WO2021036335A1

WO2021036335A1 - Remote real-time monitoring system for welding robot system

Info

Publication number: WO2021036335A1
Application number: PCT/CN2020/089505
Authority: WO
Inventors: 王燕; 余大泽
Original assignee: 南京涵曦月自动化科技有限公司
Priority date: 2019-08-27
Filing date: 2020-05-10
Publication date: 2021-03-04
Also published as: CN111872609A; CN110524155B; CN110524155A

Abstract

A remote real-time monitoring system for a welding robot system, comprising an upper computer (1), a central control module (2), a welding robot module (3), and a network monitoring module (4), wherein the upper computer (1) is connected to the central control module (2); the central control module (2) is separately connected to the welding robot module (3) and the network monitoring module (4); the network monitoring module (4) is connected to the welding robot module (3); the welding robot module (3) is separately connected to a collection module (5), a control module (6), a motor driving module (7), a communication module (8), and an alarm module (9); and the collection module (5) is connected to a signal conditioning module (10), an angular position detection module (11), and an interface module (12). The remote real-time monitoring system for the welding robot system guarantees the punctuality and the automation of a production process and implements the reasonable flow of welding members among working units.

Description

A remote real-time monitoring system for welding robot system

Technical field

The invention relates to the technical field of robot monitoring, in particular to a remote real-time monitoring system for a welding robot system.

Background technique

The welding robot system is an automated welding system composed of welding robots, welding power supplies, fixtures, and programmable logic controllers. As an important part of automatic welding, the welding power source in this system can effectively improve production efficiency and product quality. The application of welding robots in the domestic manufacturing industry is becoming more and more extensive, especially in automobile manufacturing and its parts production enterprises. Welding robots have been widely used for welding parts such as car bodies. However, the existing monitoring and management of welding robot production lines are mostly single-machine control, which makes the monitoring efficiency and the degree of automation not high, thereby affecting the efficiency of production and processing.

technical problem

The technical task of the present invention is to address the above shortcomings and provide a remote real-time monitoring system for the welding robot system to solve the above problems.

Technical solutions

A remote real-time monitoring system for a welding robot system includes an upper computer, a central control module, a welding robot module, and a network monitoring module. The output end of the upper computer is connected to the input end of the central control module. The output ends of the control module are respectively connected with the input ends of the welding robot module and the network monitoring module, the output ends of the network monitoring module are connected with the input ends of the welding robot module, and the output ends of the welding robot module are respectively connected with The input terminals of the acquisition module, the control module, the motor drive module, the communication module and the alarm module are connected, and the output terminals of the acquisition module are connected with the input terminals of the signal conditioning module, the angular position detection module and the interface module.

Preferably, the output ends of the network monitoring module are respectively connected with the auxiliary module, the robot module, the management authority module, the system setting module, the main interface module, and the query and statistics module.

Preferably, the auxiliary module includes interlocking, alarm and vehicle type, the robot module includes uploading files, downloading files and information display, the management authority module includes adding users, deleting users and modifying passwords, and the system setting module includes Parameter setting and operating parameter setting, the main interface module includes power-on inspection, fixture information and parameter query, and the query and statistics module includes fault statistics, historical data query, and year, month, and day reports.

Preferably, the output ends of the interface module are respectively connected with the camera module, the sensor module and the GPRS module.

Preferably, the inside of the angular position detection module includes a photoelectric encoder module, an optocoupler isolation module, an angular position resolving module, a quadrature encoding module, an SCI communication interface module, and a level conversion module. The output terminal is connected to the input terminal of the optocoupler isolation module, the output terminal of the optocoupler isolation module is connected to the input terminal of the angular position solving module, and the output terminal of the angular position solving module is connected to the positive The input end of the cross-encoding module is connected, the output end of the quadrature encoding module is connected to the input end of the SCI communication interface module, and the output end of the SCI communication interface module is connected to the input end of the level conversion module.

Preferably, the circuit inside the optocoupler isolation module includes a processor U1, a resistor R1, a capacitor C1, a capacitor C2, and a capacitor C3. The pin A0 of the processor U1 is connected to one end of the capacitor C1, and the capacitor The other end of C1 is respectively connected to the pin A1 of the processor U1 and one end of the resistor R1 and grounded. The other end of the resistor R1 is respectively connected to one end of the capacitor C2, one end of the capacitor C3, and the lead of the processor U1. The pin A2 is connected and grounded, the other end of the capacitor C2 is connected to the pin A3 of the processor U1, and the other end of the capacitor C3 is connected to the pin A4 of the processor U1.

Preferably, the values of the capacitor C1, the capacitor C2, and the capacitor C3 are all 0.01 μF.

Preferably, the circuit inside the SCI communication interface module includes a processor U2, a processor U3, a resistor R2, a resistor R3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C7, and a capacitor C8, and the pins of the processor U2 B0 is connected to one end of the capacitor C4, the other end of the capacitor C4 is connected to the pin B1 of the processor U2, and the pin B2 of the processor U2 is connected to the pin A5 of the processor U3, The pin A6 of the processor U3 is respectively connected to one end of the resistor R2 and the resistor R3, the other end of the resistor R2 is grounded, and the other end of the resistor R3 is connected to the pin B3 of the processor U2. Connected, the pin B4 of the processor U2 is connected to one end of the capacitor C5, the other end of the capacitor C5 is connected to the pin B5 of the processor U2, and the pin B6 of the processor U2 is connected to the Said is connected to one end of the capacitor C6 and the capacitor C8 and grounded, the other end of the capacitor C6 is connected to the pin B7 of the processor U2, and the other end of the capacitor C8 is connected to the power supply and the capacitor C7. One end is connected to the pin B9 of the processor U2, and the other end of the capacitor C7 is connected to the pin B8 of the processor U2.

Preferably, the capacitance values of the capacitors C4, C5, C6, C7, and C8 are all 0.1 μF, the resistance value of the resistor R2 is 2KΩ, and the resistance value of the resistor R3 is 1KΩ.

Beneficial effect

1. The production process can be monitored in real time through the host computer interface, providing users with a simulated process display screen of the production process, which improves the human-computer interaction, more convenient for people's operation and management, and at the same time enhances the fun of the work.

2. It ensures the on-time and automation of the production process, improves the production efficiency and management efficiency of the enterprise, and realizes the reasonable flow of welding parts between work units.

3. The fault can be dealt with in time, so as to remind the staff to deal with it in time and effectively, reduce the loss, and be safer at the same time.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Fig. 1 is a system block diagram of a remote real-time monitoring system for a welding robot system according to an embodiment of the present invention;

Figure 2 is a block diagram of a network monitoring module according to an embodiment of the present invention;

Fig. 3 is a system block diagram of an angular position detection module according to an embodiment of the present invention;

Figure 4 is a structural block diagram of an interface module according to an embodiment of the present invention;

Fig. 5 is a schematic circuit diagram of an optocoupler isolation module according to an embodiment of the present invention;

Fig. 6 is a schematic circuit diagram of an SCI communication interface module according to an embodiment of the present invention.

In the picture:

1. Host computer; 2. Central control module; 3. Welding robot module; 4. Network monitoring module; 5. Acquisition module; 6. Control module; 7. Motor drive module; 8. Communication module; 9. Alarm module; 10. , Signal conditioning module; 11. Angular position detection module; 12, interface module; 13, auxiliary module; 14, robot module; 15, management authority module; 16, system setting module; 17, main interface module; 18, query and statistics Module; 19, camera module; 20, sensor module; 21, GPRS module; 22, photoelectric encoder module; 23, optocoupler isolation module; 24, angular position calculation module; 25, orthogonal encoding module; 26, SCI communication Interface module; 27, level conversion module.

Embodiments of the present invention

In order to be able to understand the above-mentioned objects, features and advantages of the present invention more clearly, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

The present invention will be further described below in conjunction with the drawings and specific embodiments.

Embodiment 1, as shown in Figures 1 to 6, a remote real-time monitoring system for a welding robot system according to an embodiment of the present invention includes an upper computer 1, a central control module 2, a welding robot module 3, and a network monitoring module 4 , Welding robot module 3 can directly communicate with peripheral equipment through its field bus card with PCI slot, signal transmission and I/O processing. For each robot, a two-level field bus system is adopted. The output terminal is connected to the input terminal of the central control module 2. The output terminal of the central control module 2 is connected to the input terminal of the welding robot module 3 and the network monitoring module 4 respectively. The communication module 8 is used between the robot and the robot. For communication, the communication between the central control module 2 and all robots is realized through industrial Ethernet. Each robot is connected to the central control computer through its Ethernet interface and network switch. The output terminal of the network monitoring module 4 is connected with The input terminal of the welding robot module 3 is connected, and the output terminal of the welding robot module 3 is connected to the input terminals of the acquisition module 5, the control module 6, the motor drive module 7, the communication module 8 and the alarm module 9 respectively. The output end of the module 5 is connected to the input end of the signal conditioning module 10, the angular position detection module 11 and the interface module 12; through the monitoring system, the welding robots scattered in different locations can be monitored and controlled to realize data collection, status control, Measurement, parameter adjustment and various fault signal alarms.

The second embodiment, as shown in Figure 2, the output ends of the network monitoring module 4 are respectively connected to the auxiliary module 13, the robot module 14, the management authority module 15, the system setting module 16, the main interface module 17, and the query and statistics module 18. .

The third embodiment, as shown in Figure 2, the auxiliary module 13 includes interlocking, alarm and vehicle type, the robot module 14 includes uploading files, downloading files and information display, and the management authority module 15 includes adding users and deleting users. And modify the password, the system setting module 16 includes parameter setting and operating parameter setting, the main interface module 17 includes power-on inspection, fixture information and parameter query, and the query and statistics module 18 includes fault statistics, historical data query and year. Monthly report.

Fourth embodiment, as shown in Figure 4, the output ends of the interface module 12 are respectively connected to the camera module 19, sensor module 20 and GPRS module 21; real-time detection is carried out through the camera module 19 and transmitted to the host computer 1 for people’s In real-time viewing, various types of sensor modules 20 are detected.

Embodiment 5, as shown in FIG. 3, the angular position detection module 11 includes a photoelectric encoder module 22, an optocoupler isolation module 23, an angular position calculation module 24, a quadrature encoding module 25, and an SCI communication interface module 26. And the level conversion module 27, the output end of the photoelectric encoder module 22 is connected to the input end of the optocoupler isolation module 23, and the output end of the optocoupler isolation module 23 is connected to the angle position calculation module 24 The input terminal is connected, the output terminal of the angular position calculation module 24 is connected with the input terminal of the orthogonal encoding module 25, and the output terminal of the orthogonal encoding module 25 is connected with the input terminal of the SCI communication interface module 26 , The output end of the SCI communication interface module 26 is connected to the input end of the level conversion module 27; in the detection system, the measurement of the robot joint angular position is mainly realized by the photoelectric encoder, and the output speed of the photoelectric encoder-angle The position signal adjusts the signal through the output optical coupler, realizes the signal level conversion, and electrically isolates the signal of the photoelectric encoder from the control chip. After measuring the angular position and speed of multiple joints, the information is The protocol format is encoded and transmitted to the host computer 1 through the SCI communication interface for real-time display and other processing. After the angular position information is collected by the photoelectric encoder, it needs to be uploaded to the digital signal processor for calculation. The digital signal processor performs calculations on different joints. After calculating the angular position, the code is uploaded to the upper computer 1 for detection through the SCI communication interface according to a certain protocol to realize the real-time display and detection of the angular position. In order to enable the digital signal processor to recognize the signal of the photoelectric encoder, The signal output by the photoelectric encoder needs to be level-converted.

Embodiment 6, as shown in FIG. 5, the internal circuit of the optocoupler isolation module 23 includes a processor U1, a resistor R1, a capacitor C1, a capacitor C2, and a capacitor C3. The pin A0 of the processor U1 and the capacitor C3 One end of C1 is connected, the other end of the capacitor C1 is connected to the pin A1 of the processor U1 and one end of the resistor R1 and grounded, and the other end of the resistor R1 is connected to one end of the capacitor C2 and the capacitor C3. The pin A2 of the processor U1 is connected to the ground, the other end of the capacitor C2 is connected to the pin A3 of the processor U1, and the other end of the capacitor C3 is connected to the pin A4 of the processor U1. Connection; in order to ensure that there is no mutual interference between the sensor and the digital signal processor, the signals of the two need to be electrically isolated. The optocoupler uses different power supply voltages at the input and output terminals to make the input and output signals have different levels. At the same time, since the signal propagation of the optocoupler uses light-emitting devices and optical sensitive devices, there is no electrical connection for the output signal, which realizes the electrical isolation of the signal.

In the seventh embodiment, as shown in FIG. 5, the values of the capacitor C1, the capacitor C2, and the capacitor C3 are all 0.01 μF.

The eighth embodiment, as shown in FIG. 6, the circuit inside the SCI communication interface module 26 includes a processor U2, a processor U3, a resistor R2, a resistor R3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C7, and a capacitor C8, The pin B0 of the processor U2 is connected to one end of the capacitor C4, the other end of the capacitor C4 is connected to the pin B1 of the processor U2, and the pin B2 of the processor U2 is connected to the processor U2. The pin A5 of the processor U3 is connected, the pin A6 of the processor U3 is respectively connected to one end of the resistor R2 and the resistor R3, the other end of the resistor R2 is grounded, and the other end of the resistor R3 is connected to the ground. The pin B3 of the processor U2 is connected, the pin B4 of the processor U2 is connected to one end of the capacitor C5, and the other end of the capacitor C5 is connected to the pin B5 of the processor U2. The pin B6 of the device U2 is connected to one end of the capacitor C6 and the capacitor C8 and grounded, the other end of the capacitor C6 is connected to the pin B7 of the processor U2, and the other end of the capacitor C8 is connected to the pin B7 of the processor U2. Connected to the power supply, one end of the capacitor C7 is connected to the pin B9 of the processor U2, and the other end of the capacitor C7 is connected to the pin B8 of the processor U2; the communication interface is controlled mainly by the SCI communication control register SCICCR and SCICTL control is realized, among which SCICCR mainly controls the chip to start the communication interface, set the communication mode and data format, and the register is mainly used to detect the monitoring of the state of the communication interface.

In the ninth embodiment, the capacitance values of the capacitor C4, the capacitor C5, the capacitor C6, the capacitor C7, and the capacitor C8 are all 0.1 μF, the resistance value of the resistor R2 is 2KΩ, and the resistance value of the resistor R3 is 1KΩ.

In order to facilitate the understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process will be described in detail below.

In actual application, the host computer 1 is a window for monitoring the production process, which can provide users with a simulation process display screen of the production process, and can dynamically display one or more process data in real time. When the welding robot production line is abnormal, the screen can be used Flashing, sound prompts, changes in the status text color, and print output remind the operator to deal with faults in time. The connection between the central control module 2 and each welding robot module 3 can facilitate the control of each robot, and Real-time detection through the network monitoring module 4 guarantees the accuracy of the detection, which is convenient for technical managers to complete the status detection, fault recovery, system update and upgrade work on the management platform of the host computer 1, and cooperate with the production process of the enterprise to arrange and Management realizes the reasonable flow of welding parts between work units, and improves the production efficiency and management efficiency of the enterprise.

Through the above specific embodiments, those skilled in the technical field can easily implement the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. Based on the disclosed embodiments, those skilled in the technical field can arbitrarily combine different technical features to realize different technical solutions.

Claims

A remote real-time monitoring system for a welding robot system, characterized in that it includes an upper computer (1), a central control module (2), a welding robot module (3) and a network monitoring module (4). The upper computer ( The output terminal of 1) is connected to the input terminal of the central control module (2), and the output terminal of the central control module (2) is respectively connected to the input terminal of the welding robot module (3) and the network monitoring module (4) The output end of the network monitoring module (4) is connected to the input end of the welding robot module (3), and the output end of the welding robot module (3) is connected to the acquisition module (5) and the control module (6). ), the input terminals of the motor drive module (7), the communication module (8) and the alarm module (9) are connected, and the output terminal of the acquisition module (5) is connected to the signal conditioning module (10) and the angular position detection module (11) Connect with the input terminal of the interface module (12).
The remote real-time monitoring system for a welding robot system according to claim 1, characterized in that the output end of the network monitoring module (4) is respectively connected with the auxiliary module (13), the robot module (14), and the management The authority module (15), the system setting module (16), the main interface module (17) and the query and statistics module (18) are connected.
The remote real-time monitoring system for a welding robot system according to claim 2, characterized in that the auxiliary module (13) includes interlocking, alarm and vehicle type, and the robot module (14) includes uploading files, Download files and information display, the management authority module (15) includes adding users, deleting users and modifying passwords, the system setting module (16) includes parameter settings and operating parameter settings, and the main interface module (17) includes booting Check, fixture information and parameter query. The query and statistics module (18) includes fault statistics, historical data query and year, month, and day reports.
The remote real-time monitoring system for a welding robot system according to claim 1, wherein the output end of the interface module (12) is connected to the camera module (19), the sensor module (20) and the GPRS module respectively. (21) Connection.
The remote real-time monitoring system for a welding robot system according to claim 1, wherein the angular position detection module (11) includes a photoelectric encoder module (22) and an optocoupler isolation module (23). ), angular position calculation module (24), quadrature encoding module (25), SCI communication interface module (26) and level conversion module (27). The output terminal of the photoelectric encoder module (22) is connected to the The input end of the optocoupler isolation module (23) is connected, and the output end of the optocoupler isolation module (23) is connected to the input end of the angular position resolving module (24), and the angular position resolving module (24) The output end of the quadrature encoding module (25) is connected to the input end of the quadrature encoding module (25), the output end of the quadrature encoding module (25) is connected to the input end of the SCI communication interface module (26), and the SCI communication interface The output terminal of the module (26) is connected to the input terminal of the level conversion module (27).
The remote real-time monitoring system for a welding robot system according to claim 5, wherein the circuit inside the optocoupler isolation module (23) includes a processor U1, a resistor R1, a capacitor C1, and a capacitor C2. Capacitor C3, the pin A0 of the processor U1 is connected to one end of the capacitor C1, and the other end of the capacitor C1 is respectively connected to the pin A1 of the processor U1 and one end of the resistor R1 and grounded. The other end of the resistor R1 is respectively connected to one end of the capacitor C2, one end of the capacitor C3, and the pin A2 of the processor U1 and connected to ground, and the other end of the capacitor C2 is connected to the pin A3 of the processor U1, so The other end of the capacitor C3 is connected to the pin A4 of the processor U1.
The remote real-time monitoring system for a welding robot system according to claim 6, wherein the values of the capacitor C1, the capacitor C2, and the capacitor C3 are all 0.01 μF.
The remote real-time monitoring system for a welding robot system according to claim 5, wherein the circuit inside the SCI communication interface module (26) includes a processor U2, a processor U3, a resistor R2, and a resistor R3. , Capacitor C4, capacitor C5, capacitor C6, capacitor C7, and capacitor C8, the pin B0 of the processor U2 is connected to one end of the capacitor C4, and the other end of the capacitor C4 is connected to the pin of the processor U2 B1 is connected, the pin B2 of the processor U2 is connected to the pin A5 of the processor U3, and the pin A6 of the processor U3 is connected to one end of the resistor R2 and the resistor R3, respectively. The other end of the resistor R2 is grounded, the other end of the resistor R3 is connected to the pin B3 of the processor U2, the pin B4 of the processor U2 is connected to one end of the capacitor C5, and the other end of the capacitor C5 One end is connected to the pin B5 of the processor U2, the pin B6 of the processor U2 is connected to and grounded to one end of the capacitor C6 and the capacitor C8 respectively, and the other end of the capacitor C6 is connected to the The pin B7 of the processor U2 is connected, the other end of the capacitor C8 is connected to the power supply, one end of the capacitor C7 is connected to the pin B9 of the processor U2, and the other end of the capacitor C7 is connected to the lead of the processor U2. Pin B8 is connected.
The remote real-time monitoring system for a welding robot system according to claim 8, wherein the capacitance values of the capacitor C4, the capacitor C5, the capacitor C6, the capacitor C7, and the capacitor C8 are all 0.1 μF, and the The resistance value of the resistor R2 is 2KΩ, and the resistance value of the resistor R3 is 1KΩ.