A method and device for confirming the welding theoretical cycle of a welding robot

Abstract

The present application provides a method and device for confirming the theoretical welding cycle of a welding robot, the method comprising the following steps: querying the time period S1 in which the teaching program T1 appears most frequently during the product preparation process; querying all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1; querying the time points corresponding to all teaching programs; determining the Euclidean distance between the teaching program T1 and other teaching programs according to all teaching programs and the corresponding time points; determining other teaching programs associated with the teaching program T1 according to the set Euclidean distance; determining the theoretical cycle of the product according to the duration of the teaching program T1 and other associated teaching programs. In the above technical scheme, the associated programs related to the product are determined by the Euclidean distance, and the theoretical cycle of the welding robot in producing the product is determined by the duration of the associated programs, thereby facilitating the calculation of the comprehensive equipment efficiency of the welding robot.

Description

Technical Field

[0001] The present application relates to the technical field of welding technology equipment, and in particular to a method and device for confirming a welding theoretical cycle of a welding robot. Background Art

[0002] At present, the trend of welding production operations from manual welding to automatic welding is becoming increasingly obvious, and welding robots are becoming more and more popular. Therefore, robot users are paying more and more attention to the production efficiency of welding robots. Among them, the overall equipment efficiency (OEE, Overall Equipment Effectiveness) is a key evaluation indicator, and its formula is:

[0003] OEE = time utilization rate * performance utilization rate * qualified rate

[0004] Time utilization rate = normal working time / planned working time

[0005] Performance utilization rate = processing quantity * theoretical cycle / normal working time

[0006] Qualified rate = qualified product quantity / processed quantity

[0007] Integrating the above formula, OEE = number of qualified products * theoretical cycle / planned working time.

[0008] The number of qualified products can be obtained based on the subsequent inspection process, and the planned working time can be obtained from the user's work plan, but the theoretical cycle of the processed product is not easy to obtain. Most welding robot stations are human-machine collaborative stations, that is, manual assembly, robot welding, and manual removal. Because it involves multiple factors such as manual loading and unloading and material supply, the actual cycle of processed products fluctuates within a very large range, and estimating the theoretical cycle based on experience is not conducive to providing data support for subsequent capacity improvement and operation process optimization. Summary of the invention

[0009] The embodiments of the present application provide a method and device for confirming the theoretical welding cycle of a welding robot, so as to facilitate determining the OEE performance of the welding robot.

[0010] In a first aspect, the present application provides a method for confirming a welding theoretical cycle of a welding robot, the method comprising the following steps:

[0011] Query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process;

[0012] Query all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1;

[0013] Query the time points corresponding to all teaching programs;

[0014] Determine the Euclidean distance between the teaching program T1 and other teaching programs according to all the teaching programs and corresponding time points;

[0015] Determine other teaching programs associated with the teaching program T1 according to the set Euclidean distance;

[0016] The theoretical cycle of the product is determined according to the duration of the teaching program T1 and other associated teaching programs.

[0017] In the above technical solution, the associated programs related to the product are determined by the Euclidean distance, and the theoretical cycle of the welding robot in producing the product is determined by the duration of the associated programs, thereby facilitating the calculation of the overall equipment efficiency of the welding robot.

[0018] In a specific possible implementation scheme, all the teaching programs include: teaching programs P1, P2, P3...Pn; the time points corresponding to all the teaching programs include: time points D1, D2, D3...Dm; wherein n and m are positive integers greater than 3 respectively;

[0019] The Euclidean distance between the teaching program T1 and other teaching programs is determined according to all the teaching programs and the corresponding time points; specifically:

[0020] Uniquely marking the teaching programs P1, P2, P3, ..., Pn with numbers;

[0021] The teaching programs appearing at the time points D1, D2, D3, ... Dm are identified in sequence through the teaching programs P1, P2, P3, ... Pn; when the teaching programs are the same, the digital mark corresponding to the teaching programs is recorded; when the teaching programs are different, 0 is recorded, and a matrix of n rows and m columns is formed;

[0022] Performing standardization processing on the matrix of n rows and m columns;

[0023] Calculate the Euclidean distance between the teaching program T1 and other teaching programs.

[0024] In a specific possible implementation scheme, the other teaching programs associated with the teaching program T1 are determined according to the set Euclidean distance; specifically:

[0025] When the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, the teaching program is associated with the teaching program T1.

[0026] In a specific implementation scheme, the set Euclidean distance satisfies the following formula:

[0027] In a specific implementation scheme, the theoretical cycle of the product is determined according to the duration of the teaching program T1 and other associated teaching programs as follows:

[0028] The theoretical cycle of the product is obtained by adding up the medians or averages of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1.

[0029] In a specific implementation scheme, the theoretical cycle of the product is obtained by adding the average of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1, which is specifically:

[0030] Eliminate the abnormal time in different states of all teaching programs T1 and other related teaching programs in the time period S1;

[0031] The theoretical cycle of the product is obtained by adding up the average times of different states of all teaching programs T1 and other related teaching programs after excluding abnormal time.

[0032] In a specific implementation scheme, different states of all teaching programs T1 and other related teaching programs in the time period S1 include welding in operation, idling in operation, waiting in operation, teaching, and standby.

[0033] In a specific possible implementation scheme, the method also includes: when the welding robot welds multiple products, determining the product theoretical cycle of each product; and obtaining the equipment comprehensive efficiency of the welding robot based on the product theoretical cycle of each product.

[0034] In a second aspect, a device for confirming a welding theoretical cycle of a welding robot is provided, the device comprising:

[0035] Information collection module: used to query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process; query all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1; and query the time points corresponding to all teaching programs;

[0036] A data processing module is used to determine the Euclidean distance between the teaching program T1 and other teaching programs based on all the teaching programs and corresponding time points; determine other teaching programs associated with the teaching program T1 based on the set Euclidean distance; and determine the theoretical cycle of the product based on the duration of the teaching program T1 and other associated teaching programs.

[0037] In a specific feasible implementation scheme, the data processing module is also used to uniquely digitally mark the teaching programs P1, P2, P3...Pn; identify the teaching programs that appear at time points D1, D2, D3...Dm in turn through the teaching programs P1, P2, P3...Pn; when the teaching programs are the same, record the digital mark corresponding to the teaching program; when the teaching programs are different, record 0 and form a matrix of n rows and m columns; standardize the matrix of n rows and m columns; calculate the Euclidean distance between the teaching program T1 and other teaching programs; wherein the teaching programs P1, P2, P3...Pn are all the teaching programs; the time points D1, D2, D3...Dm are the time points corresponding to all the teaching programs; n and m are positive integers greater than 3 respectively.

[0038] In a specific possible implementation scheme, the data processing module is also specifically used for when the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, then the teaching program is associated with the teaching program T1.

[0039] In a specific implementation scheme, the data processing module is also used to calculate the The Euclidean distance of the setting is determined.

[0040] In a specific implementation scheme, the data processing module is specifically used to add the medians or averages of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1 to obtain the theoretical cycle of the product.

[0041] According to a third aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods of the first aspect when executing the computer program.

[0042] According to a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any method according to the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flow chart of a method for confirming a welding theoretical cycle of a welding robot provided in an embodiment of the present application;

[0044] Figure 2 A flowchart for determining the Euclidean distance between the teaching program T1 and other teaching programs at corresponding time points for all teaching programs provided in the embodiment of the present application;

[0045] Figure 3 This is the structural block diagram of the device for confirming the welding theoretical cycle of the welding robot;

[0046] Figure 4 The present invention is a block diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The present application is further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present application will become clearer and more specific.

[0048] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0049] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should be understood by people with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this specification do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "include" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The orientation or position relationship indicated by the terms "upper", "lower", "inside", "outside", "front", "back", "left", "right", etc. is based on the orientation or position relationship under the working state of this application, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0051] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] The technical carriers involved in payment in the embodiments of this specification may include, for example, Near Field Communication (NFC), WIFI, 3G, 4G, 5G, QR code scanning technology, bar code scanning technology, Bluetooth, infrared, etc.

[0053] To facilitate understanding of the welding robot welding theoretical cycle confirmation method provided in the embodiment of the present application, its application scenario is first explained. The welding robot welding theoretical cycle confirmation method provided in the embodiment of the present application is used to confirm the OEE of the welding robot. It can be seen from the OEE formula that OEE is related to the theoretical cycle of the welding robot. In the prior art, when determining the theoretical cycle of the welding robot, it is often determined by experience, resulting in inaccurate OEE. For this reason, the embodiment of the present application provides a welding robot welding theoretical cycle confirmation method to improve the accuracy of OEE, which is described in detail below in conjunction with specific drawings and embodiments.

[0054] First, the teaching program is explained. The teaching program is manually guided by the robot end effector (the clamp, tool, welding gun, spray gun, etc. installed at the end of the robot joint structure), or manually guided by the mechanical simulation device, or the teaching box (a handheld device connected to the control system for programming or moving the robot) to complete the program compilation, so that the robot can complete the expected action. The method for confirming the welding theoretical cycle disclosed in the present application is based on identifying the welding robot when welding the same product, determining the associated teaching program, and determining the theoretical cycle of the welding robot when welding the product.

[0055] The associated teaching program in the embodiment of the present application refers to the teaching program involved in the production of the same product, and all the teaching programs involved are defined as associated teaching programs. Exemplarily, if the teaching programs involved in the production process of a product are different teaching programs such as M1, M2, M3...Mx, x is a positive integer greater than 3. Then the teaching programs M1, M2, M3...Mx are associated teaching programs. Taking the statistical theoretical cycle corresponding to a single product as an example, the steps of the confirmation method are described in detail.

[0056] The parameters involved in the method for confirming the welding theoretical cycle of a welding robot provided in the embodiment of the present application can be the teaching programs called during the operation of the robot and the execution status of each teaching program (welding during operation, idling during operation, waiting during operation, teaching, standby, alarm) recorded by the welding robot and its supporting information system.

[0057] refer to Figure 1 , Figure 1 A flow chart of a method for confirming a welding theoretical cycle of a welding robot provided in an embodiment of the present application is shown. The confirmation method comprises the following steps:

[0058] Step 001: Query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process;

[0059] Specifically, the teaching program T1 is a teaching program required in the production process of a product. For example, if the production process of a product involves different teaching programs such as M1, M2, M3...Mx, x is a positive integer greater than 3. Any of the teaching programs can be used as the teaching program T1, such as M1=T1, or M2=T1, or Mx=T1, etc.

[0060] Time period S1 is the time period corresponding to the production of the product by the welding robot, which is counted in days. For example, the situation of the robot working for one year is counted. If the teaching program T1 appears the most times in the half-year period, then the half-year period is the time period corresponding to the production of the product. In the embodiment of the present application, long-term data is used as the theoretical cycle for judging the production of the product by the welding robot, so as to obtain a more accurate theoretical cycle.

[0061] When specifically counting the teaching program, the time period S1 can be obtained by extracting data related to the teaching program from the records of the welding robot and its supporting information system, and by processing these data.

[0062] Step 002: query all teaching programs that appear in time period S1; wherein the teaching program includes teaching program T1;

[0063] Specifically, in the time period S1, there is not only the teaching program T1, but also other teaching programs. Exemplarily, all the teaching programs that appear in the time period S1 can be: teaching programs P1, P2, P3...Pn; wherein n is a positive integer greater than 3. It should be understood that the above-mentioned teaching programs P1, P2, P3...Pn include both the teaching program T1 and other teaching programs. Among them, other teaching programs include but are not limited to, teaching programs related to the production of the same product, or teaching programs corresponding to different products when producing different products.

[0064] When the above teaching program includes T1, it can be: P1 = T1, or P2 = T1, or P3 = T1 and other different situations.

[0065] Step 003: Query the time points corresponding to all teaching programs;

[0066] Specifically, each teaching program corresponds to a starting time point when it is executed. When the teaching programs are counted, the time points corresponding to each teaching program are counted. Among them, the time points corresponding to all teaching programs include: time points D1, D2, D3...Dm; m is a positive integer greater than 3. Since there are teaching programs executed multiple times in the time period S1 (such as teaching program T1), therefore, m>n.

[0067] It should be understood that within the time period S1, the product should be produced multiple times, so there will be multiple teaching programs running multiple times, and each teaching program will correspond to a time point when it is executed, so m will be much greater than n.

[0068] Step 004: determining the Euclidean distance between the teaching program T1 and other teaching programs according to all teaching programs and corresponding time points;

[0069] Specifically, a matrix is ​​constructed by taking all teaching programs in the time period S1 and recording all teaching programs and corresponding time points, and the matrix is ​​standardized to obtain the Euclidean distance between the teaching programs.

[0070] refer to Figure 2 , Figure 2 The method flow for determining the Euclidean distance between other teaching programs and the teaching program T1 is shown in FIG. 1 . The specific method for determining the Euclidean distance includes the following steps:

[0071] Step a: uniquely mark the teaching programs P1, P2, P3, ... Pn with numbers;

[0072] Specifically, when marking the teaching program, digital labels that can form a matrix are used. For example, the digital labels corresponding to the teaching programs P1, P2, P3...Pn can be: 1, 2, 3...n. That is, the teaching program P1 is marked as 1, the teaching program P2 is marked as 2; the teaching program P3 is marked as 3,... the teaching program Pn is marked as n. Of course, in addition to the digital labels in the above examples, other digital labels can also be used. For example, using digital labels such as 10, 20, 30 for correspondence can also achieve the same effect.

[0073] Step b: sequentially identifying the teaching programs appearing at the time points D1, D2, D3, ... Dm through the teaching programs P1, P2, P3, ... Pn; when the teaching programs are the same, recording the digital mark corresponding to the teaching programs; when the teaching programs are different, recording 0, and forming a matrix of n rows and m columns;

[0074] Specifically, when forming a matrix, all teaching programs P1, P2, P3...Pn are identified in correspondence with the teaching programs that appear at time points D1, D2, D3...Dm in turn. Taking the teaching program P1 as an example, the teaching program P1 is used to identify all the teaching programs that appear at time points D1, D2, D3...Dm. When the program that appears at any time point is the same as the teaching program P1, the digital mark 1 corresponding to the teaching program is recorded; when the teaching program that appears at any time point is different from the teaching program P1, 0 is recorded, thereby forming a row of m columns of numbers. To facilitate the formation of a matrix of n rows and m columns, the following example takes the digital marks corresponding to the teaching programs P1, P2, P3...Pn as 1, 2, 3...n. The specific matrix is ​​shown below:

[0075] 0,1,0,0,1,……,1,0

[0076] 2,0,2,0,0,…,0,0

[0077] 0,0,0,3,0,…,0,3

[0078] ………………………………

[0079] 0,0,0,0,n,…,0,0

[0080] It can be seen from the above matrix that in the first row of numbers, the teaching program P1 is identified one by one with the teaching programs appearing at time points D1, D2, D3...Dm. When the teaching program corresponding to time point D1 is different from the teaching program P1, it is recorded as 0; when the teaching program appearing at time point D2 is the same as the teaching program P1, the digital mark corresponding to the teaching program P1 is recorded as 1. Similarly, the teaching program is identified with the teaching programs at other time points in turn, thereby obtaining a row of numbers: 0, 1, 0, 0, 1,..., 1, 0.

[0081] Similarly, for the numbers in the second row, the third row, and the nth row in the matrix, the numbers are obtained by comparing the teaching programs P2, P3, and Pn with the teaching programs corresponding to the time points one by one in a similar way to the teaching program 1. Finally, a matrix with n rows and m columns is formed.

[0082] Step c: normalize the matrix of n rows and m columns;

[0083] Specifically, there are many matrix standardization methods, and the most commonly used one is z-score standardization. The purpose of matrix standardization is to obtain data that follows a standard normal distribution with a mean of 0 and a standard deviation of 1 through standardization. The matrix standardization method is to subtract the mean from the sample data and then divide it by the standard deviation.

[0084] Taking the above matrix of n rows and m columns as an example, after normalization, a new matrix of n rows and m columns is obtained, for example:

[0085] -0.87857237, 1.13821017, -0.87857237, …, 1.13821017, -0.878572371.14122531, -0.87625116, 1.14122531, …, -0.87625116, -0.87625116 -0.26370633, -0.26370633, -0.26370633, …, -0.26370633, 0.86734917 …………………………… -0.26370633, -0.26370633, -0.26370633, …, -0.26370633, -0.26370633

[0086] The new n-row and m-column matrix is ​​used as data for calculating the Euclidean distances between different teaching programs.

[0087] Step d: Calculate the Euclidean distance between the teaching program T1 and other teaching programs.

[0088] Specifically, the position of the teaching program T1 in the standardized matrix is ​​first determined, and the Euclidean distance d between the teaching program T1 and the other n-1 teaching programs is calculated. For example, taking P1=T1 as an example, the position of the teaching program P1 in the new matrix of n rows and m columns is first determined, and then the Euclidean distance between the other n-1 teaching programs and the teaching program P1 is determined.

[0089] It should be understood that the above-mentioned Euclidean distance is the Euclidean distance in n-dimensional space, and the specific calculation formula of the Euclidean distance will not be described in detail in the embodiments of the present application.

[0090] Step 005: Determine other teaching programs associated with the teaching program T1 according to the set Euclidean distance.

[0091] Specifically, in an embodiment of the present application, the Euclidean distance is used as a criterion for judging the associated teaching program. If the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, the teaching program is associated with the teaching program T1. That is, when the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, it is determined that T1 and the teaching program can be classified into the same category (associated). For example, P1=T1, if the Euclidean distance d between P1 and P3 is less than the set Euclidean distance, the final result is that P1 and P3 can be classified into one category, that is, P1 and P3 are highly associated, periodically appearing, and adjacent in time teaching programs, and teaching program P1 and teaching program P2 can constitute a product. Thus, the Euclidean distance is used to determine which teaching programs are required to produce the same product among all the teaching programs that appear in the time period S1.

[0092] When specifically determining the above-set Euclidean distance, the set Euclidean distance satisfies the following formula:

[0093]

[0094] Wherein, n and m are positive integers greater than 3.

[0095] Step 006: Determine the theoretical cycle of the product according to the duration of the teaching program T1 and other associated teaching programs.

[0096] Specifically, after determining that the teaching program is involved in product production, the theoretical cycle of the product can be obtained based on the duration of each teaching program. However, in the process of product production, batch production will be carried out periodically. Therefore, in order to ensure the accuracy of the statistical data. When counting the duration of the teaching program, the median or average of the time of different states of all teaching programs T1 and other related teaching programs in time period S1 is added to obtain the theoretical cycle of the product. That is, the time corresponding to all teaching programs T1 and the duration corresponding to each related teaching program are counted. Then, the median or average is used as an example for statistics from the statistical data.

[0097] The different states of all teaching programs T1 and other related teaching programs in the above time period S1 include welding in operation, running in idle mode, waiting in operation, teaching, and standby. Of course, in addition to the above time, it can also include other durations when the alarm or teaching program is running. When specifically counting the duration and taking the median or average, statistics are adopted separately. For example, taking the teaching program T1 as an example, the median or average L1 of all teaching programs T1 welding in operation is counted, the median or average L2 of all teaching programs T1 running in operation is counted, the median or average L3 of all teaching programs T1 waiting in operation is counted, the median or average L4 of all teaching programs T1 in teaching is counted; the median or average L5 of all teaching programs T1 in standby is counted. That is, the sum of the time of different states of the teaching program T1 is: L=L1+L2+L3+L4+L5. Thus, the theoretical cycle corresponding to the product is obtained by adding the median or average of each state.

[0098] It should be understood that when the theoretical cycle of the product is obtained by adding up the average time of all teaching programs T1 and other related teaching programs in different states within the time period S1, in order to avoid inaccurate data caused by abnormal conditions, the abnormal time of all teaching programs T1 and other related teaching programs in different states within the time period S1 is eliminated, and then the average time of all teaching programs T1 and other related teaching programs in different states after eliminating the abnormal time is added to obtain the theoretical cycle of the product.

[0099] In combination with the use of P1 and P3 as related teaching programs in the above steps, when counting the product cycle, the median (the most common number) of the four states of welding in operation, idling in operation, waiting in operation, teaching, and standby in all P1 and P3 operations within the S1 time period is taken and added to obtain the theoretical cycle of the product.

[0100] To facilitate understanding of the above determination of the theoretical period in the present application, the determination of the theoretical period is described in detail below with reference to the data in the exemplary Table 1.

[0101] Table 1

[0102]

[0103]

[0104] Among them, through steps 001 to 006, it is determined that teaching programs A and B are a group. When calculating the theoretical cycle corresponding to the product, the duration of teaching program A is: 0+0+10+0=10, and the duration of teaching program B is: 30+15+0+0=45. Then the theoretical cycle of the product produced by the teaching programs A and B is: A+B=55;

[0105] Through steps 001 to 006, it is determined that the teaching program C is a group, then the theoretical cycle is: 60+20+5+0=85;

[0106] Through steps 001 to 006, it is determined that teaching programs D and E are a group. When calculating the theoretical cycle corresponding to the product, the duration of teaching program D is: 120+60+0+0=180, and the duration of teaching program E is: 0+0+0+10=10. Then the theoretical cycle of the product produced by teaching programs D and E is: D+E=190.

[0107] It can be seen from Table 1 of the above example that a more accurate theoretical product cycle can be obtained by the method provided in the embodiment of the present application.

[0108] Through the above method, the theoretical cycle of the welding robot when welding a certain product can be obtained. Combined with the formula: OEE = number of qualified products * theoretical cycle / planned working time, the corresponding OEE of the welding robot for a single product in production can be obtained.

[0109] It can be seen from the above description that in the method provided in the embodiment of the present application, the associated programs related to the product are determined by the Euclidean distance, and the theoretical cycle of the welding robot to produce the product is determined by the duration of the associated programs, thereby facilitating the calculation of the comprehensive equipment efficiency of the welding robot.

[0110] When a welding robot is working, it may not produce a single product in a long period of time. When the welding robot produces multiple products, it is necessary to determine the OEE of the welding robot. The theoretical cycle of different products needs to be counted separately. The specific statistical method is as follows:

[0111] Step 007: When the welding robot welds multiple products, determine the theoretical product cycle of each product; and obtain the overall equipment efficiency of the welding robot based on the theoretical product cycle of each product.

[0112] Specifically, extract all the teaching programs T1, T2, T3...Ty with welding duration > 0 within a period of time; where y is a positive integer greater than 3. And the duration of the above-mentioned extracted period is greater than the time period S1. When determining the theoretical cycle of each product, you can refer to steps 001 to 006. Through the above steps, determine the theoretical cycle corresponding to each product when the welding robot is working. Then use the formula: OEE = number of qualified products * theoretical cycle / planned working time, where the theoretical cycle is the sum of the theoretical cycles of multiple products, the number of qualified products is also the sum of the qualified numbers of multiple different products, and the planned working time is the planned working time of the welding robot. Thereby determining the OEE corresponding to the welding robot producing different products.

[0113] like Figure 3As shown, Figure 3 A structural block diagram of a welding robot welding theoretical cycle confirmation device provided in an embodiment of the present application is shown.

[0114] The embodiment of the present application also provides a device for confirming the welding theoretical cycle of a welding robot, which includes an information acquisition module 10 and a data processing module 20. The information acquisition module 10 is used to collect information about the teaching program in the welding robot, and the data processing module 20 is used to process the information collected by the information acquisition module 10 to determine the theoretical cycle. The information acquisition module 10 and the data processing module are described below.

[0115] The information acquisition module 10 is used to query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process; query all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1; and query the time points corresponding to all teaching programs; wherein the information collected by the above information acquisition module 10 can be obtained through the welding robot and its supporting information system, and the welding robot and its supporting information system record the teaching programs called during the operation of the robot and the execution status of each teaching program (welding in operation, idling in operation, waiting in operation, teaching, standby, alarm). The information acquisition module 10 can obtain the required information through the above welding robot and its supporting information system. The above information acquisition module 10 can specifically be a data transmission port or a recording module in the welding robot and its supporting information system that records the teaching program call and execution information.

[0116] The data processing module is used to determine the Euclidean distance between the teaching program T1 and other teaching programs according to all teaching programs and corresponding time points; determine other teaching programs associated with the teaching program T1 according to the set Euclidean distance; determine the theoretical cycle of the product according to the duration of the teaching program T1 and other associated teaching programs. The above-mentioned data processing module 20 can use a PLC or a single-chip microcomputer to process the data. The specific method of processing data can refer to the description in the above-mentioned method steps.

[0117] When specifically processing data, the data processing module 20 is also used to uniquely digitally mark the teaching programs P1, P2, P3...Pn; identify the teaching programs that appear at the time points D1, D2, D3...Dm in turn through the teaching programs P1, P2, P3...Pn; when the teaching programs are the same, record the digital mark corresponding to the teaching program; when the teaching programs are different, record 0 and form a matrix of n rows and m columns; standardize the matrix of n rows and m columns; calculate the Euclidean distance between the teaching program T1 and other teaching programs; wherein the teaching programs P1, P2, P3...Pn are all teaching programs; the time points D1, D2, D3...Dm are the time points corresponding to all teaching programs; n and m are positive integers greater than 3 respectively. The specific way of processing data can refer to the description in the above method steps.

[0118] When specifically determining the association between teaching programs, the data processing module 20 is also specifically used to determine that when the Euclidean distance between any teaching program and teaching program T1 is less than the set Euclidean distance, the teaching program is associated with teaching program T1. When determining the set Euclidean distance, the data processing module 20 is also used to determine the associated teaching program according to the formula Determine the set Euclidean distance. For specific data processing methods, please refer to the description in the above method steps.

[0119] When determining the theoretical cycle, the data processing module 20 is specifically used to add the median or average of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1 to obtain the theoretical cycle of the product. The specific way of processing data can refer to the description in the above method steps.

[0120] It can be seen from the above description that in the method provided in the embodiment of the present application, the associated programs related to the product are determined by the Euclidean distance, and the theoretical cycle of the welding robot to produce the product is determined by the duration of the associated programs, thereby facilitating the calculation of the comprehensive equipment efficiency of the welding robot.

[0121] An embodiment of the present application also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, any method of the first aspect is implemented.

[0122] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program for executing any method of the first aspect.

[0123] It should be noted that the method of one or more embodiments of this specification can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of one or more embodiments of this specification, and the multiple devices will interact with each other to complete the method.

[0124] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0125] For the convenience of description, the above devices are described in terms of functions divided into various modules. Of course, when implementing one or more embodiments of this specification, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0126] The apparatus of the above-mentioned embodiment is used to implement the corresponding method in the above-mentioned embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0127] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0128] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0129] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0130] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0131] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0132] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0133] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0134] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0135] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as above, which are not provided in detail for the sake of simplicity.

[0136] In addition, to simplify the description and discussion, and in order not to obscure one or more embodiments of the present specification, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device may be shown in the form of a block diagram so as to avoid obscuring one or more embodiments of the present specification, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present specification will be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that one or more embodiments of the present specification may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0137] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0138] One or more embodiments of this specification are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of this disclosure.

[0139] The present application has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, various replacements and improvements may be made to the present application, all of which fall within the scope of protection of the present application.

Claims

1. A method for confirming the theoretical welding cycle of a welding robot. It is characterized in that The following steps are involved: Query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process; Query all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1; Query the time points corresponding to all teaching programs; Determine the Euclidean distance between the teaching program T1 and other teaching programs according to all the teaching programs and corresponding time points; Determine other teaching programs associated with the teaching program T1 according to the set Euclidean distance; The theoretical cycle of the product is determined according to the duration of the teaching program T1 and other associated teaching programs.

2. The method for confirming the welding theoretical cycle of a welding robot according to claim 1, It is characterized in that All the teaching programs include: teaching programs P1, P2, P3...Pn; the time points corresponding to all the teaching programs include: time points D1, D2, D3...Dm; wherein n and m are positive integers greater than 3 respectively; The Euclidean distance between the teaching program T1 and other teaching programs is determined according to all the teaching programs and the corresponding time points; specifically: Uniquely marking the teaching programs P1, P2, P3, ..., Pn with numbers; The teaching programs appearing at the time points D1, D2, D3, ... Dm are identified in sequence through the teaching programs P1, P2, P3, ... Pn; when the teaching programs are the same, the digital mark corresponding to the teaching programs is recorded; when the teaching programs are different, 0 is recorded, and a matrix of n rows and m columns is formed; Performing standardization processing on the matrix of n rows and m columns; Calculate the Euclidean distance between the teaching program T1 and other teaching programs.

3. The method for confirming the welding theoretical cycle of a welding robot according to claim 2, It is characterized in that The other teaching programs associated with the teaching program T1 are determined according to the set Euclidean distance; specifically: When the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, the teaching program is associated with the teaching program T1.

4. The method for confirming the welding theoretical cycle of a welding robot according to claim 3, It is characterized in that The set Euclidean distance satisfies the following formula:

5. The method for confirming the welding theoretical cycle of a welding robot according to claim 1, It is characterized in that The theoretical cycle of the product is determined according to the duration of the teaching program T1 and other associated teaching programs as follows: The theoretical cycle of the product is obtained by adding up the medians or averages of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1.

6. The method for confirming the welding theoretical cycle of a welding robot according to claim 5, It is characterized in that The theoretical cycle of the product is obtained by adding the average of the time of different states of all teaching programs T1 and other related teaching programs in the time period S1, which is specifically: Eliminate the abnormal time in different states of all teaching programs T1 and other related teaching programs in the time period S1; The theoretical cycle of the product is obtained by adding up the average times of different states of all teaching programs T1 and other related teaching programs after excluding abnormal time.

7. The method for confirming the welding theoretical cycle of a welding robot according to claim 6, It is characterized in that The different states of all teaching programs T1 and other related teaching programs in the time period S1 include welding in operation, idling in operation, waiting in operation, teaching, and standby.

8. The method for confirming the welding theoretical cycle of a welding robot according to any one of claims 1 to 7, It is characterized in that Also includes: When the welding robot welds a plurality of products, determining a theoretical product cycle of each product; And according to the theoretical product cycle of each product, the comprehensive equipment efficiency of the welding robot is obtained.

9. A welding robot welding theoretical cycle confirmation device, It is characterized in that include: Information collection module: used to query the time period S1 in which the teaching program T1 appears most frequently during the product preparation process; query all teaching programs that appear in the time period S1; wherein the teaching program includes the teaching program T1; and query the time points corresponding to all teaching programs; A data processing module is used to determine the Euclidean distance between the teaching program T1 and other teaching programs based on all the teaching programs and corresponding time points; determine other teaching programs associated with the teaching program T1 based on the set Euclidean distance; and determine the theoretical cycle of the product based on the duration of the teaching program T1 and other associated teaching programs.

10. The device for confirming the welding theoretical cycle of a welding robot according to claim 9, It is characterized in that The data processing module is also used to uniquely digitally mark the teaching programs P1, P2, P3...Pn; identify the teaching programs that appear at time points D1, D2, D3...Dm in sequence through the teaching programs P1, P2, P3...Pn; when the teaching programs are the same, record the digital mark corresponding to the teaching program; when the teaching programs are different, record 0 and form a matrix of n rows and m columns; standardize the matrix of n rows and m columns; calculate the Euclidean distance between the teaching program T1 and other teaching programs; wherein the teaching programs P1, P2, P3...Pn are all the teaching programs; the time points D1, D2, D3...Dm are the time points corresponding to all the teaching programs; n and m are positive integers greater than 3 respectively.

11. The device for confirming the welding theoretical cycle of a welding robot according to claim 10, It is characterized in that The data processing module is also specifically used for when the Euclidean distance between any teaching program and the teaching program T1 is less than the set Euclidean distance, then the teaching program is associated with the teaching program T1.

12. The welding robot welding theoretical cycle confirmation device according to claim 11, It is characterized in that The data processing module is also used to The Euclidean distance of the setting is determined.

13. The device for confirming the welding theoretical cycle of a welding robot according to claim 12, It is characterized in that The data processing module is specifically used to add the medians or averages of the time of different states of all teaching programs T1 and other associated teaching programs within the time period S1 to obtain the theoretical cycle of the product.

14. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

15. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program for executing the method according to any one of claims 1 to 8.

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