current action corresponds to a welding action.

10. A crawling arc welding robot, comprising: the warning device for the crawling arc welding robot according to any one of claims 6 to 9.

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