CN110871316A - Crawling arc welding robot and fault detection method and device thereof - Google Patents

Abstract

The invention discloses a crawling arc welding robot and a fault detection method and device thereof, wherein the method comprises the following steps: collecting a measured value of a welding line sensor, and judging whether the measured value of the welding line sensor is greater than a preset welding line threshold value; if the measured value is larger than the preset welding seam threshold value, judging that the crawling arc welding robot has a fault, and acquiring the current posture of a moving joint; and obtaining the fault type of the crawling arc welding robot according to the current posture of the kinematic joint. According to the method, when the measured value of the welding line sensor is larger than a certain value, the fault type of the crawling arc welding robot can be obtained according to the current posture of the moving joint, the judgment accuracy is effectively improved, the user requirements are met, and the user experience is improved.

Description

Crawling arc welding robot and fault detection 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 fault detection method and 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 of the crawling arc welding robot, the crawling arc welding robot can not perform self-checking only after a user finds a fault, if the user cannot find the fault of the crawling arc welding robot in time, a welded product cannot be used, the production efficiency is reduced, the intelligence of the robot is reduced, the requirement of the user cannot be met, and the use experience of the user is reduced.

Disclosure of Invention

The embodiment of the invention provides a crawling arc welding robot and a fault detection method and device of the crawling arc welding robot, and aims to at least solve the technical problem that the crawling arc welding robot cannot perform self-detection after faults exist in the prior art.

According to an aspect of an embodiment example of the present invention, there is provided a fault detection method of a crawling arc welding robot, including the steps of: collecting a measured value of a welding line sensor, and judging whether the measured value of the welding line sensor is greater than a preset welding line threshold value; if the measured value is larger than a preset welding seam threshold value, judging that the crawling arc welding robot has a fault, and acquiring the current posture of a moving joint; and obtaining the fault type of the crawling arc welding robot according to the current posture of the motion joint.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: and sending a fault signal to perform optical display alarm and/or acoustic reminding alarm.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: collecting power supply current of a welding gun, and judging whether the power supply current of the welding gun is larger than a preset current threshold value or not; and if the power supply current is larger than the preset current threshold value, judging that the power supply of the crawling arc welding robot has a fault.

Further, according to the fault detection method of the crawling arc welding robot of the present invention, the kinematic joint comprises a telescopic joint, a rotary joint and a lifting joint, wherein the fault type of the crawling arc welding robot is obtained according to the current posture of the kinematic joint, and the fault detection method further comprises: respectively detecting the current positions of the telescopic joint, the rotating joint and the lifting joint; if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault; if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault; and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: and when the measurement value of the welding seam sensor is greater than a power-off threshold value, controlling the welding gun of the crawling arc welding robot to be powered off.

According to an aspect of an embodiment example of the present invention, there is provided a fault detection apparatus of a crawling arc welding robot, including: the first judgment module is used for acquiring the measured value of the welding line sensor and judging whether the measured value of the welding line sensor is greater than a preset welding line threshold value or not; the acquisition module is used for judging the fault of the crawling arc welding robot when the measured value is larger than a preset welding seam threshold value and acquiring the current posture of a motion joint; and the acquisition module is used for obtaining the fault type of the crawling arc welding robot according to the current posture of the motion joint.

Further, the fault detection apparatus of the crawling arc welding robot of the present invention further comprises: and the sending module is used for sending a fault signal so as to carry out optical display alarm and/or acoustic reminding alarm.

Further, the fault detection apparatus of the crawling arc welding robot of the present invention includes: the second judgment module is used for collecting the power supply current of the welding gun and judging whether the power supply current of the welding gun is larger than a preset current threshold value or not; and the judging module is used for judging the power failure of the crawling arc welding robot when the power supply current is larger than the preset current threshold.

Further, the fault detection device of the crawling arc welding robot comprises a kinematic joint, a telescopic joint, a rotating joint and a lifting joint, wherein the acquisition module is specifically used for: respectively detecting the current positions of the telescopic joint, the rotating joint and the lifting joint; if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault; if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault; and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

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

In the embodiment of the invention, the measured value of the welding line sensor can be collected, whether the measured value of the welding line sensor is larger than the preset welding line threshold value or not is judged, if the measured value is larger than the preset welding line threshold value, the fault of the crawling arc welding robot is judged, the current posture of the moving joint is collected, the fault type of the crawling arc welding robot is obtained according to the current posture of the moving joint, and the technical problem that the crawling arc welding robot cannot perform self-checking after the fault in the prior art is solved, so that the use experience of a user is improved, the requirement of the user is met, and the production efficiency is.

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 fault detection 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 view of a fault detection apparatus of a crawling arc welding robot according to an embodiment of the present 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 fault detection 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 fault detection 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 method comprises the steps of:

and S101, collecting a measured value of the welding seam sensor, and judging whether the measured value of the welding seam sensor is larger than a preset welding seam threshold value.

Specifically, there are various methods for acquiring the measurement value of the weld sensor, for example, the measurement value of the weld sensor may be acquired by an acquisition module provided on the weld sensor in advance, and is not particularly limited herein.

Further, an error range of a preset weld threshold value may be pre-established, so that after the measurement value of the weld sensor is collected, whether the measurement value of the weld sensor is greater than the pre-welding threshold value is judged according to the established error range.

And S102, if the measured value is larger than a preset welding seam threshold value, judging that the crawling arc welding robot has faults, and acquiring the current posture of the kinematic joint.

Wherein, according to one embodiment of the invention, the kinematic joint comprises a telescopic joint, a revolute joint and a lifting joint. Therefore, when the measured value of the welding line sensor is larger than the preset welding line threshold value, the fault of the crawling arc welding robot is judged, and the current states of the telescopic joint, the rotating joint and the lifting joint are collected.

And step S103, obtaining the fault type of the crawling arc welding robot according to the current posture of the kinematic joint.

Further, the fault detection method of the crawling arc welding robot of the present invention obtains the fault type of the crawling arc welding robot according to the current posture of the kinematic joint, and further includes: respectively detecting the current positions of a telescopic joint, a rotary joint and a lifting joint; if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault; if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault; and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

It can be understood that when the crawling arc welding robot is in an operating state, the current positions of the telescopic joint, the rotating joint and the lifting joint can be detected in real time, and if the current position of the telescopic joint is not at the preset telescopic position, a telescopic fault is judged; if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault; and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs. Therefore, the detection accuracy is greatly improved, and the misjudgment is avoided.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: and sending a fault signal to perform optical display alarm and/or acoustic reminding alarm.

It can be understood that after the fault type of the crawling arc welding robot is determined, alarm prompt can be performed, and the prompting mode can be various, for example, acoustic prompt alarm can be performed, for example, a loudspeaker can give out prompt sound to 'the robot is in fault', for example, optical display alarm can give out optical display 'the robot is in fault', the crawling arc welding robot is more humanized, and the fault can be timely prompted, so that the reliability of the crawling arc welding robot is improved.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: collecting the power supply current of the welding gun, and judging whether the power supply current of the welding gun is larger than a preset current threshold value or not; and if the power supply current is larger than the preset current threshold value, judging that the power supply of the crawling arc welding robot has a fault.

The current collection method may be various, and for example, the current on the power supply circuit of the welding gun may be detected by a current detection circuit provided in advance on the power supply circuit, which is not particularly limited herein. For example, if the current is greater than 800mA, it is determined that the power of the crawling arc welding robot has failed.

Further, the fault detection method of the crawling arc welding robot of the present invention further comprises: and when the measured value of the welding seam sensor is greater than the power-off threshold value, controlling the welding gun of the crawling arc welding robot to power off.

Specifically, to further ensure the safety of the crawling arc welding robot, the welding gun of the crawling arc welding robot is controlled to be powered off when the measurement value of the weld sensor is greater than a power-off threshold value.

It should be noted that, when the power is cut off, an alarm signal can be sent to remind relevant technicians, so that maintenance can be performed in time, and the normal operation of the crawling arc welding robot can be ensured.

According to the method for recommending the crawling arc welding robot to the user, which is provided by the embodiment of the invention, the measured value of the welding line sensor can be collected, whether the measured value of the welding line sensor is larger than a preset welding line threshold value or not is judged, if the measured value is larger than the preset welding line threshold value, the fault of the crawling arc welding robot is judged, the current posture of the moving joint is collected, the fault type of the crawling arc welding robot is obtained according to the current posture of the moving joint, the technical problem that the crawling arc welding robot cannot perform self-checking after the fault in the prior art is solved, the use experience of the user is improved, the user requirement is met, and the production efficiency.

Example 2

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

Fig. 3 is a schematic configuration diagram of a fault detection apparatus of a crawling arc welding robot according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes: the device comprises a first judgment module 100, an acquisition module 200 and an acquisition module 300.

The first determining module 100 is configured to collect a measurement value of the weld sensor, and determine whether the measurement value of the weld sensor is greater than a preset weld threshold. The acquisition module 200 is used for judging the fault of the crawling arc welding robot when the measured value is larger than the preset welding seam threshold value, and acquiring the current posture of the motion joint. The obtaining module 300 is used for obtaining the fault type of the crawling arc welding robot according to the current posture of the kinematic joint.

Further, the fault detection apparatus of the crawling arc welding robot of the present invention further comprises: a sending module (not shown). The transmitting module is used for transmitting a fault signal so as to perform optical display alarm and/or acoustic reminding alarm.

Further, the fault detection apparatus of the crawling arc welding robot of the present invention includes: the device comprises a second judgment module and a judgment module. The second judging module is used for collecting the power supply current of the welding gun and judging whether the power supply current of the welding gun is larger than a preset current threshold value. The judging module is used for judging the power failure of the crawling arc welding robot when the power supply current is larger than a preset current threshold value.

Further, the fault detection device of the crawling arc welding robot comprises a kinematic joint, a telescopic joint, a rotating joint and a lifting joint, wherein the acquisition module is specifically used for: respectively detecting the current positions of a telescopic joint, a rotary joint and a lifting joint; if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault; if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault; and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

It should be noted that the first determining module 100, the acquiring module 200, and the acquiring module 300 correspond to steps S101 to S103 in embodiment 1, and the three modules are the same as the corresponding steps in the implementation example and application scenarios, but are not limited to the disclosure in embodiment 1.

According to the device for recommending the crawling arc welding robot to the user, which is provided by the embodiment of the invention, the measurement value of the welding line sensor can be collected through the first judging module, whether the measurement value of the welding line sensor is larger than the preset welding line threshold value or not is judged, the fault of the crawling arc welding robot is judged through the collecting module when the measurement value is larger than the preset welding line threshold value, the current posture of the moving joint is collected, the fault type of the crawling arc welding robot is obtained through the obtaining module according to the current posture of the moving joint, the technical problem that the crawling arc welding robot cannot be self-checked after the fault occurs in the prior art is solved, the use experience of the user is improved, the requirement of the user is met.

Example 3

According to an embodiment of the present invention, there is also provided a crawling arc welding robot including the fault detection apparatus of the crawling arc welding robot.

According to the crawling arc welding robot provided by the embodiment of the invention, the technical problem that the crawling arc welding robot cannot perform self-checking after faults in the prior art is solved through the fault detection device of the crawling arc welding robot, so that the use experience of a user is improved, the requirement of the user is met, and the production efficiency is effectively improved.

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, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not 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 fault detection method of a crawling arc welding robot is characterized by comprising the following steps:

collecting a measured value of a welding line sensor, and judging whether the measured value of the welding line sensor is greater than a preset welding line threshold value;

if the measured value is larger than a preset welding seam threshold value, judging that the crawling arc welding robot has a fault, and acquiring the current posture of a moving joint; and

and obtaining the fault type of the crawling arc welding robot according to the current posture of the motion joint.

2. The fault detection method of the crawling arc welding robot according to claim 1, further comprising:

and sending a fault signal to perform optical display alarm and/or acoustic reminding alarm.

3. The fault detection method of the crawling arc welding robot according to claim 1, further comprising:

collecting power supply current of a welding gun, and judging whether the power supply current of the welding gun is larger than a preset current threshold value or not;

and if the power supply current is larger than the preset current threshold value, judging that the power supply of the crawling arc welding robot has a fault.

4. The fault detection method of the crawling arc welding robot according to claim 1, wherein the kinematic joints comprise a telescopic joint, a rotary joint and a lifting joint, wherein the fault type of the crawling arc welding robot is obtained according to the current posture of the kinematic joints, and further comprising:

respectively detecting the current positions of the telescopic joint, the rotating joint and the lifting joint;

if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault;

if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault;

and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

5. The fault detection method of the crawling arc welding robot according to claim 1, further comprising:

and when the measurement value of the welding seam sensor is greater than a power-off threshold value, controlling the welding gun of the crawling arc welding robot to be powered off.

6. A fault detection device of a crawling arc welding robot is characterized by comprising:

the first judgment module is used for acquiring the measured value of the welding line sensor and judging whether the measured value of the welding line sensor is greater than a preset welding line threshold value or not;

the acquisition module is used for judging the fault of the crawling arc welding robot when the measured value is larger than a preset welding seam threshold value and acquiring the current posture of a motion joint; and

and the acquisition module is used for obtaining the fault type of the crawling arc welding robot according to the current posture of the motion joint.

7. The fault detection device of the crawling arc welding robot according to claim 6, further comprising:

and the sending module is used for sending a fault signal so as to carry out optical display alarm and/or acoustic reminding alarm.

8. The fault detection device of the crawling arc welding robot according to claim 6, further comprising:

the second judgment module is used for collecting the power supply current of the welding gun and judging whether the power supply current of the welding gun is larger than a preset current threshold value or not;

and the judging module is used for judging the power failure of the crawling arc welding robot when the power supply current is larger than the preset current threshold.

9. The fault detection device of the crawling arc welding robot according to claim 6, wherein the kinematic joints comprise telescopic joints, rotational joints and lifting joints, wherein the acquisition module is specifically configured to:

respectively detecting the current positions of the telescopic joint, the rotating joint and the lifting joint;

if the current position of the telescopic joint is not at the preset telescopic position, judging a telescopic fault;

if the current position of the rotary joint is not at the preset rotary position, judging a rotary fault;

and if the current position of the lifting joint is not at the preset lifting position, judging that the lifting fault occurs.

10. A crawling arc welding robot, comprising: the fault detection apparatus of the crawling arc welding robot according to any one of claims 6 to 9.

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