CN112427848B

CN112427848B - Safe operation method, system and equipment for medium plate robot welding workstation

Info

Publication number: CN112427848B
Application number: CN202011281871.7A
Authority: CN
Inventors: 程雷; 高建; 杨学武; 周立东; 曹宝林
Original assignee: Panasonic Welding Systems Tangshan Co Ltd
Current assignee: Panasonic Welding Systems Tangshan Co Ltd
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2023-02-28
Anticipated expiration: 2040-11-16
Also published as: CN112427848A

Abstract

The embodiment of the disclosure provides a safe operation method, a system and equipment for a medium plate robot welding workstation, and belongs to the technical field of robot welding workstation safety. The method comprises the following steps: starting a robot servo program; receiving a signal for maintaining the door lock to be opened, and suspending a main program of the robot; when the main program of the robot is suspended, if a signal for opening the safety lock is received, the external driving shaft is locked; receiving a signal for maintaining the door lock to be closed and a signal for closing the safety lock, and starting a main program of the robot; and starting a welding program after the main program of the robot is started successfully. According to the technical scheme provided by the embodiment of the disclosure, the safe operation method, the system and the equipment of the welding workstation of the medium plate robot are provided in the robot welding work, so that the safety and the reliability of the welding workstation can be improved in the robot welding work.

Description

Safe operation method, system and equipment for medium plate robot welding workstation

Technical Field

The disclosure relates to the technical field of robot welding workstation safety, in particular to a safe operation method, an operation system, electronic equipment and a computer readable storage medium for a medium plate robot welding workstation.

Background

The welding of medium plate structural members is an important production process in the equipment manufacturing industry. The robot welding system of the robot welding workstation provides stable and powerful support for the high-quality production process of the medium-thickness plate structural part. In the process of designing and actually using related welding systems, extensive welding production modes are adopted, and certain safety protection devices are lacked. Namely, the operator only relies on the safety knowledge to operate the welding system in the process of operating the welding system, and the targeted protection measures based on the safety protection equipment are lacked.

In the technical field of safety of robot welding workstations, the workstation which operates a robot welding system based on the artificial judgment of an operator has higher requirements on the operator, and the operator needs to have not only professional knowledge related to a robot but also higher safety knowledge literacy. For operators, they are different individuals, and the related professional knowledge and safety knowledge possessed by each individual are inconsistent, so that the safety operation level is uneven. In addition, even for operators with good safety knowledge literacy, the potential safety hazard still exists in the process of operating the welding system.

Therefore, there is a need for a new method, system and apparatus for safe operation of a robot welding station for medium plate.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the disclosure aims to provide a safe operation method, a system and equipment for a welding workstation of a medium plate robot, and further solves the problem that the safety and reliability of the welding workstation of the medium plate robot are low in the welding process.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

The embodiment of the disclosure provides a safe operation method of a medium plate robot welding workstation, which comprises the following steps: starting a robot servo program; receiving a signal for maintaining the door lock to be opened, and suspending a main program of the robot; when the main program of the robot is suspended, if a signal for opening a safety lock is received, an external driving shaft is locked; receiving a signal for maintaining the door lock to be closed and a signal for closing the safety lock, and starting a main program of the robot; and starting a welding program after the main program of the robot is started successfully.

The embodiment of the disclosure provides a safe operation method of a medium plate robot welding workstation, and the method further comprises the following steps: and if the signal that the safety lock is closed is received, the locking of the external driving shaft is released and the external driving shaft is controlled to work.

In an embodiment of the present disclosure, after the robot main program is successfully started, the welding program is started, and the method further includes: within the starting waiting time, turning on an alarm; after the start-up waiting time, the alarm is turned off and the welding program is started.

In the embodiment of the present disclosure, after the main program of the robot is started, the method further includes: within the waiting time for starting, if a signal for maintaining the door lock to be opened is received, opening a state alarm lamp and interrupting a main program of the robot; and within the starting waiting time, if a signal for detecting the welding pressure is received, the state alarm lamp is turned on, and the main program of the robot is interrupted.

In the embodiment of the present disclosure, after the welding procedure is started, the method further includes: when a signal that the maintenance door lock and/or the safety lock are/is opened is received, the main program of the robot is paused; when a signal for suspending the main program of the robot is received, suspending the main program of the robot; and when the signal for maintaining the door lock to be closed and the signal for closing the safety lock are received, the main program of the robot is continuously operated.

The embodiment of the present disclosure provides an operating system of a welding workstation of a robot for welding medium plates, including the above method, including: controlling a power supply; the robot driving circuit is used for receiving a signal for starting a robot servo program and sending a power signal; and the power switch is used for receiving the power signal and supplying power to the robot driving circuit through the control power supply.

In an embodiment of the present disclosure, the operating system further includes: a sensor; an alarm; a status warning lamp; maintaining the door lock; a safety lock; the safety control circuit is used for receiving a signal for opening the maintenance door lock and/or the safety lock and sending a safety abnormal signal; the pressure detection circuit is used for receiving a pressure value detected by the sensor during welding and sending a pressure abnormal signal when the pressure value exceeds a use range; the external control circuit is used for receiving a signal for starting a main program of the robot, sending a delay signal, receiving the safety abnormal signal and/or the pressure abnormal signal and controlling the opening of the alarm; the delay control circuit is used for receiving the delay signal and sending a starting signal after starting the waiting time; the robot control circuit is used for receiving the starting signal and starting a main program of the robot; the safety abnormal signal and/or the pressure abnormal signal are/is received, a main program of the robot is suspended, and a signal for locking an external driving shaft is sent; the welding system is used for receiving a welding signal and starting the welding program; when the robot control circuit is abnormal, a control abnormal signal is sent to the external control circuit, and the external control circuit controls an alarm and a state alarm lamp to be turned on according to the control abnormal signal.

The embodiment of the disclosure provides a heavy and medium plate robot welding workstation, which comprises an operating system of the heavy and medium plate robot welding workstation in any one of the embodiments.

The disclosed embodiments provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of safe operation of a heavy and medium plate robotic welding workstation as described in any of the above embodiments.

An embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the at least one processor to implement a method of safe operation of a medium plate robotic welding workstation as described in any of the embodiments above.

In the technical solutions provided in some embodiments of the present disclosure, a robot servo program is first started to power up the robot, and then a signal for maintaining the door lock to be opened is received to suspend a main program of the robot. And after the main program of the robot is suspended, receiving a signal for opening the safety lock, and locking the external driving shaft. After a signal for maintaining the door lock to be closed and a signal for closing the safety lock are received, a main program of the robot is started, and after the main program of the robot is started, a welding program is started. The technical scheme provided by the embodiment of the disclosure is applied to the welding work of the robot welding workstation, so that the safe operation of the welding work can be realized, and the safety and the efficiency of the welding work are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 shows a schematic structural diagram of a heavy and medium plate robot welding workstation according to an embodiment of the present disclosure.

Fig. 2 shows a flow diagram of a method of safe operation of a heavy and medium plate robotic welding workstation according to one embodiment of the present disclosure.

Fig. 3 shows a flow chart of a method of safe operation of a heavy and medium plate robotic welding workstation of a first embodiment of the present disclosure.

Fig. 4 shows a flow chart of a method for safe operation of a heavy and medium plate robotic welding workstation according to a second embodiment of the present disclosure.

Fig. 5 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation according to a third embodiment of the present disclosure.

Fig. 6 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation according to a fourth embodiment of the present disclosure.

Fig. 7 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation of a fifth embodiment of the present disclosure.

FIG. 8 shows a schematic view of an operating system of a medium plate robotic welding workstation according to one embodiment of the present disclosure.

FIG. 9 shows a schematic view of a medium plate robotic welding workstation operating system of another embodiment of the present disclosure.

FIG. 10 schematically illustrates a structural schematic of an electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, etc. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/nor must they be performed in the order described. For example, some operations may be split, and some operations may be combined or partially combined, so that the actual execution order may be changed according to the actual situation.

The following detailed description of exemplary embodiments of the disclosure refers to the accompanying drawings.

In the related art, the operating equipment of the robot welding workstation does not have or lacks a complete safety protection device, and the safety operation of the operator is ensured only by the safety literacy of the operator, so that the operator has certain operation risks in the operation of the robot welding workstation, and even if the operator has certain safety literacy, the potential safety hazard cannot be avoided in the operation process. The operation method which is only based on the safety general knowledge and the safety literacy of the operator is feasible under the normal work of the welding robot workstation, but the safety countermeasure is lacked under the condition that the welding robot workstation has operation accidents. The hidden danger that the welding robot workstation has the poor safe operability, if lead to the operation safety to go wrong, still can influence welding robot workstation's work efficiency.

Based on the above problems, the embodiment of the present disclosure provides a safe operation method, system and device for a welding workstation of a medium plate robot, which can improve the safety and reliability of the welding workstation of the medium plate robot in the welding process. The embodiments of the present disclosure are described in detail below.

Fig. 1 shows a schematic structural diagram of a medium plate robot welding workstation according to an embodiment of the present disclosure. In the figure: 1. a security fence; 2. a main operation box; 3. a safety warning sign; 4. maintaining the door lock; 5. maintaining the door; 6. an escalator; 7. an operating platform; 8. operating a protection fence; 9. assembling and disassembling piece protection fences; 10. a loading and unloading platform; 11. a cross beam; 12. a position changing machine box body; 13. a welding robot; 14. a Z-direction ball screw; 15. a power supply device; 16. a guard chain; 17. a status alarm lamp; 18. an alarm; 19. welding machine and robot related parts; 20. a turning shaft; 30. an X-direction sliding plate; 31. an X-direction guide rail; 32. a Y-direction sliding plate; 33. a Y-direction guide rail; 34. and (5) supporting the clamp.

Fig. 1 shows a schematic structural diagram of a welding workstation of a medium plate robot according to an embodiment of the present disclosure. Referring to fig. 1, fig. 1 shows a welding workstation based on a robot welding protection device for medium and heavy plates, which includes a safety fence, a door lock system, a robot system and welding standard components. In the disclosed embodiment, the security fence is the security fence 1 shown in fig. 1. The door lock system comprises a service door lock 4 and a service door 5. The robot system includes a welding robot 13 and a three-way robot traveling mechanism. The three-way robot traveling mechanism includes an X-direction slide plate 30, an X-direction guide rail 31, a Y-direction slide plate 32, and a Y-direction guide rail 33, wherein the three-way robot traveling mechanism can also realize traveling in the Z-direction by the Z-direction ball screw 14. The welding standard component is a standard component of a general welding workstation, such as a welding power supply, and in the embodiment of the disclosure, the power supply device 15 supplies power to a working component in the welding workstation, such as the welding robot 13. The welding standard also includes a welder and a robot related part 19, which may be a welding gun or wire feeder attached to the robot.

In one embodiment, a welding workstation based on a medium plate robotic welding protection device may include a safety fence. Referring to fig. 1, taking the security fence 1 as an example, the types of the security fence 1 may include various types, such as a mesh-type security fence, a fence-type security fence, and a partition-type security fence.

In one embodiment, referring to fig. 1, a welding workstation based on a medium plate robot welding protection device may further include a main operation box 2 and a safety warning sign 3. Referring to the main console box 2 and the safety warning sign 3 in fig. 1, the safety warning sign 3 may be provided in front of the main console box 2, for example, in a front part of the main console box 2. Among other things, the main operating box 2 can provide a plurality of operating modes, such as an automatic mode and a manual mode. The safety warning sign 3 not only marks the relevant operation methods of the main operation box 2, but also introduces the attention items in the welding work in detail, and also sets striking prompt slogans, such as: "before starting, please ensure that the work area is not held by other people! The safety warning mark 3 is set to prompt the operator to perform safety check before starting and prompt the operator to remove surrounding personnel of the welding equipment as soon as possible. In the embodiment of the disclosure, by setting the main operation box 2, the main operation box 2 can be used to immediately stop starting the main program under emergency safety conditions, so as to ensure the safety of personnel around the welding equipment.

In one embodiment, a welding workstation based on a robot welding protection device for medium plate may include a positioner system. Referring to fig. 1, the positioner system includes a cross beam 11, a positioner housing 12, a tilt shaft 20, and a pedestal clamp 34. In the embodiment of the disclosure, the positioner system can be used for flexibly changing the welding direction of the welding workpiece, for example, the positioner system can realize displacement rotation in the direction perpendicular to the horizontal axis by controlling the common rotation of the cross beam 11 and the turnover shaft 20; by controlling the pedestal jaw 34 to swing, the displacement swing in the direction parallel to the horizontal axis can be realized. It should be noted that the positioner box 12 provides the function of fixing the positioner during the rotation process.

In one embodiment, a welding workstation based on a medium plate robotic welding protection device may include a door lock system. Referring to fig. 1, the door lock system includes a service door lock 4 and a service door 5. Wherein, maintain lock 4 and set up in maintenance door 5 top and be connected with maintenance door 5 electricity, maintain door 5 and set up the access & exit at security fence 1. Whether an operator enters the workstation or not is detected based on the safety lock on the maintenance door 5, and the operation protection of the safety equipment is provided for the operator through the detection result. The maintenance door lock 4 supplies a maintenance door lock signal, the maintenance door lock signal is connected to the general-purpose input port of the welding robot 13, the signal received by the general-purpose input port is set to be valid as a negative signal, and the negative signal is input as an error. When the maintenance door lock signal is effective, the maintenance door lock 4 is opened at the moment, the main program of the robot is suspended, and an operator can manually operate the welding robot 13. In this disclosed embodiment, set up the inside back that door lock system can prevent that operating personnel from entering into weldment work station, the automatic operation of robot provides the safety guarantee for operating personnel's weldment work.

In one embodiment, the operator first unlocks the service door lock 4, then unlocks the service door 5, enters the welding station, passes through the stairs 6 to the operator platform 7, and then unlocks the guard chain 16 to the handler platform 10. Wherein the operation platform 7 is provided with an operation protection fence 8, and the handling platform 10 is provided with a handling protection fence 9. Subsequently, the operator performs the work of loading and unloading and welding. In the embodiment of the present disclosure, after the operator first opens the maintenance door lock 4, the maintenance door lock 4 is kept open, and all welding or driving components in the welding workstation are kept in a pause state, and the operator can only perform the manual mode operation on any welding or driving component (such as the welding robot 13). Wherein a safety lock (not shown) provides a safety lock signal (this signal is the signal that all external drive shafts are locked), which is switched in to the universal input port of the welding robot 13, setting the signal received by the universal input port as a negative signal active. When the safety lock signal is valid, the safety lock (not shown) is opened, the main program of the welding robot 13 is suspended, all welding parts are locked, and if the welding robot 13 is locked, the operator cannot perform any operation on the welding robot 13.

In the embodiment of the present disclosure, the operator finishes the loading and unloading operation of the workpiece in the welding workstation, and after leaving the welding workstation from the maintenance door 5, the maintenance door 5 and the maintenance door lock 4 are closed, and at this time, all the welding components in the welding workstation are restored to the normal working state. Next, the operator starts the robot servo program by controlling the robot main program start button of the main operation box 2; after the robot servo program is started, a robot main program starting button is pressed for a long time to start the robot main program, a time relay is added to realize delayed starting of the robot main program, and in the time period of pressing the robot main program starting button for a long time, the alarm 18 rings and light flickers to warn at the same time; after the main program of the robot is started, the operator controls the welding program starting button together by both hands to start the welding program. In the embodiment of the present disclosure, the time for pressing the start button of the main program of the robot may be set to be 10 seconds, for example, the main program of the robot may be started only by pressing the start button of the main program of the robot for 10 seconds, and if the time is less than 10 seconds, the main program of the robot may not be started. The technical scheme that this disclosed embodiment provided can prevent that non-operating personnel from to the maloperation of main operation box 2, and then has avoided operating personnel to receive the injury of maloperation.

Fig. 2 shows a flow diagram of a method of safe operation of a heavy and medium plate robotic welding workstation according to one embodiment of the present disclosure. Fig. 2 provides an embodiment of a safe operation method of a welding workstation for a medium plate robot to optimize the technical problems of the related art. As shown in fig. 2, the method may include, but is not limited to, the steps of:

and starting the operation work of the welding workstation of the medium and thick plate robot.

In S202, the robot servo program is started. The robot servo program is started by pressing a robot main program starting button. When the robot servo program is started, power can be provided for hardware circuits of the operating system.

In S204, the maintenance door lock is opened. The operator opens the maintenance door lock arranged on the maintenance door and enters the workstation through the access opening of the maintenance door.

In S206, the safety lock of the operator station is opened and the loader platform loader is entered, all external drive shafts are locked, and the G5 operation box is used to control the G5 shaft to rotate the mating loader after the safety lock of the operator station is closed. When welding is carried out, in order to guarantee the safety of an operator, when the operator opens a safety lock arranged on an operation platform and enters a loading and unloading platform, the operation system receives a signal of opening the safety lock and controls all external driving shafts to be locked, when the operator needs to use a position changing machine to control a welded workpiece to rotate on the loading and unloading platform to obtain different welding positions, the operator leaves the loading and unloading platform firstly and closes the safety lock, the operation system receives a signal of closing the safety lock and controls all external driving shafts to unlock, then, the operator enters the operation platform, and then the G5 operation box controls a G5 shaft to rotate to obtain different welding positions.

In S208, the handling operation is completed.

In S210, the safety lock is closed and the door lock is maintained. After the operator finishes the loading and unloading operation, the operator leaves the loading and unloading platform firstly, then closes the safety lock, enters the operation platform, leaves the operation platform through the escalator, and then reaches the main operation box outside the workstation through the access of the maintenance door.

In S212, the main program start button is pressed for a long time, the alarm remains on for a long time, and the start of the main program may be stopped at any time. The operator can realize the starting of the main program of the robot by pressing the main program starting button for a long time.

In S214, it is determined whether the main routine is started.

In S216, both hands are started to perform welding. And when the operator determines that the main program is successfully started, pressing a button for starting the welding program by using two hands to weld.

In S218, the service door lock and/or safety lock is unlocked or a pause button is pressed.

During the welding process, if an operator opens a maintenance door lock and/or a safety lock or presses a pause button in order to enter a workstation for operation, such as loading and unloading, the main program is interrupted, and the welding program in the main program is also interrupted.

In S220, it is checked whether the maintenance door lock, the safety lock are open, and the welding pressure value is within the pressure range. If the main program fails to start, whether the failure reason is caused by machine failure or a safety protection mechanism is firstly confirmed. For example, if a maintenance door lock or a safety lock is opened or the welding pressure value is not within the pressure range, the main program may fail to start. The operator can determine the cause of the failed start-up by checking the service door lock, whether the safety lock is open, whether the welding pressure value is within the pressure range, and the like.

In S222, the safety lock is reset, and the abnormality clearing button is pressed. When the safety lock is closed by an operator, the control system receives a signal for closing the safety lock, and the safety lock is reset; after an operator presses the abnormity removing button, the main program can be restarted to continue welding work by pressing the main program starting button for a long time.

And finishing the operation of the welding workstation of the medium and thick plate robot.

Fig. 3 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation of a first embodiment of the present disclosure. In the embodiment of the present disclosure, an operation method of a welding workstation of a robot for welding medium plates is provided, and a safe operation method of the embodiment of the present disclosure is described next with reference to fig. 3. As shown in fig. 3, the method may include, but is not limited to, the following steps:

in S302, the robot servo program is started.

In the embodiment of the disclosure, the robot servo program can be started by pressing the main program start button once, and after the robot servo program is started, power can be supplied to a hardware circuit in an operating system.

In S304, the main program of the robot is suspended upon receiving a signal to unlock the maintenance door lock.

In the embodiment of the disclosure, an operator opens the maintenance door lock in the welding process and enters the workstation, and a signal for opening the maintenance door lock is sent to a hardware circuit for controlling a main program of the robot. At this time, in order to ensure the safety of the operator in the workstation, the main program of the robot is set to be in a pause state, and all operating devices in the welding workstation can only be operated in a manual mode and cannot be operated in an automatic mode.

In S306, when the main program of the robot is suspended, the external drive shaft is locked if a signal for unlocking the safety lock is received.

In the embodiment of the disclosure, in order to ensure the safety of an operator in a workstation, a main program of a robot is set to pause, at this time, if a signal that a safety lock is opened is received, it is indicated that the operator in the workstation enters a loading and unloading platform through an operation platform, in order to ensure the safety of the operation of the operator on the loading and unloading platform, all external drive shafts are locked, and all operation devices in a welding workstation cannot perform any operation in any mode, for example, a manual mode and an automatic mode cannot operate the operation devices, so as to prevent the safety hazard to the operator due to misoperation.

In S308, the signal for maintaining the door lock closed and the signal for locking the safety lock are received, and the main program of the robot is started.

In the embodiment of the disclosure, through the above, after the operator finishes the operation (for example, loading and unloading the workpiece) in the workstation, the safety lock is closed, the operator leaves the workstation from the entrance and exit of the safety fence, the maintenance door lock is closed, and the main program of the robot is restored to the starting state from the previous pause state.

In S310, after the main program of the robot is successfully started, a welding program is started.

In the disclosed embodiment, after the robot main program is successfully started, the operator may start the welding program by means customary in the art, such as by pressing a welding button with both hands to start the welding program.

Fig. 4 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation according to a second embodiment of the present disclosure. In fig. 4, S402 to S410 may refer to the descriptions of S302 to S310 of the secure operation method of the embodiment provided in fig. 3. The description of S420 is as follows:

in S420, when the signal indicating that the safety lock is closed is received, the locking of the external drive shaft is released and the operation of the external drive shaft is controlled.

In the disclosed embodiment, as can be seen from the description of fig. 3, when the maintenance door lock and the safety lock are opened, the main program of the robot is set to pause, and all the operating devices in the welding workstation cannot perform any operation in order to protect the operator. At this time, if the safety lock is closed and the external drive shaft is unlocked, all the operation devices in the welding station can be operated in the manual mode and cannot be operated in the automatic mode, that is, the external drive shaft can be controlled to operate in the automatic mode.

Fig. 5 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation according to a third embodiment of the present disclosure. In the embodiment of the present disclosure, in combination with step S310 in the above embodiment of fig. 3, a safe operation method of the medium plate robot welding workstation is further described in detail, and is shown in fig. 5, including and not limited to the following steps:

in S502, within the start-up waiting time, the alarm is turned on.

In the embodiment of the disclosure, when the main program of the robot is started, the alarm is used for alarming, so that the function of warning the operator is achieved. The start wait time is a time for which the start robot button is pressed for a long time, and is set to 10 seconds, for example. Referring to fig. 1, the alarm 18 is an audible and visual alarm mechanism, and the alarm 18 can warn a dangerous state during operation by using sound and light. The alarm sound of the alarm may be an alarm sound commonly used in the art, such as a beeping sound; the alarm light of the alarm can be alarm light commonly used in the field, such as red light, and the light can flash when alarming.

In S504, after the start-up waiting time, the alarm is turned off and the welding procedure is started.

After the waiting time for starting, the main program of the robot is started normally, the alarm is closed, and the operator starts the welding program to weld the workpiece on the support clamp 34.

Fig. 6 shows a flow chart of a method of safe operation of a heavy and medium plate robotic welding workstation of a fourth embodiment of the present disclosure. Fig. 6 provides a safety operation method based on the foregoing 502, specifically, referring to fig. 6, S602 to S604 may refer to descriptions of S502 to S504 of the safety operation method provided in fig. 5, and S61 to S62 may be described in conjunction with the following steps:

in S61, within the start wait time, if the signal for opening the maintenance door lock is received, the state alarm lamp is turned on, and the main program of the robot is interrupted.

In the embodiment of the disclosure, after the robot servo program is started, the robot start button is pressed for a long time within the start waiting time, and meanwhile, within the start waiting time, the alarm keeps working to play a warning role, if the robot start program is normally started after the start waiting time, the alarm is turned off, and the robot main program is successfully started. The disclosure provides a situation that a robot main program is started and interrupted due to the fact that a robot starting program is abnormal. Within the waiting time for starting, if the maintenance door lock is opened, the alarm can keep the working state of alarming, meanwhile, the state alarm lamp can be opened, and the main program of the robot is interrupted and started.

In S62, within the start wait time, if a signal for detecting the welding pressure is received, a state alarm lamp is turned on, and the main routine of the robot is interrupted.

In the disclosed embodiment, the welding pressure detection may include a compression gas pressure detection and a shielding gas pressure detection. The range of the welding pressure value can be set so that the compressed gas and the shielding gas can meet the reliable welding of the robot welding station for the medium and heavy plates. For example, the upper limit value of the compression pressure may be 6.5Mpa, the lower limit value of the compression pressure may be 4.5Mpa, the upper limit value of the protective gas pressure may be 3.5Mpa, and the lower limit value of the protective gas pressure may be 2Mpa. When the detected welding pressure value exceeds the set range, the system receives a signal for detecting the welding pressure at the moment, a state alarm lamp is turned on, the main program of the robot is interrupted, and the robot is in a shutdown state at the moment.

In the embodiment of the disclosure, another situation that the starting of the main program of the robot is interrupted due to the abnormity of the starting program of the robot is provided, and within the waiting time for starting, if an operator detects the pressure of a welding machine and sends a signal for detecting the welding pressure to an operating system, an alarm can keep the working state of alarming, meanwhile, a state alarm lamp can be turned on, and the main program of the robot is interrupted and started. The state warning lamp 17 will be described as an example. The status warning lamp 17 may be a warning lamp including a plurality of light statuses, and different warning information is transmitted by a combination of different lights, for example, three-color warning lamps, which are red, green, and yellow, respectively. When the three-color alarm lamp is red, the alarm lamp will alarm and flash at an alarm frequency, which may be 1Hz. When the three-color alarm lamp is yellow, if the three-color alarm lamp is in a flashing state, the manual mode is shown, and the flashing frequency can be 1Hz; if the state is a normally bright state, the operation equipment in the workstation is in an automatic mode, and the robot action is suspended. When the three-color alarm lamp is green, if the alarm lamp is in a flashing state, the robot is in a standby state in an automatic mode of operating equipment in the workstation, and the flashing frequency can be 1Hz; if the state is normally on, it indicates that the robot operation is being performed in the automatic mode of operating the device in the workstation.

Fig. 7 shows a flow chart of a method of safe operation of a medium plate robotic welding workstation of a fifth embodiment of the present disclosure. Based on the step S310, the present disclosure provides a safe operation method of a medium plate robot welding workstation, in which an operator needs to suspend a main program of the robot when performing a welding operation.

In S702, when the signal that the maintenance door lock and/or the safety lock is opened is received, the main program of the robot is suspended.

In the embodiment of the disclosure, during welding, if the maintenance door lock is opened (including manual opening and fault opening), the main program of the robot is suspended, and all operating devices can only work in a manual mode, so that the risk of operation of operators is reduced.

In the embodiment of the disclosure, in the welding process, if the safety lock is opened (including manual opening and fault opening), the main program of the robot is suspended, and all operating devices can only work in a manual mode, so that the risk of operation of an operator is reduced.

In the embodiment of the disclosure, during welding, if the maintenance door lock and the safety lock are opened (including manual opening and fault opening), the main program of the robot is suspended, and all operating devices can only work in a manual mode, so that the risk of operation of operators is reduced.

In S704, when a signal to suspend the main program of the robot is received, the main program of the robot is suspended.

In the embodiment of the disclosure, if an operator needs to enter the workstation during the welding process, the operator needs to press the button for suspending the main program of the robot, and when the operating system receives a signal for suspending the main program of the robot, the main program of the robot is controlled to be suspended, and at this time, all operating devices can only work in a manual mode, so that the risk of the operation of the operator is reduced.

In S706, when the signals of the maintenance door lock closing and the safety lock closing are received, the main program of the robot continues to be run.

In the embodiment of the disclosure, when the main program of the robot is paused, the welding program in the main program of the robot is also paused at the same time, but the servo program of the robot is not disconnected. When the operator finishes the operation in the workstation, the operator comes out of the workstation, sequentially closes the safety lock and maintains the door lock, and starts the main program of the robot by long-pressing the main program starting button of the robot again.

Fig. 8 shows a schematic view of an operating system of a heavy and medium plate robotic welding workstation of one embodiment of the present disclosure. Referring to fig. 8, an embodiment of the present disclosure provides an operating system of a robot welding workstation for medium plates. The operating system comprises a power supply, a control power supply, a robot driving circuit and a power switch, and can provide 220V electric power for the robot. In the disclosed embodiment, the power source 810 supplies power to the control power source 820, the control power source 820 is connected to the power switch 830, and the power switch 830 may supply power to the robot driving circuit 840, wherein the robot driving circuit 840 may control the external driving shaft.

Fig. 9 shows a schematic view of a heavy and medium plate robotic welding workstation operating system of another embodiment of the present disclosure. Referring to fig. 9, an embodiment of the present disclosure provides an operating system of a robot welding workstation for medium plates. The operating system can control the operating equipment in the welding workstation of the medium plate robot through various control circuits. In the disclosed embodiment, the control power supply 820 provides power to the external control circuit 910, and the robot control circuit 950 does not need to control the power supply 820 to provide power because the robot control circuit 950 has a built-in self-powered power supply. The external control circuit 910 may receive a signal for starting a main program of the robot, a pressure abnormal signal from the pressure detection circuit 920, and a safety abnormal signal from the safety control circuit 930, may transmit a delay signal to the delay control circuit 940, and may also control the operation states of the alarm and the state alarm lamp and perform interaction with the robot control circuit 950 through an input/output (I/O) interface of the robot. The pressure detection circuit 920 detects the pressure value of the welding machine through the sensor, when the pressure value is not in the welding pressure range, a pressure abnormal signal is sent to the external control circuit 910, and at the moment, the external control circuit 910 receives the pressure abnormal signal to control the alarm and the state alarm lamp to work. The safety control circuit 930 may not transmit a safety abnormal signal to the external control circuit 910 by receiving a signal for opening the maintenance door lock and the safety lock, or may transmit a safety abnormal signal to the external control circuit 910 by receiving a signal for closing the maintenance door lock and the safety lock, and when the external control circuit 910 receives the safety abnormal signal, the alarm and the status alarm lamp are controlled to operate. The delay control circuit 940 receives the delay signal sent by the external control circuit, delays through the time relay, after the waiting time for starting, the delay control circuit 940 sends a starting signal to the robot control circuit 950, and the robot control circuit 950 receives the starting signal to start the welding program. If the robot control circuit 950 is abnormal, the robot control circuit 950 transmits a control abnormal signal to the external control circuit 910, and the external control circuit 910 controls the operating states of the alarm and the state alarm lamp according to the control abnormal signal.

In one embodiment, referring to fig. 8 and 9, a method of operating a system for operating a welding workstation for medium plate robots may be provided. The robot servo program is first started, the robot driving circuit 840 sends a power signal to the power switch 830 after receiving a signal for starting the robot servo program, and the power switch 830 supplies power to the robot driving circuit 840 and the robot control circuit 950 through the control power supply according to the received power signal. When the safety control circuit 930 receives the signal for maintaining the door lock open, it sends a safety abnormal signal to the external control circuit 910, and the external control circuit 910 receives the safety abnormal signal to suspend the main program of the robot. After the main program of the robot is suspended, the safety control circuit 930 sends a safety abnormal signal to the external control circuit 910 when receiving a signal for opening the safety lock, and the external control circuit 910 sends a lock external drive shaft after receiving the safety abnormal signal. The external control circuit 910 unlocks the external driving shaft after receiving the signal for maintaining the door lock and the safety lock to be closed, if the signal for starting the main program of the robot is continuously received, the delay signal is sent to the delay control circuit 940, after the starting waiting time, the delay control circuit 940 sends the starting signal to the robot control circuit 950, the robot control circuit 950 starts the main program of the robot, and the subprogram existing in the main program of the robot is correspondingly started, such as the welding program.

FIG. 10 schematically illustrates an electronic device architecture suitable for use in implementing embodiments of the present disclosure.

It should be noted that the electronic device 1000 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 10, the electronic apparatus 1000 includes a Central Processing Unit (CPU) 1001 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 1002 or a program loaded from the storage section 208 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for system operation are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output portion 1007 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. A drive 1010 is also connected to the I/O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.

In particular, the processes described below with reference to the flow diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network, and/or installed from a removable medium. The computer program, when executed by a Central Processing Unit (CPU), performs various functions defined in the system of the present application.

It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs that, when executed by one of the electronic devices, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 3.

It should be noted that although in the above detailed description several units of the device for action execution are mentioned, this division is not mandatory. Indeed, the features and functions of two or more units described above may be embodied in one unit, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the claims.

Claims

1. A method for safe operation of a robot welding station for heavy and medium plates, the method comprising:

starting a robot servo program;

the method comprises the steps that a signal of opening a maintenance door lock is received, a main program of the robot is suspended, the maintenance door lock is arranged on a maintenance door, and an operator enters a workstation through an entrance and an exit of the maintenance door;

when the main program of the robot is suspended, if a signal for opening a safety lock is received, an external driving shaft is locked, and the opening and closing signals of the safety lock are used for indicating whether an operator in a workstation enters a loading and unloading platform or not;

receiving a signal for maintaining the door lock to be closed and a signal for closing the safety lock, and starting a main program of the robot;

and starting a welding program after the main program of the robot is started successfully.

2. The method as recited in claim 1, further comprising:

and if the signal that the safety lock is closed is received, the locking of the external driving shaft is released and the external driving shaft is controlled to work.

3. The method of claim 1, wherein initiating a welding procedure after a successful initiation of a main program of the robot, further comprising:

within the starting waiting time, turning on an alarm;

after the start-up waiting time, the alarm is turned off and the welding program is started.

4. The method of claim 3, further comprising:

within the starting waiting time, if a signal for maintaining the door lock to be opened is received, a state alarm lamp is turned on, and the main program of the robot is interrupted;

and within the starting waiting time, if a signal for detecting the welding pressure is received, the state alarm lamp is turned on, and the main program of the robot is interrupted.

5. The method of claim 1, wherein after initiating the welding procedure, further comprising:

when a signal that the maintenance door lock and/or the safety lock are opened is received, suspending a main program of the robot;

when a signal for suspending the main program of the robot is received, suspending the main program of the robot;

and when the signal for maintaining the door lock to be closed and the signal for closing the safety lock are received, the main program of the robot is continuously operated.

6. An operating system of a robot welding station for medium plates, comprising:

controlling a power supply;

the robot driving circuit is used for receiving a signal for starting a robot servo program and sending a power signal;

the power switch is used for receiving the power signal and supplying power to the robot driving circuit through the control power supply;

the safety control circuit is used for sending a safety abnormal signal to the external control circuit after receiving a signal for maintaining the door lock to be opened; after the main program of the robot is suspended, if a signal for opening the safety lock is received, a safety abnormal signal is sent to the external control circuit again;

the external control circuit is used for receiving the safety abnormal signal, pausing the main program of the robot, and locking the external driving shaft if the safety abnormal signal is received again after the main program of the robot is paused;

and the external control circuit is also used for releasing the locking of the external driving shaft after receiving the signals for maintaining the door lock and closing the safety lock.

7. The system of claim 6, further comprising:

a sensor;

an alarm;

a status alarm lamp;

maintaining the door lock;

a safety lock;

the pressure detection circuit is used for receiving a pressure value detected by the sensor during welding and sending a pressure abnormal signal when the pressure value exceeds a use range;

the external control circuit is used for receiving a signal for starting a main program of the robot, sending a delay signal and a welding signal, receiving the safety abnormal signal and/or the pressure abnormal signal and controlling the alarm and the state alarm lamp to be turned on;

the delay control circuit is used for receiving the delay signal and sending a starting signal after starting the waiting time;

the robot control circuit is used for receiving the starting signal and starting a main program of the robot; the safety abnormal signal and/or the pressure abnormal signal are/is received, the main program of the robot is suspended, and a signal for locking an external driving shaft is sent; the welding device is used for receiving the welding signal and starting a welding program;

when the robot control circuit is abnormal, a control abnormal signal is sent to the external control circuit, and the external control circuit controls the alarm and the state alarm lamp to be turned on according to the control abnormal signal.

8. A heavy and medium plate robotic welding workstation, characterized in comprising an operating system according to any one of claims 6-7.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.

10. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of any one of claims 1-5.