Abnormal bead point inspection device and method

Abstract

The application provides an abnormal welding bead point inspection device and method, the device comprises: a welding robot, which is used for numbering a plurality of welding beads according to a welding process card; based on a preset welding abnormal parameter, monitoring welding, outputting a welding abnormal signal and a welding bead number corresponding to each welding abnormal signal to a programmable logic controller; the programmable logic controller is used for receiving the welding abnormal signal and the welding bead number corresponding to each welding abnormal signal, determining a welding bead point inspection position, and displaying the welding bead point inspection position to a user. The welding process is monitored, the point inspection position is determined according to the welding abnormal occurrence in the monitoring process and provided to the user, the point inspection workload of the user is greatly reduced, compared with the existing method of artificial indiscriminate investigation, the risk of missing point inspection is small, the inspection can be ensured to be comprehensive, and therefore the product quality is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot welding, in particular to an abnormal weld point detection device and method. BACKGROUND

[0002] Gas shielded welding is an important production process in equipment manufacturing industry, in which arc welding robot system has a very wide application in automobile parts, motorcycles, bicycles, engineering machinery, construction machinery and other fields. In the use of existing robot welding workstations, the products welded need to be detected by quality inspection personnel one by one, and for workpieces with a large number of welds, the point detection difficulty of the quality inspection personnel is increased. In actual production, especially in the welding process of automobile parts, there are many welds and the positions are scattered, so manual real-time monitoring of the welding process is impossible, and the quality inspection personnel can only check all the welds one by one for welding defects, which greatly increases the workload of the quality inspection personnel and is easy to miss, resulting in poor product quality. SUMMARY

[0003] The purpose of the present application is to provide an abnormal weld point detection device and method which can reduce the workload of point detection and improve product quality.

[0004] To achieve the above purpose, the present application provides an abnormal weld point detection device, which comprises:

[0005] a welding robot, configured to number a plurality of welds according to a welding process card; and monitor welding based on preset welding abnormal parameters, and output welding abnormal signals and weld numbers corresponding to each welding abnormal signal to a programmable logic controller.

[0006] The programmable logic controller is configured to receive the welding abnormal signals and the weld numbers corresponding to each welding abnormal signal, determine a weld point detection position, and display the weld point detection position to a user.

[0007] The present application provides an abnormal weld point detection method using the abnormal weld point detection device, which can reduce the workload of point detection and improve product quality, and the method comprises:

[0008] The welding robot numbers a plurality of welds according to a welding process card.

[0009] The welding robot monitors welding based on preset welding abnormal parameters, and outputs welding abnormal signals and weld numbers corresponding to each welding abnormal signal to a programmable logic controller.

[0010] The programmable logic controller receives the welding abnormal signals and the weld numbers corresponding to each welding abnormal signal, determines a weld point detection position, and displays the weld point detection position to a user.

[0011] The application provides a computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor implements the abnormal welding bead inspection method as described above when executing the computer program.

[0012] The application provides a computer readable storage medium, which stores a computer program, and the computer program implements the abnormal welding bead inspection method as described above when executed by a processor.

[0013] The application provides a computer program product, which includes a computer program, and the computer program implements the abnormal welding bead inspection method as described above when executed by a processor.

[0014] The embodiment of the application sets the welding robot to number a plurality of welding beads according to a welding process card; monitors welding based on preset welding abnormal parameters, and outputs welding abnormal signals and welding bead numbers corresponding to each welding abnormal signal to a programmable logic controller; and sets the programmable logic controller to receive the welding abnormal signals and the welding bead numbers corresponding to each welding abnormal signal, determine welding bead inspection positions, and display the welding bead inspection positions to a user. By monitoring the welding process, the welding bead inspection positions are determined according to welding abnormal occurrence conditions and provided to the user, which greatly reduces the workload of the user, and compared with the existing method of artificial indiscriminate investigation, the risk of missing inspection is small, the inspection can be ensured to be comprehensive, and thus the product quality is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] The following drawings are only intended to illustrate and explain the application and do not limit the scope of the application. Among them:

[0016] Figure 1 is a structural schematic diagram of an abnormal welding bead inspection device of the embodiment of the application;

[0017] Figure 2 is a structural schematic diagram of a welding robot 01 in the specific embodiment of the application;

[0018] Figure 3 is a structural schematic diagram of a programmable logic controller 02 in the specific embodiment of the application;

[0019] Figure 4 is a structural schematic diagram of a point inspection system in the specific embodiment of the application;

[0020] Figure 5 is a use flowchart of the point inspection system in the embodiment of the application;

[0021] Figure 6 is a schematic diagram of the implementation process of the abnormal welding bead inspection method of the embodiment of the application;

[0022] Figure 7 Fig. 1 is a structural schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The application will be further described below in detail with the aid of drawings and embodiments. The features and advantages of the application will become more apparent from these descriptions.

[0024] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Unless specifically stated otherwise, the drawings are not drawn to scale and the depiction of an embodiment in a drawing does not imply a certain orientation of the embodiment in use or operation.

[0025] Furthermore, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict.

[0026] The purpose of the present application is to solve the problem that the quality determination personnel after welding cannot accurately locate the weld that appears abnormal alarm position during welding, and lacks determination pertinence detection, and to provide a precise locking abnormal weld position, and to improve the efficient method of quickly determining abnormal weld after welding, therefore, the embodiment of the present application provides an abnormal weld point detection device, which is used to improve the welding quality, as shown in the figure, comprising: Figure 1

[0027] The welding robot 01 is used to number the plurality of welds according to the welding process card; based on the preset welding abnormal parameter, the welding is monitored, and the welding abnormal signal and the weld number corresponding to each welding abnormal signal are output to the programmable logic controller (PLC, Programmable Logic Controller);

[0028] The programmable logic controller 02 is used to receive the welding abnormal signal and the weld number corresponding to each welding abnormal signal, determine the weld point detection position, and display the weld point detection position to the user.

[0029] In specific embodiments, the welding robot is set to number the plurality of welds according to the welding process card; based on the preset welding abnormal parameter, the welding is monitored, and the welding abnormal signal and the weld number corresponding to each welding abnormal signal are output to the programmable logic controller; the programmable logic controller is set to receive the welding abnormal signal and the weld number corresponding to each welding abnormal signal, determine the weld point detection position, and display the weld point detection position to the user. By monitoring the welding process, the point detection position is provided to the user according to the welding abnormal occurrence, which greatly reduces the point detection workload of the user, and compared with the existing method of artificial indiscriminate investigation, the risk of missing point detection is small, which can ensure comprehensive inspection, thereby improving product quality. ​

[0030] In specific embodiments, the structure of the welding robot 01 is as shown in Figure 2 and includes:

[0031] The welding pass numbering unit 201 is configured to set a plurality of welding passes according to a welding process card, and number the plurality of welding passes.

[0032] The abnormality monitoring unit 202 is configured to receive preset welding abnormality parameters, monitor the welding process based on the welding abnormality parameters, and output an abnormality signal and the welding pass number of the abnormality occurrence to the programmable logic controller when the welding abnormality is detected.

[0033] The welding process card is a pre-planning of the welding process, similar to an engineering design drawing, which roughly plans the welding pass position and sets the trajectory of the welding robot in advance. The welding abnormality parameters include at least the current range value of the welding abnormality, the voltage range value of the welding abnormality, and the duration range value of the welding abnormality, i.e., the welding robot monitors the current and voltage during welding. If the current and voltage fall within the range set by the welding abnormality parameters, for example, if the current exceeds 30A, the voltage exceeds 20V, and the time exceeds the duration range value of the welding abnormality, for example, if the time exceeds 2 seconds, it is determined that the welding is abnormal, and an abnormality signal is output to the programmable logic controller, and the welding pass number corresponding to each abnormality signal is sent together.

[0034] In specific embodiments, the structure of the programmable logic controller is as shown in Figure 3 and includes:

[0035] The information collection unit 301 is configured to collect the welding abnormality signal output by the welding robot and the welding pass number corresponding to each welding abnormality signal.

[0036] The point inspection position determination unit 302 is configured to determine the point inspection position that needs to be inspected by the user according to the welding process picture data, the welding abnormality signal, and the welding pass number corresponding to each welding abnormality signal.

[0037] The visual display unit 303 is configured to visually display the point inspection position determined by the point inspection position determination unit to the user.

[0038] The visual display unit 303 is specifically configured to visually display the point inspection position of each welding pass to the user in sequence according to the welding pass number.

[0039] The welding process picture data refers to the corresponding distribution of the welding process on the workpiece, including the distribution of the welding pass on the surface of the workpiece and the corresponding number information. By comparing the welding abnormality signal and the welding pass number corresponding to each welding abnormality signal with the welding process picture data, the abnormal position can be obtained, thereby reminding the user (quality inspection personnel) to perform point inspection.

[0040] In order to further count the abnormal conditions of the welding bead, in specific embodiments, the programmable logic controller 02 further comprises:

[0041] The data storage unit is configured to receive the welding abnormal signal and the welding bead number corresponding to each welding abnormal signal sent by the information acquisition unit 301, store the welding bead number corresponding to the welding abnormal signal by using a queue algorithm, and record the number of abnormal welding beads.

[0042] Correspondingly, the visual display unit 303 is specifically configured to display the number of abnormal welding beads to the user, so that the user can intuitively feel the total amount of quality inspection work, and check whether the quality inspection is completed based on the number of abnormal welding beads, so as to avoid omissions.

[0043] Further, in order to more intuitively display the statistical results, so that the operator can more intuitively understand the welding condition, the programmable logic controller 02 further comprises:

[0044] The result counting unit is configured to count the welding bead number corresponding to the welding abnormal signal stored in the data storage unit in a table format, obtain a statistical data table, and send the data table to the user. The user can conveniently compare and investigate the abnormal welding bead in the past, for example, after comparing the data table of multiple welding, it is found that the abnormality of a welding bead occurs multiple times, then the production needs to be stopped, the fault causing the abnormality needs to be investigated, and the production needs to be restarted, so as to avoid frequent occurrence of defects.

[0045] In specific embodiments of the present application, a specific example is provided, as shown in Figure 4 The point inspection system developed based on the above abnormal welding bead inspection device, comprising: an arc welding robot, a PLC, a touch screen, an audible and visual indicator, and an operation confirmation button.

[0046] As shown in Figure 5 The use process of the system, first, the welding process design personnel completes the welding process card according to the characteristics of the welding workpiece, the robot programming personnel edits the robot welding program according to the requirements of the welding process card, and outputs the corresponding welding bead number value through the robot output port group in front of the corresponding welding bead. The output port group value is reset to 0 after the welding bead is completed. The PLC is connected with the robot through a bus, so as to ensure that the input of the PLC matches the welding bead encoding output port group of the robot, and the PLC can accurately obtain the encoding value of the welding bead currently executed by the robot.

[0047] In the robot demonstrator, the correct welding specification upper and lower limit values, i.e. welding abnormal parameters, are set, and the robot is guided to output an alarm port (the port corresponds to the welding alarm detection of the PLC) when the welding specification is exceeded. In order to reasonably filter the possible deviation between the actual welding specification and the set welding specification in the welding arc striking, arc collecting and welding specification number area, a reasonable filtering time is set according to the actual workpiece requirements. That is, through setting the delay time after detecting the current in the welding invalid time and the time after changing the welding condition, the unstable time interval is effectively filtered to prevent false alarms.

[0048] The operator correctly installs the parts and starts the welding task through the start button, the robot executes the current welding program, and the encoding value of the current weld is output to the monitored PLC program in real time. When the welding specification of the robot exceeds the set specification, the time exceeds the set time, the welding abnormal alarm is triggered, and the output is given to the PLC. A specific program block is edited in the PLC to collect the weld number and the welding abnormal alarm signal point, and the current abnormal weld number is stored in the specified data area through the queue algorithm, and the weld alarm number is recorded +1. The robot program continues to execute, if a new weld alarm occurs, the weld storage data area will be address incremented again according to the queue algorithm, and the weld alarm number will be +1 again.

[0049] And the robot program remembers the weld number that has occurred through the algorithm, if 2 times or more repeated alarms occur in 1 weld in actual welding, no repeated memory is made. After the robot completes the entire welding task, the PLC will output the entire welding record of the workpiece to the specified welding result storage area.

[0050] The operator unloads the finished product workpiece, if the workpiece has appeared welding abnormal alarm, the PLC will trigger the sound and light prompt alarm, and the touch screen will display the total number of the welds that have appeared alarm in the current workpiece, in the form of flashing indicator light on the fixture picture interface of the touch screen, to prompt the operator to confirm the weld number and the approximate position of the weld. The operator confirms the key welds that may have welding abnormalities according to the prompt, checks whether there are welding defects in the corresponding welds, and confirms the welds manually after the manual confirmation is completed. The weld abnormality indicator light is reset.

[0051] The operator judges the welding quality according to the inspection position prompted by the PLC, and presses the confirmation button after confirming each weld, which will automatically prompt the next abnormal weld until all abnormal welds of the workpiece are inspected. The system also provides a settable one-key inspection function, which can facilitate the operator to perform a batch confirmation after the overall inspection of multiple welds is completed, thereby greatly shortening the inspection time and improving the convenience and efficiency of the inspection.

[0052] After each workpiece welding is completed, the system also saves the current welding abnormal bead in table format, stores the data into a data table, and the maximum number of stored data is 10. This function facilitates the operator to compare and troubleshoot the abnormal bead in the past. If some individual beads frequently occur alarm in the welding process for many times, the production needs to be stopped, the process needs to be adjusted to exclude the welding abnormality, and the frequent welding defects are avoided.

[0053] The system records the invisible welding alarm, facilitates the operator to check the record of the alarm, finds the bead that has occurred alarm, and makes the visual quality determination more targeted. In addition, by storing the abnormal alarm of the 10 workpieces that have occurred recently in table format, the comparison of the alarm bead is realized, the bead that needs to be checked is found, the welding process of the key bead is optimized, the welding abnormality is excluded, and the one-time welding qualification rate of the workpiece is improved, and the product quality is improved.

[0054] Based on the same inventive concept, the embodiment of the present application also provides an abnormal bead point inspection method applied to the above abnormal bead point inspection device, the principles of the problems solved are similar, and the repeated parts will not be repeated. The specific process is as shown in Figure 6 The method comprises the following steps:

[0055] Step 601: The welding robot 01 numbers a plurality of welding beads according to a welding process card;

[0056] Step 602: The welding robot 01 monitors the welding based on a preset welding abnormality parameter, and outputs a welding abnormality signal and a welding bead number corresponding to each welding abnormality signal to the programmable logic controller 02;

[0057] Step 603: The programmable logic controller 02 receives the welding abnormality signal and the welding bead number corresponding to each welding abnormality signal, determines a welding bead inspection position, and displays the welding bead inspection position to the user.

[0058] In the implementation of step 601, the welding bead numbering unit 201 numbers a plurality of welding beads according to a welding process card. In the implementation of step 602, the abnormality monitoring unit 202 receives a preset welding abnormality parameter, monitors the welding process based on the welding abnormality parameter, and outputs an abnormality signal and a welding bead number of the abnormality when the welding abnormality is monitored to the programmable logic controller 02.

[0059] In the implementation of step 603, the following steps are included:

[0060] The information acquisition unit 301 acquires the welding abnormality signal and the welding bead number corresponding to each welding abnormality signal output by the welding robot 01;

[0061] The point inspection position determination unit 302 determines a point inspection position that needs to be inspected by a user according to the welding process picture data, the welding abnormality signals and the welding pass numbers corresponding to each welding abnormality signal.

[0062] The visual display unit 303 visually displays the point inspection position determined by the point inspection position determination unit 302 to the user.

[0063] In specific embodiments, the visual display unit 303 visually displays the point inspection position of each welding pass to the user in sequence according to the welding pass numbers.

[0064] In another specific embodiment, the data storage unit receives the welding abnormality signals and the welding pass numbers corresponding to each welding abnormality signal sent by the information collection unit 301, stores the welding pass numbers corresponding to the welding abnormality signals by using a queue algorithm and records the number of welding pass abnormalities; and the visual display unit 303 displays the number of welding pass abnormalities to the user.

[0065] Further, in another specific embodiment, the result statistics unit performs tabular statistics on the welding pass numbers corresponding to the welding abnormality signals stored by the data storage unit, obtains a statistical data table and sends the data table to the user.

[0066] The embodiment of the present application also provides a computer device, Figure 7 The present application provides a computer device,

[0067] a processor 701, a memory 702, a communications interface 703 and a communications bus 704;

[0068] The processor 701, the memory 702 and the communications interface 703 are connected to each other through the communications bus 704; the communications interface 703 is used to realize information transmission between related devices;

[0069] The processor 701 is used to call a computer program in the memory 702; the processor executes the computer program to realize the abnormal welding pass point inspection method in the above embodiment.

[0070] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the abnormal welding pass point inspection method.

[0071] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the abnormal welding bead inspection method.

[0072] The abnormal welding bead inspection device and method provided by the embodiment have the following advantages:

[0073] The welding robot is arranged to number the plurality of welding beads according to a welding process card; the welding robot is arranged to monitor the welding based on preset welding abnormal parameters, and output welding abnormal signals and welding bead numbers corresponding to each welding abnormal signal to the programmable logic controller; the programmable logic controller is arranged to receive the welding abnormal signals and the welding bead numbers corresponding to each welding abnormal signal, determine the welding bead inspection position, and display the welding bead inspection position to a user. The welding process is monitored, and the welding abnormal position is determined according to the welding abnormal occurrence in the monitoring process and provided to the user, so that the workload of the user is greatly reduced, the risk of missing inspection is small compared with the existing method of indiscriminate investigation by artificial, the inspection is ensured to be comprehensive, and the product quality is improved.

[0074] Although the present application provides the method operation steps as described in the embodiments or flowcharts, more or less operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. When the device or client product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment).

[0075] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device (system) or computer program product. Therefore, the embodiments of the present application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0076] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 an apparatus for performing the functions specified in the flowchart or multiple flows and / or blocks.

[0077] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart or multiple flows and / or blocks. Figure 1 one or more processes and / or blocks Figure 1 an apparatus for performing the functions specified in the flowchart or multiple flows and / or blocks.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart or multiple flows and / or blocks. Figure 1 one or more processes and / or blocks Figure 1 an apparatus for performing the functions specified in the flowchart or multiple flows and / or blocks.

[0079] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments. In this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0080] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application is not limited to any single aspect or embodiment, nor to any single combination and / or permutation of aspects and / or embodiments. Further, each aspect and embodiment of the present application can be used alone or in combination with one or more other aspects and embodiments.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application.

Claims

1. An abnormal weld bead inspection device, characterized in that, include: A welding robot is used to number multiple weld passes according to a welding process card, and output the corresponding weld pass number value in real time through the robot's output port group at the beginning of the weld pass, and reset the output port group value to 0 after the weld pass ends; based on preset welding abnormality parameters, the welding abnormality parameters include at least the current range value, voltage range value, and duration range value of the welding abnormality, the robot monitors the welding, and when the welding current falls into the current range value, the voltage falls into the voltage range value, and the duration meets the duration range value, the robot synchronously outputs a welding abnormality signal and the weld pass number corresponding to each welding abnormality signal to the programmable logic controller; The programmable logic controller (PLC) is used to trigger an audible and visual alarm after the welding robot completes all welding tasks. Based on the weld distribution and corresponding weld number on the workpiece surface in the welding process image data, the PLC receives welding abnormality signals and the weld number corresponding to each welding abnormality signal. The PLC compares the welding abnormality signals and the corresponding weld number with the welding process image data to determine the weld inspection location. The PLC then displays the weld inspection location to the user via a touch screen in the form of flashing indicator lights and prompts the user to confirm the inspection. After the user confirms, the PLC automatically jumps to the next abnormal weld. The welding process image data refers to the corresponding distribution of the welding process on the workpiece, including the distribution of weld beads on the workpiece surface and the corresponding weld bead numbers.

2. The abnormal weld inspection device according to claim 1, characterized in that, The welding robot includes: The weld bead numbering unit is used to set multiple weld beads according to the welding process card and to number the multiple weld beads. An anomaly monitoring unit is used to receive preset welding anomaly parameters, monitor the welding process based on the welding anomaly parameters, and when a welding anomaly is detected, output an anomaly signal and the weld number where the anomaly occurred to the programmable logic controller.

3. The abnormal weld inspection device according to claim 1, characterized in that, The programmable logic controller includes: The information acquisition unit is used to acquire the welding abnormality signals output by the welding robot and the weld number corresponding to each welding abnormality signal; The inspection location determination unit is used to determine the inspection location that needs to be inspected by the user based on the welding process image data, the welding abnormality signal and the weld number corresponding to each welding abnormality signal; The visualization display unit is used to visually display the inspection positions determined by the inspection position determination unit to the user.

4. The abnormal weld inspection device according to claim 3, characterized in that, The visualization display unit is specifically used to: visualize and display the inspection location of each weld bead to the user in the order of weld bead number.

5. The abnormal weld bead inspection device according to claim 3, characterized in that, The programmable logic controller further includes: The data storage unit is used to receive welding abnormality signals and weld bead numbers corresponding to each welding abnormality signal sent by the information acquisition unit. It uses a queue algorithm to store the weld bead numbers corresponding to the welding abnormality signals and record the number of weld bead abnormalities. The visualization unit is specifically used to display the number of weld defects to the user.

6. The abnormal weld inspection device according to claim 5, characterized in that, The programmable logic controller further includes: The result statistics unit is used to perform tabular statistics on the weld bead numbers corresponding to the welding abnormality signals stored in the data storage unit, obtain a statistical data table, and send the data table to the user.

7. A method for inspecting abnormal weld beads using the abnormal weld bead inspection device according to claims 1 to 6, characterized in that, include: According to the welding process card, the welding robot numbers the multiple weld passes and outputs the corresponding weld pass number value through the robot's real-time output port group at the beginning of the weld pass. After the weld pass is completed, the output port group value is reset to 0. The welding robot monitors the welding process based on preset welding anomaly parameters, which include at least the current range, voltage range, and duration range of the welding anomaly. When the welding current falls into the current range, the voltage falls into the voltage range, and the duration meets the duration range, the robot synchronously outputs a welding anomaly signal and the weld pass number corresponding to each welding anomaly signal to the programmable logic controller. After the welding robot completes all welding tasks, the programmable logic controller (PLC) triggers an audible and visual alarm. Based on the weld distribution and corresponding weld numbers on the workpiece surface in the welding process image data, the PLC receives welding abnormality signals and the weld number corresponding to each welding abnormality signal. It then compares the welding abnormality signals and the corresponding weld numbers with the welding process image data to determine the weld inspection location. The PLC then displays the weld inspection location to the user via a flashing indicator light on a touchscreen and prompts the user to confirm the inspection. After the user confirms, the PLC automatically jumps to the next abnormal weld. The welding process image data refers to the corresponding distribution of the welding process on the workpiece, including the distribution of weld beads on the workpiece surface and the corresponding weld bead numbers.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the abnormal weld inspection method of claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the abnormal weld inspection method of claim 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the abnormal weld inspection method of claim 7.

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