A welding robot operation monitoring device and a monitoring method thereof

Abstract

The present invention relates to the field of welding technology, and in particular to an operation monitoring device and a monitoring method of a welding robot, comprising a platform portion, a robot body, a control host, a guide rail portion, a positioning transmission portion, a linkage rod, a driving module, a collection portion and a protective shielding portion, wherein the platform portion comprises a welding table, a side seat is fixedly connected to the left side of the welding table, the robot body is installed on the upper side of the side seat, a control host is installed on the front side of the welding table, and a support frame is fixedly connected to the rear side of the welding table. In the present invention, through the robot body, the positioning transmission portion and the linkage rod and other structures that are set, when the welding gun of the robot body is displaced, the collection portion can follow the position of the welding gun in real time and monitor it without hindering the welding operation of the welding gun, and the data obtained will be transmitted to the system carried in the control host through an Internet of Things card for processing and analysis, so as to improve the welding quality of the robot body and reduce welding failures.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, in particular to an operation monitoring device of a welding robot and a monitoring method thereof. Background Art

[0002] A welding robot is a highly automated welding equipment that combines technologies from multiple fields such as mechanics, electronics, computers, sensors, and artificial intelligence, and can complete welding tasks accurately and efficiently on industrial production lines.

[0003] Existing welding robots are usually directly controlled by robot programs. After receiving the instructions, the welding robots start to work according to the commands and the issued process data. However, the welding effect finally achieved by the on-site welding robot is affected by environmental differences, equipment stability, and material consistency, and cannot reach the level of welding in the laboratory at that time. Therefore, it is necessary to ensure the safety, efficiency, and quality of the welding process through operation monitoring equipment. In order to achieve this effect, it is necessary to integrate a variety of sensors, monitoring systems, and data analysis tools to achieve comprehensive monitoring and real-time adjustment of the working status of the welding robot. Since each sensor is usually integrated on the robot, and various sensors such as vision, temperature, and smoke sensors are installed on the robot's welding gun, it is cumbersome and the welding gun may be constrained by the protrusions of each sensor during automatic welding, thereby affecting the welding process of the equipment. Therefore, based on the above problems, an operation monitoring device and a monitoring method of a welding robot are proposed. Summary of the invention

[0004] The object of the present invention is to provide an operation monitoring device and a monitoring method for a welding robot, so as to solve the problem that the welding effect of the existing welding robot on site is affected by various factors and cannot reach the welding level in the laboratory. In order to ensure the safety, efficiency and quality control of the welding process, data collection is required through monitoring equipment. The various sensors of the existing monitoring equipment are installed at the welding gun, which is cumbersome and the welding gun may be constrained by the protrusions of each sensor during automatic welding, which will further affect the welding effect of the welding robot.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A welding robot operation monitoring device and a monitoring method thereof, comprising a seat portion, a robot body, a control host, a guide rail portion, a positioning transmission portion, a linkage rod, a driving module, a collection portion and a protective shielding portion, wherein the seat portion comprises a welding table, a side seat is fixedly connected to the left side of the welding table, the robot body is installed on the upper side of the side seat, a control host is installed on the front side of the welding table, a support frame is fixedly connected to the rear side of the welding table, an upper support plate of the support frame is fixedly connected to a shaft column located on the upper side of the robot body, and a movable shaft column is fixedly connected to the lower outer side of the shaft column A rotating bearing, the outer side of the bearing is fixedly connected with a base plate, the guide rail part is installed on the left side of the base plate, the guide rail part includes a frame fixedly connected to the base plate, the inner side of the frame is provided with a slideway arranged to penetrate longitudinally, the inner side of the frame is provided with a track which penetrates the slideway transversely, the front and rear end surfaces of the frame are provided with guide grooves on both sides of the track on both sides, the positioning transmission part is installed at the guide rail part, the linkage rod is installed at the positioning transmission part and connected to the robot body, and the driving module and the acquisition part are both installed on the rear side of the positioning transmission part.

[0007] Preferably, the positioning transmission part comprises a group of two rail blocks slidably connected to the track, the facing surfaces of one group of the rail blocks are fixedly connected with a sleeve body located on the inner side of the slideway, the inner side of the sleeve body is fixedly connected with a ball sleeve, the upper and lower sides of the end surface of the rail block away from the sleeve body are fixedly connected with a bead guide frame, the bead guide frame comprises a group of two folding rods fixedly connected to the rail block, the longitudinal ends of one group of the folding rods are fixedly connected with a bead shell fitted with the frame, the grooves of the bead shells are movably connected with rolling balls slidably connected to the guide grooves, and the linkage rod comprises a rod body located on the inner side of the ball sleeve, and the lower end of the rod body is rotatably connected to There is a rotating part, the rear side of the rotating part is rotatably connected to a rotating block fixedly connected to the arm plate of the robot body, the driving module includes a base block fixedly connected to the rear bead guide frame, an electric push rod is fixedly connected in the hole of the base block, the upper end of the electric push rod is fixedly connected to a connecting piece, a rail shell whose upper end is fixedly connected to the connecting piece is slidably connected in the rear rail groove of the base block, a support frame is fixedly connected to the lower side of the rail shell, the collecting part includes a base shell fixed on the upper side of the support frame, an adjusting motor is fixedly connected to the left side of the base shell, and the driving shaft of the adjusting motor is fixedly connected to a sensor integrated box on the inner side of the base shell.

[0008] Preferably, position sensors are installed in each joint of the robot body, current and voltage sensors are installed at the power connection point of the robot body, an Internet of Things card is installed at the network communication card plug-in point of the robot body, the robot body communicates with the control host through the Internet of Things card, the welding gun of the robot body is arranged close to the arm plate, and a temperature sensor, a visual sensor and a smoke sensor are installed on the inner side of the sensor integrated box.

[0009] Preferably, the diameter of the sleeve is the same as the inner width of the slide, the outer curved surface of the sleeve fits with the inner walls on both sides of the slide, the track block is a rectangular block structure, the height of the track block is the same as the inner height of the track, the upper and lower end surfaces of the track block fit with the upper and lower inner walls of the track, the diameter of the rolling ball is the same as the inner diameter of the guide groove, and the outer curved surface of the rolling ball fits with the inner wall of the guide groove.

[0010] Preferably, the rod body is arranged vertically in the longitudinal direction, the ball sleeve is composed of a sleeve shell and multiple groups of balls arranged in a surrounding manner in the sleeve shell, the outer curved surface of the rod body is in contact with each group of balls in the ball sleeve, the adjusting motor, the electric push rod and the control host are electrically connected, and the sensor integrated box is arranged on the upper rear side of the welding gun of the robot body.

[0011] Preferably, a transmission part is installed on the inner side of the rail shell and the support frame, and the transmission part includes a pressure rod slidably connected to the inner wall of the rail shell, and the upper side of the pressure rod is fixedly connected to an elastic pull rope whose upper end is fixedly connected to the upper inner wall of the rail shell, and a guide groove is provided on the front side of the pressure rod, and a pressing piece located at the lower part of the guide groove is installed at the front opening of the rail shell. A conductive strip that fits the lower end of the pressure rod is slidably connected in the middle shell of the support frame, and the left and right sides of the rear end surface of the conductive strip are fixedly connected to springs, and the rear ends of the springs are both connected to the The inner wall of the rear side of the middle shell is fixedly connected, and the rear end surface of the conductive strip is fixedly connected to the transmission push rods located on the inner side of the tube shell of the support frame on both sides. The protective shielding part is installed on the rear side of the collection part and the driving module. The protective shielding part includes a frame plate fixedly connected to the support frame, and a storage opening is provided on the inner side of the lower part of the frame plate. Notches connected to the support frame are provided on the left and right sides of the upper part of the storage opening. A transparent partition is rotatably connected to the inner side of the storage opening, and the upper sides of the transparent partition are fixedly connected to the shifting strips located on the inner side of the notch.

[0012] Preferably, the pressing piece is composed of an elastic sheet and a protrusion, the protrusion of the pressing piece is located at the lower part of the guide groove, a spacing is set between the pressing piece and the rail groove of the base block, the rear inclined surface of the lower end of the pressure rod is fitted with the front inclined surface of the conductive strip, and a spacing is left between the rear end surface of the conductive strip and the rear inner wall of the middle shell of the support frame, the rear end of the transmission push rod is fitted with the vertically arranged shifting bar, and a through hole is opened on the inner side of the transparent partition, and after the transparent partition is rotated, the through hole is aligned with the temperature sensor of the sensor integrated box.

[0013] Preferably, the monitoring method comprises:

[0014] Step 1: During the welding process, the workpiece to be welded is placed on the welding table, and the robot body is controlled by the welding program in the host computer to automatically weld the workpiece to be welded;

[0015] Step 2: Monitoring and following. When the robot body uses its welding gun to weld the workpiece to be welded, its arm plate will move with the displacement of the welding gun, and the displacement of the arm plate will drive the linkage rod to move. It should be noted that the rotating part, rotating block and rod of the linkage rod will rotate and change with the displacement of the arm plate, but will always remain in a vertical state due to the restriction and guidance of the positioning transmission part. The displacement of the linkage rod will drive the positioning transmission part to move and slide on the guide rail part, and at the same time drive the guide rail part and the base plate to rotate with the bearing and the shaft column as the center point. The change in the position of the positioning transmission part will drive the drive module and the acquisition part to move accordingly, so that when the welding gun of the robot body moves, the acquisition part can follow the position of the welding gun in real time without hindering the welding of the welding gun, and monitor it. Then, according to the monitoring needs, the control host can be used to control the motor operation to drive the sensor integrated box to rotate, so as to adjust the monitoring angle of the sensor integrated box, control the electric push rod to contract and drive the linkage piece to move downward, and then drive the rail shell and the support frame to move downward, so as to move the sensor integrated box of the acquisition part downward, so as to adjust the monitoring height of the sensor integrated box.

[0016] Step 3: Data processing, monitoring of welding operation. On the one hand, the flame temperature, smoke, welding gun position and weld condition during welding are monitored by the sensor integrated box. On the other hand, the position sensor, current and voltage sensor installed in the robot body are used to monitor the welding gun position and the motion state of each joint of the robot body, and monitor the current and voltage changes during welding to ensure the stability and accuracy of welding parameters. The welding data and welding conditions obtained by the above monitoring will be transmitted to the system carried in the control host through the Internet of Things card communication for processing. The system can monitor the operating parameters of the robot body in real time through the above equipment and mechanism, and can analyze the welding quality of a certain weld by the robot from the recorded working parameters of the robot, so as to realize the statistics of the robot's work qualification rate. The most important thing is that due to the existence of these production parameters, for a weld that is not ideal for welding, even if there is no senior professional welding practitioner present, the specific parameters that cause the welding operation to fail to meet the standards can be located through the welding effect indicators provided by the data center, so as to improve the welding quality of the robot body and reduce welding failures. The system architecture includes client, business layer, operation support layer, service layer, data layer, database and infrastructure layer.

[0017] The client includes Party A’s platform users: these users are the main users of the data center and are responsible for monitoring and managing the operation of the platform; Party B’s center configuration personnel: these users are responsible for configuring and maintaining the various parameters and settings of the data center; welding robots: they interact directly with the data center and transmit operating data through IoT cards;

[0018] The business layer includes personnel management API: used to manage the relevant information of platform users and personnel; robot data API: used to receive and process various operating data transmitted by welding robots; robot health check: real-time monitoring of the operating status of welding robots and health checks; reporting of operating parameters: the welding robot transmits the operating parameters to the data center for aggregation and processing;

[0019] The operation support layer includes HTTP / DNS: infrastructure for supporting data transmission and network communication; gateway / load balancing Nginx: responsible for traffic management and load balancing to ensure high availability and stability of the system;

[0020] The service layer includes Party A organization management: management of Party A's various organizations and their related data; Party A personnel management: management of the information and permissions of Party A's platform users; data statistics: statistical analysis of collected data to provide decision support; data collection: data collection from welding robots and other equipment; robot management: management and maintenance of welding robot operations; process data management: management and analysis of process data during welding; data training: training data using machine learning algorithms to improve prediction and analysis capabilities; monitoring services: providing real-time monitoring of system operation status; log recording: recording various logs of system operation to facilitate troubleshooting and analysis;

[0021] The data layer includes reading and writing MySQL: processing the reading and writing operations of transactional data; reading and writing ClickHouse: processing the reading and writing operations of analytical data; data cleaning and statistics: cleaning and statistical processing of raw data to ensure the accuracy and consistency of data;

[0022] Databases include MySQL: used to store transactional data and support complex query operations; ClickHouse: used to store and analyze large-scale data and provide efficient query and analysis capabilities;

[0023] Infrastructure layer: Host system: provides computing resource support; Storage system: provides hardware support for data storage; Network system: ensures smooth and reliable data transmission; Robot IoT card: used for wireless transmission of welding robot data; System software: including operating system, middleware, etc., supports the operation of data center;

[0024] Step 4: Monitoring and protection. When the rail shell and the support frame drive the sensor integrated box of the collection part to move downward, the sensor integrated box will get closer and closer to the welding part, until the pressing piece that moves downward with the rail shell is pressed into the rail groove of the base block, indicating that the sensor integrated box is too close to the welding part and needs to be shielded and protected. The operation is as follows: when the pressing piece is pressed, it will squeeze the guide groove of the pressure rod. After the guide groove is squeezed, it will drive the pressure rod to move downward to push the conductive strip backward. The backward movement of the conductive strip will drive the transmission push rods on both sides to move backward, squeezing the pull bar of the protective shielding part. The pull bar will rotate due to the thrust, thereby driving the transparent partition connected to it to rotate. The transparent partition is rotated so that it is between the sensor integrated box and the welding point, so that the high-temperature electric sparks generated during welding will not cause thermal damage to the sensor in the sensor integrated box; when the rail shell, the support frame and the collecting part are reset upward, the pressing piece displaced with the rail shell will be separated from the rail groove of the base block, and then elastically reset due to the loss of the pressure of the rail groove, and the loss of the pressing piece's squeezing of the guide groove allows the pressure rod to be reset by the contracted elastic pull rope, so that the conductive strip and the transmission push rod can be reset by the expanded spring, and finally the transparent partition that has lost its restriction is reset by gravity and rotates to a vertical state, thereby completing the reset of the protective shielding part.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In the present invention, by setting the robot body, control host, guide rail part, positioning transmission part and linkage rod and other structures, when the robot body uses its welding gun to weld the workpiece to be welded, its arm plate will be displaced with the displacement of the welding gun, and the displacement of the arm plate will drive the linkage rod to be displaced. It should be noted that the rotating part, rotating block and rod of the linkage rod will rotate and change with the displacement of the arm plate, but will always maintain a vertical state due to the restriction and guidance of the positioning transmission part. The displacement of the linkage rod will drive the positioning transmission part to displace and slide on the guide rail part, and at the same time drive the guide rail part and the base plate to rotate with the bearing and the shaft column as the center point, and the change of the position of the positioning transmission part will drive the driving module and the acquisition part to displace accordingly, so that when the welding gun of the robot body is displaced, the acquisition part can follow the position of the welding gun in real time and monitor it without hindering the welding operation of the welding gun. The data obtained will be combined with the welding data and welding conditions obtained by monitoring each sensor in the robot body, and will be transmitted to the system carried in the control host through the Internet of Things card communication. The system can monitor the operating parameters of the robot body in real time through the above equipment and mechanism, and can analyze the welding quality of a certain weld by the robot from the recorded working parameters of the robot, so as to realize the statistics of the robot's work qualification rate. The most important thing is that due to the existence of these production parameters, for a weld that is not ideal, even if there is no senior professional welding practitioner present, the specific parameters that cause the welding operation to fail to meet the standards can be located through the welding effect indicators provided by the data center, so as to improve the welding quality of the robot body and reduce welding failures. It solves the problem that the welding effect of the existing welding robot on site is affected by various factors and cannot reach the welding level of the laboratory. In order to ensure the safety, efficiency and quality control of the welding process, data collection is required through monitoring equipment. Various sensors of the existing monitoring equipment will be installed at the welding gun, which is cumbersome and the welding gun may be constrained by the protrusions of each sensor during automatic welding, which will affect the welding effect of the welding robot.

[0027] 2. In the present invention, by setting structures such as the collection part, the protective shielding part and the transmission part, when the rail shell and the support frame drive the sensor integrated box of the collection part to move downward, the sensor integrated box will get closer and closer to the welding point, until the pressing piece that moves downward with the rail shell is pressed into the rail groove of the base block, indicating that the sensor integrated box is too close to the welding point and needs to be shielded and protected. At this time, the pressure rod, the conductive bar and the transmission push rod will be moved by the pressure of the pressing piece, and the dial bar of the protective shielding part will be rotated, thereby driving the transparent partition connected to it to rotate, so that the rotated transparent partition is between the sensor integrated box and the welding point, so that the high-temperature electric sparks generated during welding will not cause thermal damage to the sensor in the sensor integrated box, and the monitoring equipment can automatically protect the sensors used for monitoring when it is too close to the welding point, which solves the problem that the welding robot will generate scattered electric sparks during welding, and the electric sparks will cause local high temperature when contacting the sensor, thereby causing thermal damage to the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 For the present invention Figure 1 Schematic diagram of the structure viewed from above;

[0030] Figure 3 It is a structural schematic diagram of the seat portion of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the guide rail portion of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the positioning conduction part of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the bead guide frame of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the linkage rod of the present invention;

[0035] Figure 8 It is a bottom view structural schematic diagram of the collecting part of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the driving module of the present invention;

[0037] Fig.10 For the present invention Fig. 9 Another perspective structural diagram of;

[0038] Fig.11 It is a schematic cross-sectional view of the rail housing and the support frame of the present invention;

[0039] Fig.12For the present invention Fig.11 A schematic diagram of the structure at A;

[0040] Fig.13 It is a structural schematic diagram of the collection part of the present invention;

[0041] Fig.14 It is a schematic structural diagram of the protective shielding part of the present invention;

[0042] Fig.15 For the present invention Fig.14 Schematic diagram of the split structure;

[0043] Fig.16 It is a schematic diagram of the structural framework of the control host mounting system of the present invention.

[0044] In the figure: 1, seat; 11, welding table; 12, side seat; 13, support frame; 14, shaft column; 15, bearing; 16, base plate; 2, robot body; 3, control host; 4, guide rail; 41, frame; 42, slide; 43, track; 44, guide groove; 5, positioning transmission part; 51, rail block; 52, sleeve; 53, ball sleeve; 54, guide frame; 541, folding rod; 542, bead shell; 543, ball; 6, linkage rod; 61, rod body; 62, rotating member; 63, rotating block; 7, Driving module; 71. base block; 72. electric push rod; 73. connecting plate; 74. rail shell; 75. support frame; 76. transmission part; 761. elastic pull rope; 762. pressure rod; 763. guide groove; 764. pressing piece; 765. conduction strip; 766. spring; 767. transmission push rod; 8. collection part; 81. base shell; 82. adjustment motor; 83. sensor integrated box; 9. protective shielding part; 91. frame plate; 92. storage port; 93. notch; 94. transparent partition; 95. dial strip. DETAILED DESCRIPTION

[0045] See also Figure 1-16 , the present invention provides a technical solution:

[0046] A welding robot operation monitoring device and a monitoring method thereof, comprising a platform portion 1, a robot body 2, a control host 3, a guide rail portion 4, a positioning and conducting portion 5, a linkage rod 6, a drive module 7, a collection portion 8 and a protective shielding portion 9, wherein the platform portion 1 comprises a welding platform 11, a side seat 12 is fixedly connected to the left side of the welding platform 11, the robot body 2 is installed on the upper side of the side seat 12, the control host 3 is installed on the front side of the welding platform 11, a support frame 13 is fixedly connected to the rear side of the welding platform 11, a shaft column 14 located on the upper side of the robot body 2 is fixedly connected to the lower side of the upper support plate of the support frame 13, a rotatable bearing 15 is fixedly connected to the outer side of the lower part of the shaft column 14, a base plate 16 is fixedly connected to the outer side of the bearing 15, the guide rail portion 4 is installed on the left side of the base plate 16, and the guide rail portion 4 The robot body 10 comprises a frame 41 fixedly connected to the base plate 16, a slideway 42 longitudinally penetrating the frame 41 is provided on the inner side of the frame 41, a track 43 penetrating the slideway 42 transversely is provided on the inner side of the frame 41, guide grooves 44 on both sides of the track 43 are provided on the upper and lower sides of the front and rear end surfaces of the frame 41, a positioning transmission part 5 is installed at the guide rail part 4, a linkage rod 6 is installed at the positioning transmission part 5 and connected to the robot body 2, a driving module 7 and a collection part 8 are both installed at the rear side of the positioning transmission part 5, the positioning transmission part 5 comprises a group of two rail blocks 51 slidably connected to the track 43, a group of rail blocks 51 have opposite surfaces fixedly connected to a sleeve 52 on the inner side of the slideway 42, a ball sleeve 53 is fixedly connected to the inner side of the sleeve 52, and a ball sleeve 53 is fixedly connected to the inner side of the sleeve 52, and a ball sleeve 53 is fixedly connected to the inner side of the rail block 51 away from the sleeve 5 2 is fixedly connected with a bead guide frame 54 on both upper and lower sides of the end surface, and the bead guide frame 54 includes a group of two folding rods 541 fixedly connected to the rail block 51, and a bead shell 542 that fits the frame 41 is fixedly connected to the longitudinal end of one group of folding rods 541, and a ball 543 that is slidably connected to the guide groove 44 is movably connected in the groove of the bead shell 542. The linkage rod 6 includes a rod body 61 located on the inner side of the ball sleeve 53, and the lower end of the rod body 61 is rotatably connected to a rotating member 62, and the rear side of the rotating member 62 is rotatably connected to a rotating block 63 fixedly connected to the arm plate of the robot body 2. The driving module 7 includes a base block 71 fixedly connected to the rear side bead guide frame 54, and an electric push rod 72 is fixedly connected in the hole of the base block 71, and a linkage piece 73 is fixedly connected to the upper end of the electric push rod 72 A rail shell 74 whose upper end is fixedly connected to the linkage piece 73 is slidably connected in the rail groove on the rear side of the base block 71, and a support frame 75 is fixedly connected to the lower side of the rail shell 74. The collecting part 8 includes a base shell 81 fixed on the upper side of the support frame 75, and an adjusting motor 82 is fixedly connected to the left side of the base shell 81. The driving shaft of the adjusting motor 82 is fixedly connected to the sensor integrated box 83 on the inner side of the base shell 81. Through this arrangement, when the robot body 2 uses its welding gun to weld the workpiece to be welded, its arm plate will move with the displacement of the welding gun, and the displacement of the arm plate will drive the linkage rod 6 to move, and the displacement of the linkage rod 6 will drive the positioning transmission part 5 to move and slide on the guide rail part 4, and at the same time drive the guide rail part 4 and the base plate 16 to rotate with the bearing 15 and the shaft column 14 as the center point.The change in the position of the positioning transmission part 5 will drive the driving module 7 and the acquisition part 8 to move accordingly, so that when the welding gun of the robot body 2 moves, the acquisition part 8 can follow the position of the welding gun in real time and monitor it without hindering the welding of the welding gun; position sensors are installed in each joint of the robot body 2, and current and voltage sensors are installed at the power connection point of the robot body 2. Through this setting, the sensors in the robot body 2 can monitor the position of the welding gun, the movement state of each joint of the robot body 2, and the current and voltage changes during the welding process to ensure the stability and accuracy of the welding parameters. The network communication of the robot body 2 An Internet of Things card is installed at the card insertion place, and the robot body 2 communicates with the control host 3 through the Internet of Things card. Through this setting, the robot body 2 can transmit data with the control host 3. The welding gun of the robot body 2 is set close to the arm plate. Through this setting, the acquisition part 8 driven by the displacement of the arm plate can follow the welding gun in real time. The inner side of the sensor integrated box 83 is installed with a temperature sensor, a visual sensor, and a smoke sensor. Through this setting, the sensor integrated box 83 can monitor the flame temperature, smoke conditions, welding gun position and weld conditions during welding; the diameter size of the sleeve 52 is the same as the inner width size of the slide 42, and the outer curved surface of the sleeve 52 is the same as the inner width size of the slide 42. The inner walls of both sides of the slideway 42 fit together, and this arrangement allows the displacement of the sleeve 52 in the slideway 42 to remain stable. The track block 51 is a rectangular block structure, and the height of the track block 51 is the same as the inner height of the track 43. The upper and lower end faces of the track block 51 fit together with the upper and lower inner walls of the track 43. This arrangement prevents the sleeve 52 from rotating in the vertical direction. The diameter of the ball 543 is the same as the inner diameter of the guide groove 44, and the outer curved surface of the ball 543 fits together with the inner wall of the guide groove 44. This arrangement allows the displacement of the ball 543 in the guide groove 44 to remain stable. The rod body 61 is arranged vertically in the longitudinal direction, and the ball sleeve 53 is composed of a sleeve shell and multiple groups of balls in the sleeve shell. The outer curved surface of the rod body 61 is fitted with each group of balls of the ball sleeve 53. This arrangement improves the sliding performance between the rod body 61 and the positioning transmission part 5, so that the rod body 61 can be flexibly displaced up and down, and the rod body 61 can be limited in the vertical direction, so that the rod body 61 always maintains a vertical state. The adjustment motor 82, the electric push rod 72 and the control host 3 are electrically connected. Through this arrangement, the control host 3 can control the operation of the adjustment motor 82 and the electric push rod 72. The sensor integrated box 83 is arranged on the upper rear side of the welding gun of the robot body 2. Through this arrangement, the sensor integrated box 83 can collect data on the welding gun area.

[0047] like Figure 1 , Figure 8 , Figure 11-Figure 12 , Figure 14-15As shown, a transmission part 76 is installed on the inner side of the rail housing 74 and the support frame 75. The transmission part 76 includes a pressure rod 762 slidably connected to the inner wall of the rail housing 74, and an elastic pull rope 761 whose upper end is fixedly connected to the upper inner wall of the rail housing 74 is fixedly connected to the upper side of the pressure rod 762. A guide groove 763 is opened on the front side of the pressure rod 762, and a pressing piece 764 located at the lower part of the guide groove 763 is installed at the front opening of the rail housing 74. A conductive strip 765 that fits the lower end of the pressure rod 762 is slidably connected in the middle shell of the support frame 75. The left and right sides of the rear end surface of the conductive strip 765 are fixedly connected with springs 766, and the rear ends of the springs 766 are fixedly connected to the inner wall of the rear side of the middle shell of the support frame 75. The left and right sides of the rear end surface of the conductive strip 765 are fixedly connected with transmission push rods 767 located inside the tube shell of the support frame 75. The protective shielding part 9 is installed on the rear side of the collection part 8 and the driving module 7. The protective shielding part 9 includes a frame plate 91 fixedly connected to the support frame 75. The lower inner side of the frame plate 91 is provided with a receiving port 92, and the upper left and right sides of the receiving port 92 are provided with The notch 93 connected to the support frame 75 and the inner side of the storage opening 92 are rotatably connected with a transparent partition 94, and both sides of the upper part of the transparent partition 94 are fixedly connected with a lever 95 located on the inner side of the notch 93. Through this arrangement, when the rail shell 74 and the support frame 75 drive the sensor integrated box 83 of the collection part 8 to move downward, the sensor integrated box 83 will get closer to the welding position until the pressing piece 764 that moves downward with the rail shell 74 is pressed into the rail groove of the base block 71, indicating that the sensor integrated box 83 is too close to the welding position and needs to be shielded and protected. At this time, the pressing rod 762, the conductive strip 765 and the transmission push rod 767 are moved by the pressing of the pressing member 764, pushing the lever 95 of the protective shielding part 9 to rotate, thereby driving the transparent partition 94 connected thereto to rotate, so that the rotated transparent partition 94 is located between the sensor integrated box 83 and the welding part, so that the high-temperature electric sparks generated during welding will not cause thermal damage to the sensor in the sensor integrated box 83, so that the monitoring equipment can automatically protect the monitoring sensor when it is too close to the welding part;The pressing piece 764 is composed of an elastic sheet and a protrusion. Through this arrangement, the pressing piece 764 can automatically reset when the external pressure is lost. The protrusion of the pressing piece 764 is located at the lower part of the guide groove 763. Through this arrangement, when the pressing piece 764 is pressed by the outside, it can squeeze the guide groove 763 to move the pressure rod 762 downward. A spacing is set between the pressing piece 764 and the track groove of the base block 71. Through this arrangement, when the track shell 74 moves down to a certain size, the pressing piece 764 will be pressed into the track groove of the base block 71, and the rear inclined surface of the lower end of the pressure rod 762 is in contact with the front inclined surface of the conductive strip 765. The rear inclined surface of the conductive strip 765 There is a gap between the end surface and the rear inner wall of the middle shell of the support frame 75. Through this arrangement, the downward movement of the pressure rod 762 will push the conductive strip 765 backward, and the rear end of the transmission push rod 767 will fit with the vertically arranged pick 95. Through this arrangement, when the transmission push rod 767 moves backward, it will squeeze and pick the pick 95. A through hole is opened on the inner side of the transparent partition 94. After the transparent partition 94 rotates, the through hole is aligned with the temperature sensor of the sensor integrated box 83. Through this arrangement, the transparent partition 94 after rotation will protect the sensors other than the temperature sensor, so that the monitoring of the temperature sensor can be unaffected by the transparent partition 94. ;

[0048] Workflow: The operation of the operation monitoring equipment and the monitoring method of the welding robot is as follows. Note 1: The electrical appliances of this equipment are all powered by an external power supply, and the robot body 2 needs to be used with an external welding machine; Note 2: The sleeve 52 of the positioning conduction part 5 is affected by the sliding connection between the rail blocks 51 on both sides and the track 43, and cannot be rotated in the vertical direction, and is restricted by the bead guide frames 54 on both sides so that the sleeve 52 cannot be rotated horizontally. Through the above restrictions, the sleeve 52 and the ball sleeve 53 can only be translated along the guide rail part 4, so as to ensure that the rod body 61 in the ball sleeve 53 always remains in a vertical setting; during the welding process, the workpiece to be welded is placed on the welding table 11, and the robot body 2 is controlled by the welding program in the control host 3 to automatically weld the workpiece to be welded; monitoring and following, when the robot body 2 welds the workpiece to be welded through its welding gun, its arm plate will move with the displacement of the welding gun, and the displacement of the arm plate will drive the linkage rod 6 to move. It should be noted that the linkage rod 6 has its rotating member 62, rotating block 63 and rod body 61 will rotate and change with the displacement of the arm plate, but it will always remain in a vertical state due to the restriction and guidance of the positioning transmission part 5. The displacement of the linkage rod 6 will drive the positioning transmission part 5 to slide on the guide rail part 4, and at the same time drive the guide rail part 4 and the base plate 16 to rotate with the bearing 15 and the shaft column 14 as the center point. The change in the position of the positioning transmission part 5 will drive the driving module 7 and the acquisition part 8 to move accordingly, so that when the welding gun of the robot body 2 is displaced, the acquisition part 8 can follow the position of the welding gun in real time and monitor it without hindering the welding of the welding gun. Then, according to the monitoring needs, the control host 3 can control the adjustment motor 82 to drive the sensor integrated box 83 to rotate, so as to adjust the monitoring angle of the sensor integrated box 83, control the electric push rod 72 to contract and drive the linkage plate 73 to move downward, and then drive the rail shell 74 and the support frame 75 to move downward, so as to move the sensor integrated box 83 of the acquisition part 8 downward, so as to adjust the monitoring height of the sensor integrated box 83.Data processing, monitoring of welding operation conditions, on the one hand, monitors the flame temperature, smoke conditions, welding gun position and weld conditions during welding through the sensor integrated box 83, and on the other hand, it is necessary to monitor the welding gun position and the movement state of each joint of the robot body 2 through the position sensor, current and voltage sensor installed in the robot body 2, and monitor the current and voltage changes during welding to ensure the stability and accuracy of welding parameters. The welding data and welding conditions obtained by the above monitoring will be transmitted to the system carried in the control host 3 through the Internet of Things card communication for processing. The system can monitor the operating parameters of the robot body 2 in real time through the above equipment and mechanism, and can analyze the welding quality of the robot for a certain weld from the recorded working parameters of the robot, thereby realizing the statistics of the robot's work qualification rate. The most important thing is that due to the existence of these production parameters, for a weld that is not ideal for welding, even if there is no senior professional welding practitioner present, the welding effect indicators provided by the data center can be used to locate the welding cause. The specific parameters that do not meet the standards of the industry are used to improve the welding quality of the robot body 2 and reduce welding failures. The algorithm steps are as follows: 1. Data collection and transmission: The welding robot and the collection unit 8 collect data such as current, voltage, flame temperature, welding gun position, and weld condition during the welding process; the data is transmitted to the data service through the Internet of Things card and the HTTPS protocol. 2. Data reception and preprocessing: The data service layer receives the data and performs preliminary cleaning and verification; HTTP / DNS is used to transmit the data to the storage layer. 3. Data storage: The data storage layer uses the ClickHouse database for efficient storage, supports fast query and analysis of large-scale data, and the MySQL database is used to store transactional data. 4. Data analysis: The data analysis layer uses machine learning algorithms to process the stored data; the algorithm steps include data preprocessing, feature extraction, model training, prediction, and evaluation. 5. Data display: The data application layer displays the analysis results and real-time data through the front-end interface (Vue3+Vuetify) to achieve data visualization and user interaction;Monitoring and protection, when the rail shell 74 and the support frame 75 drive the sensor integrated box 83 of the collection part 8 to move downward, the sensor integrated box 83 will get closer and closer to the welding position, until the pressing piece 764 that moves downward with the rail shell 74 is pressed into the rail groove of the base block 71, indicating that the sensor integrated box 83 is too close to the welding position and needs to be shielded and protected. The operation is as follows: the pressing piece 764 is pressed by the rail groove of the base block 71 to squeeze the guide groove 763 of the pressure rod 762, so that the guide groove 763 is squeezed and the pressure rod 762 is driven to move downward to push the conductive strip 765 backward. The backward movement of the conductive strip 765 will drive the transmission push rods 767 on both sides to move backward, squeezing the pull bar 95 of the protective shielding part 9. The pull bar 95 is affected by the thrust and rotates, thereby driving the transparent partition 94 connected thereto to rotate, so that the rotated transparent partition The plate 94 is located between the sensor integrated box 83 and the welding part, so that the high-temperature electric sparks generated during welding will not cause thermal damage to the sensor in the sensor integrated box 83. When the rail shell 74, the support frame 75 and the collection part 8 are reset upward, the pressing member 764 displaced with the rail shell 74 will be separated from the rail groove of the base block 71, and then elastically reset due to the loss of the pressure of the rail groove, and the pressure of the pressing member 764 on the guide groove 763 is lost, so that the pressure rod 762 can be reset by the contracted elastic pull rope 761, and the conductive strip 765 and the transmission push rod 767 can be reset by the expanded spring 766. Finally, the transparent partition 94 without restriction is reset and rotated to a vertical state under the influence of gravity, thereby completing the reset of the protective shielding part 9, so that the monitoring equipment can automatically protect the monitoring sensor when it is too close to the welding part. ;

[0049] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above are only preferred implementation methods of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. An operation monitoring device for a welding robot, comprising a platform portion (1), a robot body (2), a control host (3), a guide rail portion (4), a positioning transmission portion (5), a linkage rod (6), a drive module (7), a collection portion (8) and a protective shielding portion (9), characterized in that: The seat portion (1) comprises a welding table (11), the left side of the welding table (11) is fixedly connected to a side seat (12), the robot body (2) is mounted on the upper side of the side seat (12), the front side of the welding table (11) is mounted with a control host (3), the rear side of the welding table (11) is fixedly connected to a support frame (13), the lower side of the upper support plate of the support frame (13) is fixedly connected to a shaft column (14) located on the upper side of the robot body (2), the lower outer side of the shaft column (14) is fixedly connected to a rotatable bearing (15), the outer side of the bearing (15) is fixedly connected to a base plate (16), the guide rail portion (4) is mounted on the left side of the base plate (16), and the guide rail portion (4) comprises a frame body (14) fixedly connected to the base plate (16) 41), a slideway (42) is provided on the inner side of the frame (41) in a longitudinally penetrating manner, a track (43) is provided on the inner side of the frame (41) and passes through the slideway (42) in a transverse manner, guide grooves (44) are provided on both sides of the track (43) on the upper and lower sides of the front and rear end surfaces of the frame (41), the positioning transmission part (5) is installed at the guide rail part (4), the linkage rod (6) is installed at the positioning transmission part (5) and connected to the robot body (2), the driving module (7) and the collection part (8) are both installed on the rear side of the positioning transmission part (5), the positioning transmission part (5) includes a group of two track blocks (51) slidably connected to the track (43), and the facing surfaces of a group of the track blocks (51) are fixedly connected to the guide rail part (4). A sleeve (52) is disposed on the inner side of the slideway (42), a ball sleeve (53) is fixedly connected to the inner side of the sleeve (52), a bead guide frame (54) is fixedly connected to the upper and lower sides of the end surface of the track block (51) away from the sleeve (52), the bead guide frame (54) comprises a group of two folding rods (541) fixedly connected to the track block (51), a group of folding rods (541) are fixedly connected to a bead shell (542) that fits the frame (41) at the longitudinal end, the grooves of the bead shells (542) are movably connected to the balls (543) that are slidably connected to the guide groove (44), the linkage rod (6) comprises a rod body (61) disposed on the inner side of the ball sleeve (53), the lower end of the rod body (61) is rotatably connected to a rotating member (62) ), the rear side of the rotating member (62) is rotatably connected to a rotating block (63) fixedly connected to the arm plate of the robot body (2), the driving module (7) comprises a base block (71) fixedly connected to the rear bead guide frame (54), an electric push rod (72) is fixedly connected in a hole of the base block (71), the upper end of the electric push rod (72) is fixedly connected to a linkage plate (73), a rail shell (74) whose upper end is fixedly connected to the linkage plate (73) is slidably connected in a rail groove on the rear side of the base block (71), a support frame (75) is fixedly connected to the lower side of the rail shell (74), the collecting part (8) comprises a base shell (81) fixed to the upper side of the support frame (75), and an adjusting motor (82) is fixedly connected to the left side of the base shell (81),The driving shaft of the regulating motor (82) is fixedly connected to a sensor integrated box (83) located inside the base shell (81).

2. The operation monitoring device of a welding robot according to claim 1, characterized in that: Position sensors are installed in each joint of the robot body (2), current and voltage sensors are installed at the power connection of the robot body (2), an Internet of Things card is installed at the network communication card insertion point of the robot body (2), the robot body (2) communicates with the control host (3) through the Internet of Things card, the welding gun of the robot body (2) is arranged close to the arm plate, and a temperature sensor, a visual sensor, and a smoke sensor are installed on the inner side of the sensor integration box (83).

3. The operation monitoring device of a welding robot according to claim 1, characterized in that: The diameter of the sleeve (52) is the same as the inner width of the slideway (42); the outer curved surface of the sleeve (52) fits with the inner walls on both sides of the slideway (42); the track block (51) is a rectangular block structure; the height of the track block (51) is the same as the inner height of the track (43); the upper and lower end surfaces of the track block (51) fit with the upper and lower inner walls of the track (43); the diameter of the rolling ball (543) is the same as the inner diameter of the guide groove (44); the outer curved surface of the rolling ball (543) fits with the inner wall of the guide groove (44).

4. The operation monitoring device of a welding robot according to claim 1, characterized in that: The rod body (61) is arranged vertically in the longitudinal direction; the ball sleeve (53) is composed of a sleeve shell and a plurality of groups of balls arranged in a surrounding manner in the sleeve shell; the outer curved surface of the rod body (61) fits with each group of balls of the ball sleeve (53); the regulating motor (82), the electric push rod (72) and the control host (3) are electrically connected; and the sensor integrated box (83) is arranged on the upper rear side of the welding gun of the robot body (2).

5. The operation monitoring device of a welding robot according to claim 1, characterized in that: A transmission part (76) is installed on the inner side of the rail shell (74) and the support frame (75), and the transmission part (76) includes a pressure rod (762) slidably connected to the inner wall of the rail shell (74); an elastic pull rope (761) whose upper end is fixedly connected to the inner wall of the upper side of the rail shell (74) is fixedly connected to the upper side of the pressure rod (762); a guide groove (763) is opened on the front side of the pressure rod (762); a pressing piece (764) located at the lower part of the guide groove (763) is installed at the front opening of the rail shell (74); a conductive strip (765) in contact with the lower end of the pressure rod (762) is slidably connected in the middle shell of the support frame (75); springs (766) are fixedly connected to the left and right sides of the rear end surface of the conductive strip (765); the rear end of the spring (766) The conductive strip (765) is fixedly connected to the inner wall of the rear side of the middle shell of the support frame (75); the rear end surface of the conductive strip (765) is fixedly connected to a transmission push rod (767) located inside the tube shell of the support frame (75) on both left and right sides; the protective shielding portion (9) is installed on the rear side of the collecting portion (8) and the driving module (7); the protective shielding portion (9) comprises a frame plate (91) fixedly connected to the support frame (75); a storage opening (92) is provided on the inner side of the lower part of the frame plate (91); notches (93) communicating with the support frame (75) are provided on the left and right sides of the upper part of the storage opening (92); a transparent partition (94) is rotatably connected to the inner side of the storage opening (92); and the upper sides of the transparent partition (94) are fixedly connected to a shifting strip (95) located inside the notch (93).

6. The operation monitoring device of a welding robot according to claim 5, characterized in that: The pressing piece (764) is composed of an elastic sheet and a protrusion. The protrusion of the pressing piece (764) is located at the lower part of the guide groove (763). A spacing is provided between the pressing piece (764) and the rail groove of the base block (71). The rear inclined surface of the lower end of the pressing rod (762) is in contact with the front inclined surface of the conductive strip (765). A spacing is left between the rear end surface of the conductive strip (765) and the rear inner wall of the middle shell of the support frame (75). The rear end of the transmission push rod (767) is in contact with the vertically arranged shifting bar (95). A through hole is provided on the inner side of the transparent partition (94). After the transparent partition (94) is rotated, the through hole is aligned with the temperature sensor of the sensor integrated box (83).

7. A monitoring method using the operation monitoring device of a welding robot according to any one of claims 1 to 6: Step 1: During the welding process, the workpiece to be welded is placed on the welding table (11), and the robot body (2) is controlled by the welding program in the control host (3) to automatically weld the workpiece to be welded; Step 2: monitoring and following. When the robot body (2) uses its welding gun to weld the workpiece to be welded, its arm plate will move with the displacement of the welding gun, and the displacement of the arm plate will drive the linkage rod (6) to move. It should be noted that the linkage rod (6) and its rotating member (62), rotating block (63) and rod body (61) will rotate and change with the displacement of the arm plate, but will always remain in a vertical state due to the restriction and guidance of the positioning transmission part (5). The displacement of the linkage rod (6) will drive the positioning transmission part (5) to move and slide on the guide rail part (4), and at the same time drive the guide rail part (4) and the base plate (16) to rotate around the bearing (15) and the shaft column (14), and the change in the position of the positioning transmission part (5) will drive the drive module. (7) and the collecting part (8) move accordingly, so that when the welding gun of the robot body (2) moves, the collecting part (8) can follow the position of the welding gun in real time and monitor it without hindering the welding of the welding gun. Then, according to the monitoring needs, the control host (3) can control the adjustment motor (82) to drive the sensor integrated box (83) to rotate, thereby adjusting the monitoring angle of the sensor integrated box (83), controlling the electric push rod (72) to contract and drive the linkage piece (73) to move downward, and then drive the rail shell (74) and the support frame (75) to move downward, so that the sensor integrated box (83) of the collecting part (8) moves downward, thereby adjusting the monitoring height of the sensor integrated box (83); Step 3: Data processing, monitoring of welding operation conditions. On the one hand, the sensor integrated box (83) is used to monitor the flame temperature, smoke conditions, welding gun position and weld conditions during welding. On the other hand, the position sensor, current and voltage sensor installed in the robot body (2) is used to monitor the welding gun position, the motion state of each joint of the robot body (2), and the current and voltage changes during welding to ensure the stability and accuracy of welding parameters. The welding data and welding conditions obtained by the above monitoring will be transmitted to the system installed in the control host (3) through the Internet of Things card communication for processing. The system can be used through the above equipment The mechanism monitors the operating parameters of the robot body (2) in real time, and can analyze the welding quality of a certain weld by the robot from the recorded working parameters of the robot, thereby realizing the statistics of the robot's work qualification rate. Most importantly, due to the existence of these production parameters, for a certain weld that is not ideal, even if there is no senior professional welding practitioner present, the specific parameters that cause the welding operation to fail to meet the standards can be located through the welding effect indicators provided by the data center, thereby improving the welding quality of the robot body (2) and reducing welding failures. The system architecture includes a client, a business layer, an operation support layer, a service layer, a data layer, a database and an infrastructure layer; The client includes Party A’s platform users: these users are the main users of the data center and are responsible for monitoring and managing the operation of the platform; Party B’s center configuration personnel: these users are responsible for configuring and maintaining the various parameters and settings of the data center; welding robots: they interact directly with the data center and transmit operating data through IoT cards; The business layer includes personnel management API: used to manage the relevant information of platform users and personnel; robot data API: used to receive and process various operating data transmitted by welding robots; robot health check: real-time monitoring of the operating status of welding robots and health checks; reporting of operating parameters: the welding robot transmits the operating parameters to the data center for aggregation and processing; The operation support layer includes HTTP / DNS: infrastructure to support data transmission and network communication; Gateway / load balancing Nginx: responsible for traffic management and load balancing to ensure high availability and stability of the system; The service layer includes Party A organization management: management of Party A's various organizations and their related data; Party A personnel management: management of the information and permissions of Party A's platform users; data statistics: statistical analysis of collected data to provide decision support; data collection: data collection from welding robots and other equipment; robot management: management and maintenance of welding robot operations; process data management: management and analysis of process data during welding; data training: training data using machine learning algorithms to improve prediction and analysis capabilities; Monitoring service: Provide real-time monitoring of system operation status; Log recording: Record various logs of system operation to facilitate troubleshooting and analysis; The data layer includes reading and writing MySQL: processing the reading and writing operations of transactional data; reading and writing ClickHouse: processing the reading and writing operations of analytical data; data cleaning and statistics: cleaning and statistical processing of raw data to ensure the accuracy and consistency of data; Databases include MySQL: used to store transactional data and support complex query operations; ClickHouse: used to store and analyze large-scale data and provide efficient query and analysis capabilities; Infrastructure layer: Host system: provides computing resource support; Storage system: provides hardware support for data storage; Network system: ensures smooth and reliable data transmission; Robot IoT card: used for wireless transmission of welding robot data; System software: including operating system, middleware, etc., supports the operation of data center; Step 4: Monitoring and protection. When the rail shell (74) and the support frame (75) drive the sensor integrated box (83) of the collection part (8) to move downward, the sensor integrated box (83) will get closer to the welding part until the pressing piece (764) that moves downward with the rail shell (74) is pressed into the rail groove of the base block (71), indicating that the sensor integrated box (83) is too close to the welding part and needs to be shielded and protected. The operation is as follows: when the pressing piece (764) is pressed, the guide groove (763) of the pressure rod (762) is squeezed, so that the guide groove (763) is squeezed and the pressure rod (762) is driven to move downward to push the conductive strip (765) backward. The backward movement of the conductive strip (765) drives the transmission push rods (767) on both sides to move backward, squeezing the pull rod (95) of the protective shielding part (9). The pull rod (95) is affected by the thrust and rotates, thereby driving the transparent partition connected thereto. (94) is rotated so that the rotated transparent partition (94) is located between the sensor integrated box (83) and the welding position, so that the high-temperature electric sparks generated during welding will not cause thermal damage to the sensor in the sensor integrated box (83). When the rail shell (74), the support frame (75) and the collection part (8) are reset upward, the pressing member (764) displaced with the rail shell (74) will be separated from the rail groove of the base block (71), and then elastically reset due to the loss of the pressure of the rail groove, and the pressure of the pressing member (764) on the guide groove (763) is lost, so that the pressure rod (762) can be reset by the contracted elastic pull rope (761), so that the conductive strip (765) and the transmission push rod (767) can be reset by the expanded spring (766), and finally the transparent partition (94) without restriction is reset and rotated to a vertical state under the influence of gravity, thereby completing the reset of the protective shielding part (9).

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