A device, method and apparatus for monitoring damage to a drag chain cable for a robot

Abstract

The application discloses a kind of damage monitoring device, method and equipment of robot drag chain cable, and the application belongs to the technical field of electric power facilities.The device comprises: starting module, for obtaining the joint operating state of robot, when joint operating state meets set condition, starting damage monitoring;Insulation layer parameter acquisition module, for obtaining the insulation layer parameter of drag chain cable;Vibration data acquisition module, for obtaining the vibration data generated by drag chain cable and robot friction;Heat generation data acquisition module, for obtaining the heat generation data generated by drag chain cable and robot friction;Damage monitoring module, for inputting insulation layer parameter, vibration data and heat generation data into damage monitoring model, and determining the damage degree of cable according to damage monitoring model.The technical scheme can accurately calculate the damage degree of drag chain cable in the joint operating process by monitoring the joint operating state of robot, timely find out safety hazard, and avoid affecting the operation of robot to reduce production efficiency.

Description

Technical Field

[0001] This application belongs to the field of power facility technology, specifically relating to a damage monitoring device, method and equipment for robot drag chain cables. Background Technology

[0002] Due to their advantages such as the ability to move with the drag chain and high flexibility, drag chain cables are often used in robots for the transmission of electrical energy or information.

[0003] Currently, drag chain cables located at robot joints, operating under extremely limited space and frequent reciprocating motion, often require not only high flexibility but also significantly higher wear resistance than ordinary cables. However, the degree of damage to drag chain cables varies depending on the robot's operating conditions, greatly increasing the difficulty of damage monitoring.

[0004] Therefore, how to detect the damage to robot drag chain cables in real time and promptly identify abnormalities is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a damage monitoring device, method, and equipment for robot drag chain cables. By monitoring the joint operation status of the robot, the degree of damage to the drag chain cable during joint operation can be accurately calculated, potential safety hazards can be detected in a timely manner, and the impact on robot operation can be avoided, thus preventing a reduction in production efficiency.

[0006] In a first aspect, embodiments of this application provide a damage monitoring device for robot drag chain cables, the device comprising:

[0007] The startup module is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0008] An insulation layer parameter acquisition module is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0009] The vibration data acquisition module is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0010] The heat generation data acquisition module is used to acquire heat generation data generated by friction between the drag chain cable and the robot;

[0011] The damage monitoring module is used to input insulation layer parameters, vibration data, and heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0012] Furthermore, the device also includes:

[0013] The task acquisition module is used to acquire the robot's current task.

[0014] The startup module is used for:

[0015] The robot's operating status is determined based on the task being performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

[0016] Furthermore, the startup module is specifically used for:

[0017] The pressure between the robot and the cable is predicted based on the robot's operating status. When the pressure exceeds a threshold, damage monitoring is activated.

[0018] Furthermore, the device also includes:

[0019] The influence weight determination module is used to determine the damage influence weight of the vibration data and the heat generation data on the drag chain cable based on the insulation layer parameters.

[0020] Accordingly, the damage monitoring module is used for:

[0021] The parameters of the damage monitoring model are adjusted based on the damage impact weights of the vibration data and heat generation data.

[0022] Furthermore, the influence weight determination module is specifically used for:

[0023] The insulation layer parameters are input into the damage weight calculation model, and the damage influence weights of the vibration data and the heat generation data on the drag chain cable are determined based on the output results of the damage weight calculation model.

[0024] Furthermore, the device also includes:

[0025] The damage monitoring model update module is used to acquire image data of the drag chain cable;

[0026] The image data is used to identify whether the damage to the drag chain cable is severe damage to its outer surface.

[0027] If so, the actual damage level of the drag chain cable is determined based on the damage condition, and if the output of the damage monitoring model does not match the actual damage level, the damage monitoring model is optimized based on the actual damage level.

[0028] Furthermore, the device also includes:

[0029] The anomaly reporting module is used to generate anomaly information and report it to the maintenance platform when the damage to the drag chain cable exceeds a set threshold.

[0030] The service life estimation module is used to estimate the remaining service life of the drag chain cable based on the degree of damage to the drag chain cable.

[0031] Secondly, embodiments of this application provide a damage monitoring method for robot drag chain cables, the method comprising:

[0032] The method includes:

[0033] Acquire the joint operating status of the robot, and initiate damage monitoring when the joint operating status meets the set conditions;

[0034] Obtain the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness;

[0035] Acquire vibration data generated by friction between the drag chain cable and the robot;

[0036] Acquire data on the heat generated by friction between the drag chain cable and the robot;

[0037] The insulation parameters, vibration data, and heat generation data are input into the damage monitoring model. Based on the output of the damage monitoring model, the degree of damage to the drag chain cable is determined.

[0038] Furthermore, the device also includes:

[0039] The task acquisition module is used to acquire the robot's current task.

[0040] Acquire the robot's joint operating status, and initiate damage monitoring when the joint operating status meets preset conditions, including:

[0041] The robot's operating status is determined based on the task being performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

[0042] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0043] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0044] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0045] In this embodiment, a startup module is used to acquire the joint operating status of the robot and, when the joint operating status meets set conditions, initiate damage monitoring; an insulation layer parameter acquisition module is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness; a vibration data acquisition module is used to acquire vibration data generated by friction between the drag chain cable and the robot; a heat generation data acquisition module is used to acquire heat generation data generated by friction between the drag chain cable and the robot; and a damage monitoring module is used to input the insulation layer parameters, the vibration data, and the heat generation data into a damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model. Through the above-mentioned damage monitoring device for robot drag chain cables, the degree of damage to the drag chain cable during joint operation can be accurately calculated by monitoring the joint operating status of the robot, timely detection of safety hazards, and prevention of reduced production efficiency due to impact on robot operation. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 1 of this application;

[0047] Figure 2 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 2 of this application;

[0048] Figure 3 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 3 of this application;

[0049] Figure 4 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 4 of this application;

[0050] Figure 5 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 5 of this application;

[0051] Figure 6 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment Six of this application;

[0052] Figure 7 This is a schematic diagram of the structure of a damage monitoring device for a robot drag chain cable provided in Embodiment 7 of this application;

[0053] Figure 8 This is a schematic flowchart of a damage monitoring method for a robot drag chain cable provided in Embodiment 8 of this application;

[0054] Figure 9 This is a schematic diagram of the structure of the electronic device provided in Embodiment 9 of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0056] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0057] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0058] The following description, in conjunction with the accompanying drawings, details a damage monitoring device, method, and equipment for robot drag chain cables provided in this application, through specific embodiments and application scenarios.

[0059] Example 1

[0060] Figure 1 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following:

[0061] The startup module 101 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0062] The insulation layer parameter acquisition module 102 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0063] Vibration data acquisition module 103 is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0064] The heat generation data acquisition module 104 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0065] The damage monitoring module 105 is used to input the insulation layer parameters, the vibration data, and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output results of the damage monitoring model.

[0066] The application scenario of this solution is that during the operation of a robot, the intelligent terminal activates damage monitoring based on the robot's joint operation status, and obtains the insulation parameters of the drag chain cable, vibration data between the drag chain cable and the robot, as well as heat generation data, and uses a damage monitoring model to predict the degree of damage to the drag chain cable.

[0067] Based on the above scenario, it is understandable that the executing entity in this scenario can be the smart terminal, such as a desktop computer, laptop computer, tablet computer, and interactive multimedia device, etc., without further restrictions here.

[0068] The startup module 101 can be a program designed by an intelligent terminal to determine whether to initiate damage monitoring based on the robot's joint operating status. Specifically, the joint operating status can refer to the operational status of each joint of the robot, such as bending, translation, or stopping. The set conditions can be pre-defined conditions used to determine whether damage monitoring is necessary; for example, when a robot joint bends, the probability of wear on the drag chain cable is higher, thus requiring damage monitoring. Damage monitoring can involve analyzing the external forces currently acting on the drag chain cable and monitoring whether the degree of damage to the cable will affect the normal operation of the cable and the robot.

[0069] One way to obtain the joint operating status of a robot is for the smart terminal to send a joint parameter acquisition request to the robot. In response to the request, the robot sends the current operating parameters of each joint to the smart terminal. The smart terminal then determines the current operating status of the robot's joints based on the data such as the movement speed and deflection angle of each joint in the operating parameters.

[0070] Damage monitoring can be initiated by having staff pre-enter pre-defined conditions via a smart terminal. The smart terminal then obtains the joint operating status from the robot and matches it against the pre-defined conditions. If any of the pre-defined conditions are detected in the joint operating status, damage monitoring is activated. For example, if the pre-defined condition is that the joint operating status is bending, then damage monitoring will be activated whenever bending occurs in any joint. If the pre-defined condition is that the joint deflection angle is greater than 5°, then damage monitoring will be activated whenever the deflection angle value in any joint operating status is greater than 5°.

[0071] The insulation layer parameter acquisition module 102 can be a program designed for a smart terminal to acquire the insulation layer parameters of the drag chain cable. Specifically, the thickness parameter can be the current insulation layer thickness of the drag chain cable; cables with a larger thickness parameter have higher wear resistance. The composition parameter can be the materials used in manufacturing the drag chain cable insulation layer and the proportions of each material. The composition parameter can affect the flexibility and wear resistance of the insulation layer. The surface roughness can be the smoothness and evenness of the outer surface of the drag chain cable insulation layer. Cables with a rougher surface are more susceptible to wear during friction.

[0072] The insulation parameters of a drag chain cable can be obtained in two ways: First, a smart terminal can retrieve the cable's model and specifications, then use big data to query relevant parameters for that model and specification of cable, extracting and storing the insulation parameters. Alternatively, staff can input the insulation parameters into designated input boxes on a smart terminal, which will then store the data.

[0073] The vibration data acquisition module 103 can be a vibration sensor, which can be installed on the cable carrier to acquire vibration data generated by friction between the cable carrier and the robot. Specifically, the vibration data can be acquired by directly fixing the vibration sensor near the point where friction occurs between the cable carrier and the robot. When the cable carrier vibrates due to friction, the housing of the vibration sensor moves with the cable carrier, and the inertial mass block inside the vibration sensor, which is elastically supported, moves relative to the housing. The recording pen installed on the mass block can then record the relative vibration displacement amplitude between the mass element and the housing. Based on the relationship between the relative vibration displacement between the inertial mass block and the housing, the vibration displacement waveform of the cable carrier can be calculated.

[0074] The heat generation data acquisition module 104 can be a temperature sensor, which can be installed in the cable carrier where it rubs against the robot. It records the heat generated during the friction between the cable carrier and the robot. In this solution, since the heat generated by friction raises the ambient temperature, temperature can be used to reflect the heat generated by friction. Specifically, the heat generation data generated by the friction between the cable carrier and the robot can be obtained by placing a temperature sensor on the cable carrier. When the cable carrier rubs against the robot, it generates heat, causing the ambient temperature at the friction point to rise. This rise affects the resistance of the thermistor in the temperature sensor at that location. The change in the thermistor's resistance causes a change in the current value in the circuit of the temperature sensor. By recording the changes in the current data, the heat generation data generated by the friction between the cable carrier and the robot can be obtained.

[0075] The damage monitoring module 105 can be a program designed by an intelligent terminal to determine the degree of damage to the drag chain cable based on insulation parameters, vibration data, and heat generation data. Specifically, the damage monitoring model can be a big data model capable of predicting the degree of damage to the drag chain cable through insulation parameters, vibration data generated when the drag chain cable rubs against the robot, and heat generation data.

[0076] One method to determine the damage level of a drag chain cable is for a smart terminal to pre-acquire multiple sets of insulation parameters, vibration data, and heat generation data of drag chain cables with known damage levels using big data. The damage level is used as a label, and the insulation parameters, vibration data, and heat generation data are used as input variables for supervised training. This allows for the acquisition of the correlation between the damage level and these parameters, thereby constructing a damage monitoring model. After acquiring the insulation parameters of the current drag chain cable, the vibration data generated when the drag chain cable rubs against the robot, and the heat generation data, these are input into the pre-built damage monitoring model. The model then provides feedback on the current damage level of the drag chain cable based on the correlation between the damage level and these parameters.

[0077] This embodiment provides some code for obtaining the robot's operating status for reference:

[0078]

[0079] In this embodiment, a startup module is used to acquire the joint operating status of the robot and, when the joint operating status meets set conditions, initiate damage monitoring; an insulation layer parameter acquisition module is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness; a vibration data acquisition module is used to acquire vibration data generated by friction between the drag chain cable and the robot; a heat generation data acquisition module is used to acquire heat generation data generated by friction between the drag chain cable and the robot; and a damage monitoring module is used to input the insulation layer parameters, the vibration data, and the heat generation data into a damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model. Through the above-mentioned damage monitoring device for robot drag chain cables, the degree of damage to the drag chain cable during joint operation can be accurately calculated by monitoring the joint operating status of the robot, timely detection of safety hazards, and prevention of reduced production efficiency due to impact on robot operation.

[0080] Example 2

[0081] Figure 2 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 2 of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes: an execution task acquisition module, used to acquire the robot's current execution task; and a startup module, used to: determine the robot's operating state based on the execution task; wherein the operating state includes at least one of the robot's running trajectory, running speed, and the reciprocating frequency of the drag chain cable.

[0082] like Figure 2 As shown, it specifically includes the following:

[0083] The startup module 201 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0084] The insulation layer parameter acquisition module 202 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0085] Vibration data acquisition module 203 is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0086] The heat generation data acquisition module 204 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0087] The damage monitoring module 205 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0088] The task acquisition module 206 is used to acquire the robot's current task.

[0089] The startup module 201 is used to determine the robot's operating status according to the task to be performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

[0090] The task acquisition module 206 can be a program designed by the intelligent terminal to acquire the robot's current task. Specifically, the method for acquiring the robot's current task can be that the intelligent terminal sends a task acquisition request to the robot, the robot responds to the request by sending the current task content to the intelligent terminal, and the intelligent terminal reads and recognizes the feedback content.

[0091] The trajectory can be the movement operations and paths required by the robot to complete the task. The operating speed can be the movement speed of each joint of the robot during task execution. The reciprocating frequency of the cable chain can be the number of reciprocating movements performed by the cable chain per unit time during the robot's task execution.

[0092] Determining the robot's operational status based on the task being performed can be achieved by identifying the task content, simulating the task completion process according to the task objective, identifying the robot joints that move during the task, and calculating the operational status of each joint. For example, if the task is to lift a leg once, the robot joints of Fashen Guidong might include the hip and knee joints. The leg-lifting process would be simulated, recording parameters such as the motion trajectory, speed, and deflection angle of the hip and knee joints, and the number of reciprocating movements of the cable chain would be determined as one based on the number of leg lifts.

[0093] The advantage of this solution is that it can predict the robot's operating status based on the robot's current task, which helps to initiate damage monitoring in time before friction occurs between the robot and the cable carrier, thereby effectively ensuring that damage anomalies in the cable carrier can be detected in a timely manner.

[0094] Example 3

[0095] Figure 3This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 3 of this application. This solution makes a further improvement on the above embodiment, specifically: the start-up module is specifically used to: predict the pressure between the robot and the cable based on the robot's operating status, and start damage monitoring when the pressure exceeds a threshold.

[0096] like Figure 3 As shown, it specifically includes the following:

[0097] The startup module 301 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0098] The insulation layer parameter acquisition module 302 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0099] Vibration data acquisition module 303 is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0100] The heat generation data acquisition module 304 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0101] The damage monitoring module 305 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0102] The task acquisition module 306 is used to acquire the robot's current task.

[0103] The startup module 301 is specifically used to predict the pressure between the robot and the cable based on the robot's operating status, and to start damage monitoring when the pressure exceeds a threshold.

[0104] The threshold can be a pre-set critical pressure value used to determine whether the pressure between the robot and the cable drag chain will cause wear to the cable drag chain.

[0105] One way to predict the pressure between the robot and the cable is to simulate the movement of each joint of the robot based on the parameter values ​​in the operating state, select the robot joint that bends, identify the contact area between the drag chain cable and the robot at the joint position, and obtain data such as the joint's movement speed and trajectory to calculate the pressure exerted by the robot joint on the drag chain cable within the contact area.

[0106] Correspondingly, damage monitoring can be initiated by obtaining the predicted pressure value between the robot and the cable, comparing the pressure data with a threshold, and triggering a damage monitoring command when the pressure value exceeds the threshold.

[0107] The advantage of this solution is that it can determine whether to activate damage monitoring based on the pressure between the robot and the cable. This helps to ensure that the damage process of the drag chain cable is monitored without missing any instances, while avoiding the waste of resources caused by frequent activation of damage monitoring.

[0108] Example 4

[0109] Figure 4 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 4 of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes: an influence weight determination module, used to determine the damage influence weights of the vibration data and the heat generation data on the drag chain cable based on the insulation layer parameters; correspondingly, the damage monitoring module is used to: adjust the parameters of the damage monitoring model based on the damage influence weights of the vibration data and the heat generation data.

[0110] like Figure 4 As shown, it specifically includes the following:

[0111] The startup module 401 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0112] The insulation layer parameter acquisition module 402 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0113] Vibration data acquisition module 403 is used to acquire vibration data generated by friction between the drag chain cable and the robot.

[0114] The heat generation data acquisition module 404 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0115] The damage monitoring module 405 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0116] The influence weight determination module 406 is used to determine the damage influence weight of the vibration data and the heat generation data on the drag chain cable based on the insulation layer parameters.

[0117] The damage monitoring module 405 is used to adjust the parameters of the damage monitoring model based on the damage influence weights of the vibration data and heat generation data.

[0118] The influence weight determination module 406 can be a program design for a smart terminal to determine the influence weights of vibration data and heat generation data on the damage of the drag chain cable based on insulation layer parameters. Specifically, the influence weights of vibration data and heat generation data on the damage of the drag chain cable can be determined by the fact that the degree of damage to the drag chain cable caused by friction-generated vibration and heat varies under different insulation layer parameters. For example, when the insulation layer has high flexibility and a smooth surface, the heat generated by friction causes greater damage to the drag chain cable than vibration.

[0119] One way to determine the weighting of vibration and heat generation data on the damage impact of drag chain cables is through a smart terminal acquiring the heat resistance and abrasion resistance corresponding to each insulation layer parameter using big data. From this, the heat resistance and abrasion resistance of the drag chain cable, consistent with the insulation layer parameters of the current drag chain cable, are extracted. The weighting of the heat generation and vibration data on the damage impact of the drag chain cable is then determined based on the heat resistance and abrasion resistance. For example, if the drag chain cable has high heat resistance, the corresponding heat generation data will have a higher damage impact weighting; if the drag chain cable has low abrasion resistance, the corresponding vibration data will have a lower damage impact weighting.

[0120] One way to adjust the parameters of the damage monitoring model is to input the weights of the impact of vibration data and heat generation data on the drag chain cable into the damage monitoring model. The damage monitoring model then determines the adjustment ratio based on the respective impact weights of the vibration data and heat generation data, and adjusts the parameters related to the vibration data and heat generation data according to the adjustment ratio.

[0121] The advantage of this approach is that it takes into account the impact of the weights of vibration data and heat generation data on the degree of damage, making the determination of the degree of damage more consistent with the actual situation and effectively improving the accuracy of the damage monitoring model.

[0122] Example 5

[0123] Figure 5 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 5 of this application. This solution makes a further improvement to the above embodiment, specifically: the influence weight determination module is specifically used to: input the insulation layer parameters into the damage weight calculation model, and determine the damage influence weights of the vibration data and the heat generation data on the drag chain cable based on the output results of the damage weight calculation model.

[0124] like Figure 5 As shown, it specifically includes the following:

[0125] The startup module 501 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0126] The insulation layer parameter acquisition module 502 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0127] Vibration data acquisition module 503 is used to acquire vibration data generated by friction between the drag chain cable and the robot.

[0128] The heat generation data acquisition module 504 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0129] The damage monitoring module 505 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0130] The influence weight determination module 506 is used to determine the damage influence weight of the vibration data and the heat generation data on the drag chain cable based on the insulation layer parameters.

[0131] Specifically, the influence weight determination module 506 is used to input the insulation layer parameters into the damage weight calculation model, and determine the damage influence weight of the vibration data and the heat generation data on the drag chain cable based on the output results of the damage weight calculation model.

[0132] The damage weight calculation model can be a big data model that can determine the weight of the damage impact of vibration data and heat generation data on drag chain cables based on insulation parameters.

[0133] The method for determining the damage impact weights of vibration and heat generation data involves pre-acquiring multiple sets of insulation parameters and their corresponding vibration and heat generation damage impact weights via a smart terminal. These weights are then used as labels, with the insulation parameters as input variables, for supervised training to establish the correlation between the insulation parameters and these weights. This allows for the construction of a damage weight calculation model. The insulation parameters of the current drag chain cable are then input into the pre-built damage weight calculation model. Based on the correlation between the insulation parameters and these weights, the model provides feedback on the damage impact weights of the vibration and heat generation data on the drag chain cable.

[0134] The advantage of this scheme is that it allows the use of a damage weighting calculation model to determine the impact weights of vibration data and heat generation data on drag chain cables under different insulation parameters, making the determination of damage impact weights more accurate and thus improving the accuracy of damage degree determination.

[0135] Example 6

[0136] Figure 6 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment Six of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes a damage monitoring model update module, used to acquire image data of the drag chain cable; identify whether the damage to the drag chain cable is severe damage to its outer surface based on the image data; if so, determine the actual degree of damage to the drag chain cable based on the damage condition, and optimize the damage monitoring model based on the actual degree of damage if the output result of the damage monitoring model does not match the actual degree of damage.

[0137] like Figure 6 As shown, it specifically includes the following:

[0138] The startup module 601 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0139] The insulation layer parameter acquisition module 602 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0140] Vibration data acquisition module 603 is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0141] The heat generation data acquisition module 604 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0142] The damage monitoring module 605 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0143] Damage monitoring model update module 606 is used to acquire image data of the drag chain cable;

[0144] The image data is used to identify whether the damage to the drag chain cable is severe damage to its outer surface.

[0145] If so, the actual damage level of the drag chain cable is determined based on the damage condition, and if the output of the damage monitoring model does not match the actual damage level, the damage monitoring model is optimized based on the actual damage level.

[0146] The damage monitoring model update module 606 can be a program designed for a smart terminal to verify the prediction results of the damage monitoring model based on image data of the drag chain cable. Specifically, severe damage to the outer surface can refer to phenomena such as surface cracking, wrinkling, or partial loss of the outer surface of the drag chain cable's insulation layer caused by external force or repeated bending.

[0147] Image data of the drag chain cable can be acquired by using an image acquisition device to photograph the point where the drag chain cable contacts the robot. When external light illuminates the pixel array in the image sensor, a photoelectric effect occurs, generating corresponding charges within the pixel units. The row selection logic unit selects the appropriate row of pixel units as needed. The image signal within each row of pixel units is transmitted via the signal bus of its respective column to the corresponding analog signal processing unit and A / D converter, where it is converted into a digital image signal output, thus acquiring the image data of the drag chain cable. The row selection logic unit can scan the pixel array row by row or interlaced. The row selection logic unit, used in conjunction with the column selection logic unit, can achieve image window extraction. The main function of the analog signal processing unit is to amplify the signal and improve the signal-to-noise ratio.

[0148] One method to identify whether the damage to a cable chain represents severe surface damage is through a smart terminal acquiring image data of the cable chain in its undamaged state using big data analytics. This image data is then compared to the undamaged image data, and areas of inconsistency between the current and undamaged images are marked. The proportion of the marked portion on the cable chain's surface is used to determine whether the damage constitutes severe surface damage. Specifically, a higher proportion of the marked portion indicates severe surface damage.

[0149] One way to optimize the damage monitoring model is to, after determining that the outer surface of the current drag chain cable is severely damaged, count the number of cracks and the damaged area on the outer surface of the current drag chain cable image data, and determine the actual degree of damage based on the number of cracks and the damaged area. This actual degree of damage is then compared with the output of the damage monitoring model. If the output of the damage monitoring model is inconsistent with the actual degree of damage, the actual degree of damage is fed back to the damage monitoring model, which then iteratively trains and adjusts its parameters based on the actual degree of damage to make the output of the damage monitoring model consistent with the actual degree of damage.

[0150] The advantage of this scheme is that it allows for the acquisition of images of the damaged locations of the drag chain cable. Based on the actual degree of damage determined from the image data, the output results of the damage monitoring model can be verified, which helps to identify problems in the damage monitoring model in a timely manner and improve the accuracy of the damage monitoring model.

[0151] Example 7

[0152] Figure 7 This is a schematic diagram of the damage monitoring device for robot drag chain cables provided in Embodiment 7 of this application. This solution makes a further improvement on the above embodiment, specifically: the device further includes: an anomaly reporting module, used to generate anomaly information and report it to the maintenance platform when the damage level of the drag chain cable exceeds a set threshold; and a service life estimation module, used to estimate the remaining service life of the drag chain cable based on the damage level of the drag chain cable.

[0153] like Figure 7 As shown, it specifically includes the following:

[0154] The startup module 701 is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions.

[0155] The insulation layer parameter acquisition module 702 is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0156] Vibration data acquisition module 703 is used to acquire vibration data generated by friction between the drag chain cable and the robot;

[0157] The heat generation data acquisition module 704 is used to acquire heat generation data generated by friction between the drag chain cable and the robot.

[0158] The damage monitoring module 705 is used to input the insulation layer parameters, the vibration data and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0159] The anomaly reporting module 706 is used to generate anomaly information and report it to the maintenance platform when the damage to the drag chain cable exceeds a set threshold.

[0160] The service life estimation module 707 is used to estimate the remaining service life of the drag chain cable based on the degree of damage to the drag chain cable.

[0161] The anomaly reporting module 706 can be a program designed for the intelligent terminal to generate anomaly information based on the degree of damage to the drag chain cable and report this information to the maintenance platform. Specifically, a threshold is set, which can be a pre-defined critical value for determining whether the current degree of damage will affect the normal operation of the robot. When the degree of damage exceeds the set threshold, the drag chain cable needs maintenance. The maintenance platform can be an information management platform that records anomalies in the drag chain cables of the robot. The intelligent terminal can report detected drag chain cable anomalies to the maintenance platform, which stores the information and prompts relevant maintenance personnel to inspect the abnormal cable. Maintenance personnel can also use the maintenance platform to query relevant information about the drag chain cable and records of historical anomalies.

[0162] The method for generating abnormal information and reporting it to the maintenance platform can be that staff pre-enter a set threshold through a smart terminal. The smart terminal compares the current damage level of the drag chain cable output by the damage monitoring model with the set threshold. When the damage level is greater than the set threshold, the smart terminal generates abnormal information based on parameters such as the location of the damaged joint, the degree of damage, and the operating status of the joint, and sends it to the maintenance platform to prompt relevant personnel to maintain the abnormal cable and avoid affecting the normal operation of the robot.

[0163] The service life estimation module 707 can be a program designed by a smart terminal to estimate the remaining service life of a drag chain cable based on the degree of damage. Specifically, the remaining service life of the drag chain cable can be estimated by having the operator pre-input a damage threshold indicating that the drag chain cable can no longer be used. The smart terminal then calculates the difference between the current damage level and the damage threshold, and based on the frequency of bending of the drag chain cable and the change in damage level caused by each bend, predicts the time it takes for the cumulative change in the damage level of the drag chain cable to reach the difference between the previous damage level and the damage threshold, and uses this time as the remaining service life of the drag chain cable.

[0164] The advantage of this setup is that it allows severely damaged cable chains to be reported to the maintenance platform, and the remaining service life of the cables can be estimated. This helps relevant personnel maintain and replace abnormal cables, ensuring the normal operation of the robot.

[0165] Example 8

[0166] Figure 8 This is a schematic flowchart of the damage monitoring method for robot drag chain cables provided in Embodiment 8 of this application. Figure 8 As shown, the specific steps include the following:

[0167] S801. Obtain the joint running status of the robot, and start damage monitoring when the joint running status meets the set conditions;

[0168] S802. Obtain the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness.

[0169] S803, acquire vibration data generated by friction between the drag chain cable and the robot;

[0170] S804. Obtain data on heat generation caused by friction between the drag chain cable and the robot;

[0171] S805. Input the insulation layer parameters, the vibration data, and the heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model.

[0172] Optionally, before acquiring the joint operating state of the robot, the method further includes:

[0173] The task acquisition module is used to acquire the robot's current task.

[0174] Acquire the robot's joint operating status, and initiate damage monitoring when the joint operating status meets preset conditions, including:

[0175] The robot's operating status is determined based on the task being performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

[0176] In this embodiment, the robot's joint operating status is acquired, and damage monitoring is initiated when the joint operating status meets set conditions. Insulation parameters of the drag chain cable are acquired; wherein the insulation parameters include at least one of thickness, composition, and surface roughness. Vibration data generated by friction between the drag chain cable and the robot are acquired; heat generation data generated by friction between the drag chain cable and the robot are acquired. The insulation parameters, vibration data, and heat generation data are input into a damage monitoring model, and the degree of damage to the drag chain cable is determined based on the output of the damage monitoring model. Through the above-described damage monitoring method for robot drag chain cables, the degree of damage to the drag chain cable during joint operation can be accurately calculated by monitoring the robot's joint operating status, allowing for timely detection of safety hazards and preventing reduced production efficiency due to impacts on robot operation.

[0177] The damage monitoring method for robot drag chain cables provided in this application corresponds to the damage monitoring device for robot drag chain cables provided in the above embodiments, and has the same functional modules and beneficial effects. To avoid repetition, it will not be described again here.

[0178] Example 9

[0179] like Figure 9As shown, this application embodiment also provides an electronic device 900, including a processor 901, a memory 902, and a program or instructions stored in the memory 902 and executable on the processor 901. When the program or instructions are executed by the processor 901, they implement the various processes of the above-described embodiment of a damage monitoring device for a robot drag chain cable and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0180] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0181] Example 10

[0182] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described embodiment of a damage monitoring device for a robot drag chain cable and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0183] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0184] Example 11

[0185] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described embodiment of a damage monitoring device for a robot drag chain cable, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0186] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0187] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0188] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0189] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0190] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A damage monitoring device for robot drag chain cables, characterized in that, The device includes: The startup module is used to acquire the joint running status of the robot and start damage monitoring when the joint running status meets the set conditions. An insulation layer parameter acquisition module is used to acquire the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness. The vibration data acquisition module is used to acquire vibration data generated by friction between the drag chain cable and the robot; The heat generation data acquisition module is used to acquire heat generation data generated by friction between the drag chain cable and the robot; The damage monitoring module is used to input insulation layer parameters, vibration data, and heat generation data into the damage monitoring model, and determine the degree of damage to the drag chain cable based on the output of the damage monitoring model. The influence weight determination module is used to input the insulation layer parameters into the damage weight calculation model, and determine the damage influence weight of the vibration data and the heat generation data on the drag chain cable based on the output results of the damage weight calculation model. The damage monitoring module is also used to adjust the parameters of the damage monitoring model according to the damage influence weights of the vibration data and heat generation data. The damage monitoring model update module is used to acquire image data of the drag chain cable; identify whether the damage of the drag chain cable is severe damage to the outer surface based on the image data; if so, determine the actual damage level of the drag chain cable based on the damage level, and optimize the damage monitoring model based on the actual damage level if the output result of the damage monitoring model does not match the actual damage level.

2. The damage monitoring device for robot drag chain cables according to claim 1, characterized in that, The device further includes: The task acquisition module is used to acquire the robot's current task. The startup module is used for: The robot's operating status is determined based on the task being performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

3. The damage monitoring device for robot drag chain cables according to claim 2, characterized in that, The startup module is specifically used for: The pressure between the robot and the cable is predicted based on the robot's operating status. When the pressure exceeds a threshold, damage monitoring is activated.

4. The damage monitoring device for robot drag chain cables according to claim 1, characterized in that, The device further includes: The anomaly reporting module is used to generate anomaly information and report it to the maintenance platform when the damage to the drag chain cable exceeds a set threshold. The service life estimation module is used to estimate the remaining service life of the drag chain cable based on the degree of damage to the drag chain cable.

5. A method for damage monitoring of a robot drag chain cable, characterized in that, The method includes: Acquire the joint operating status of the robot, and initiate damage monitoring when the joint operating status meets the set conditions; Obtain the insulation layer parameters of the drag chain cable; wherein, the insulation layer parameters include at least one of thickness parameters, composition parameters, and surface roughness; Acquire vibration data generated by friction between the drag chain cable and the robot; Acquire data on the heat generated by friction between the drag chain cable and the robot; The insulation layer parameters, the vibration data, and the heat generation data are input into the damage monitoring model. Based on the output of the damage monitoring model, the degree of damage to the drag chain cable is determined. The insulation layer parameters are input into the damage weight calculation model, and the damage influence weights of the vibration data and the heat generation data on the drag chain cable are determined based on the output results of the damage weight calculation model. The parameters of the damage monitoring model are adjusted based on the damage impact weights of the vibration data and heat generation data. Acquire image data of the drag chain cable; The image data is used to identify whether the damage to the drag chain cable is severe damage to its outer surface. If so, the actual damage level of the drag chain cable is determined based on the damage condition, and if the output of the damage monitoring model does not match the actual damage level, the damage monitoring model is optimized based on the actual damage level.

6. The damage monitoring method for robot drag chain cables according to claim 5, characterized in that, Before acquiring the joint operating state of the robot, the method further includes: Obtain the robot's current task; Acquire the robot's joint operating status, and initiate damage monitoring when the joint operating status meets preset conditions, including: The robot's operating status is determined based on the task being performed; wherein the operating status includes at least one of the robot's operating trajectory, operating speed, and reciprocating frequency of the drag chain cable.

7. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of a damage monitoring method for a robot drag chain cable as described in any one of claims 5-6.

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