Vehicle body framework grabbing equipment operation monitoring method and device, equipment and storage medium

Abstract

The invention provides a vehicle body framework grabbing equipment operation monitoring method and device, equipment and a storage medium. The method comprises the following steps: collecting a motor current sample in the stages of platform grabbing, free lifting and high-position positioning; dividing motor current grades according to the proportion of the sample value to the reference current value; calculating the percentage of the grade sample number in the number of all samples, and generating a percentage curve; when the percentage exceeds a corresponding threshold range or the slope of the percentage curve exceeds a corresponding slope threshold range, current level proportion alarm information is generated; in the translation stage, the translation position and the motor current sample are correspondingly collected; generating translation current alarm information when the sample value exceeds the threshold range, and determining an abnormal translation position; the actual state of a clamp cylinder is detected in the platform grabbing stage, so that the in-place time is determined; and generating clamp alarm information when the in-place time exceeds a threshold value. According to the invention, the operation safety and the maintenance efficiency are improved.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the field of automobile manufacturing technology, and more specifically, to a method, device, equipment and storage medium for monitoring the operation of a vehicle body frame grabbing device. Background Art

[0002] The body frame grabbing (PICK UP) equipment is a body conveying method commonly used in the lower frame area of ​​the welding workshop in the domestic automobile manufacturing field. It is a key production station in the workshop. Its main working method is: grab the body from the ground bottom platform with a grabber, and lift the grabber through the belt when the lifting motor is running. After reaching the high position, the body grabber is positioned and then transferred to the second-floor conveying platform through the translation motor. During the whole process, the collision risk of the bottom platform grabbing, the status of each transmission component when the motor is lifted, and the operation of the high-position translation track and the translation motor cannot be monitored, and the safety of the equipment cannot be guaranteed. At the same time, the operating height difference of the PICK UP equipment is 9 meters, and the maintenance risk is high. In this case, it is very necessary to have a safety system that can monitor and count the operating status of the equipment in real time and warn of abnormal parameters.

[0003] There is currently no corresponding safety system for pick up devices. Summary of the invention

[0004] In order to solve the above-mentioned problems in the prior art, in the first aspect, an embodiment of the present invention provides a method for monitoring the operation of a vehicle frame grasping device, the method comprising: collecting motor current samples at a first fixed time interval during the platform grasping stage, the free lifting stage and the high-position positioning stage in the operation process of the vehicle frame grasping device; dividing all motor current samples collected in a current collection period into a plurality of different motor current levels according to the ratio of the numerical value of the collected motor current sample to a predefined reference current value; calculating the percentage of the number of motor current samples in each of the plurality of different motor current levels to the number of all motor current samples collected in the current collection period; generating a percentage curve of each motor current level in the current statistical period according to the percentage of each motor current level in each of the current collection periods in the current statistical period; when the percentage of the motor current level exceeds the corresponding level percentage threshold range or the slope of the motor current level percentage curve exceeds the corresponding level percentage slope threshold range, Generate current level proportion alarm information, and transmit the current level proportion alarm information to the human-machine interface; during the translation stage during the operation of the body frame grasping device, collect the body frame translation position and motor current samples correspondingly at a second fixed time interval; when the motor current sample value corresponding to the body frame translation position exceeds a predefined current threshold range corresponding to the body frame translation position, generate translation current alarm information, determine the body frame translation position as an abnormal translation position, and transmit the translation current alarm information and / or the abnormal translation position to the human-machine interface; during the platform grasping stage during the operation of the body frame grasping device, simultaneously detect the actual state of the clamp cylinder by means of internal detection components respectively arranged inside the clamp cylinder and external detection components arranged outside the clamp cylinder; determine the arrival time of the clamp cylinder according to the actual state of the clamp cylinder; when the arrival time of the clamp cylinder exceeds a predefined cylinder arrival time threshold range, generate clamp alarm information, and transmit the clamp alarm information to the human-machine interface.

[0005] In some embodiments, the method also includes: generating a real-time motor current curve in real time according to the value of the motor current sample; determining in real time whether the value of the motor current sample exceeds a predefined real-time current threshold range and whether the slope of the real-time motor current curve exceeds a predefined real-time current slope threshold range; generating real-time current alarm information when the value of the motor current sample exceeds the real-time current threshold range or the slope of the real-time motor current curve exceeds the real-time current slope threshold range, and transmitting the real-time current alarm information to a human-machine interface.

[0006] In some embodiments, the method further includes: during the vehicle model platform conveying stage during the operation of the vehicle body frame grasping device, correspondingly collecting the vehicle model platform moving position and motor current samples at a third fixed time interval; when the motor current sample value corresponding to the vehicle model platform moving position exceeds a predefined current threshold range corresponding to the vehicle model platform moving position, generating vehicle model platform conveying current alarm information, determining the vehicle model platform moving position as an abnormal conveying position, and transmitting the vehicle model platform conveying current alarm information and / or the abnormal conveying position to a human-machine interface.

[0007] In some implementations, the first fixed time interval and the second fixed time interval are 30 ms.

[0008] In some embodiments, the method further includes: detecting a belt status of the vehicle body frame grabbing device during the platform grabbing stage; detecting a positioning status of a motor during the platform grabbing stage, the free pulling stage and the high-position positioning stage during the operation of the vehicle body frame grabbing device; and transmitting the belt status and the positioning status of the motor to a human-machine interface.

[0009] In some embodiments, the method further includes: during the vehicle body platform connection phase during the operation of the vehicle body frame grasping device, detecting the platform connection time for power supply, site activation, clamp cylinder air supply and network connection after the vehicle body platform is transported to the designated location; when the platform connection time exceeds a predefined connection time threshold, generating a platform connection alarm message, and transmitting the platform connection alarm message to the human-machine interface.

[0010] In some embodiments, after the vehicle model platform is connected, the method further includes: cyclically sending network protocol data packets to the connected vehicle model platform via a computing device communicatively connected to the vehicle body frame grasping device; detecting the response time of the vehicle model platform to the network protocol data packets; generating communication quality alarm information when the response time exceeds a predefined response time threshold, and transmitting the communication quality alarm information to a human-machine interface.

[0011] In a second aspect, an embodiment of the present invention proposes a vehicle body frame grasping device operation monitoring device, the device comprising: a motor current sample acquisition module, configured to collect motor current samples at a first fixed time interval during the platform grasping stage, free lifting stage and high-position positioning stage in the operation of the vehicle body frame grasping device; a motor current grading module, configured to divide all motor current samples collected in a current acquisition cycle into a plurality of different motor current levels according to the ratio of the numerical value of the collected motor current sample to a predefined reference current value; a level percentage calculation module, configured to calculate the percentage of the number of motor current samples in each of the plurality of different motor current levels to the number of all motor current samples collected in the current acquisition cycle; a percentage curve generation module, configured to generate a percentage curve of each motor current level in the current statistical period according to the percentage of each motor current level in each of the current collection periods in the current statistical period; a level proportion alarm module, configured to generate a current level alarm when the percentage of the motor current level exceeds the corresponding level percentage threshold range or when the slope of the motor current level percentage curve exceeds the corresponding level percentage slope threshold range. The position and current dual acquisition module is configured to collect the body frame translation position and motor current samples correspondingly at a second fixed time interval during the translation phase of the body frame grasping device during operation; the translation current alarm module is configured to generate a translation current alarm message when the motor current sample value corresponding to the body frame translation position exceeds a predefined current threshold range corresponding to the body frame translation position, determine the body frame translation position as an abnormal translation position, and transmit the translation current alarm message and / or the abnormal The translation position is transmitted to the human-machine interface; a clamp cylinder detection module is configured to simultaneously detect the actual state of the clamp cylinder during the platform grasping stage in the operation of the body frame grasping device, through internal detection components respectively arranged inside the clamp cylinder and external detection components arranged outside the clamp cylinder; a cylinder in-place time determination module is configured to determine the in-place time of the clamp cylinder according to the actual state of the clamp cylinder; a clamp alarm module is configured to generate a clamp alarm message when the in-place time of the clamp cylinder exceeds a predefined cylinder in-place time threshold range, and transmit the clamp alarm message to the human-machine interface.

[0012] In a third aspect, an embodiment of the present invention proposes a vehicle body frame grasping device operation monitoring device, the device comprising a memory and a processor, the memory storing a computer program, and when the computer program is executed by the processor, a vehicle body frame grasping device operation monitoring method described in any of the above embodiments is implemented.

[0013] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer-readable instructions, which, when executed by a processor, executes the vehicle body frame grabbing device operation monitoring method described in any of the above embodiments.

[0014] The vehicle body frame grabbing equipment operation monitoring method, device, equipment and storage medium proposed in the embodiment of the present invention collects the motor operation status data in real time, performs statistical processing, and proposes a new motor current change statistical algorithm to provide a basis for equipment pre-repair. First, the positioning platform is monitored in the gripping stage of the gripper, second, the lifting process is monitored in the separation gripping stage, and third, the gripper is monitored when it is positioned after running to a high position. In the first three stages, for example, the real-time current is collected at a frequency of 30MS, and the set reference current is used as a reference. The real-time statistics of the current collected in real time during the operation of each stage are calculated, and the percentage distribution of the ratio in the total number of current samples is calculated to determine the motor operation trend. In the fourth translation stage, the one-to-one correspondence between the platform position value and the real-time state value of the translation motor is used to collect the current value in real time and associate it with the position of the encoder at the tail of the motor (used to record the number of electrode rotations, so that the position can be known), lock the abnormal point in the operation, quickly perform platform abnormality detection, and lock the real-time position of the problem. At the same time, the embodiment of the present invention adds the state determination of the clamp cylinder when grabbing a layer of the platform, and the real state of the cylinder is truly evaluated by monitoring the running time of the cylinder.

[0015] The vehicle body frame grabbing equipment operation monitoring method, device, equipment and storage medium proposed in the embodiments of the present invention solve the safety problem of the PICK UP equipment operation, adopt a staged monitoring method, combine the characteristics of the stages to monitor the equipment operation in different stages, improve the operation safety, and are simple, practical and effective.

[0016] In terms of motor operation, in addition to real-time current monitoring, a phased approach is used to collect current fluctuations within the percentage range of the benchmark current in real time to determine the operating trend of the equipment. The monitoring effect is significant and is very helpful in preventing equipment problems. Moreover, the data can be compared, the status is obvious, and the maintenance effect can be determined in time.

[0017] In terms of mechanics, situations that may occur during operation, such as clamps, positioning pins, etc., are avoided to eliminate the risk of collision.

[0018] In the high-altitude translation processing, dual collection of real-time current and operating position is introduced to achieve real-time one-to-one correspondence, accurately locate abnormal points, quickly lock abnormal positions, and improve maintenance efficiency and inspection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the embodiments of the present invention will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0020] Figure 1 A flow chart showing a method for monitoring the operation of a vehicle body frame grabbing device according to an embodiment of the present invention is shown;

[0021] Figure 2 A block diagram of a vehicle body frame grabbing device operation monitoring apparatus according to an embodiment of the present invention is shown.

[0022] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0023] The principle and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way.

[0024] In one aspect, an embodiment of the present invention provides a method for monitoring the operation of a vehicle body frame pick up device.

[0025] The implementation method of the present invention is mainly aimed at the operation of the whole process of the equipment, and the operation and installation process of the PICK UP equipment is mainly divided into four stages, namely, the platform grabbing stage, the free lifting stage, the high-position positioning stage, and the translation stage. The implementation method of the present invention adopts different strategies according to the different characteristics of these four stages, monitors the PICK UP operation status of each stage and writes programs to realize automatic intervention protection of the PICK UP equipment.

[0026] The vehicle body frame grabbing device operation monitoring method proposed in the embodiment of the present invention is mainly embodied in electrical and mechanical aspects.

[0027] refer to Figure 1 , which shows a flow chart of a vehicle body frame grabbing device operation monitoring method 100 according to an embodiment of the present invention. The method 100 includes steps S101-S110.

[0028] In step S101, during the platform grabbing stage, free lifting stage and high-position positioning stage of the vehicle body frame grabbing device in operation, motor current samples are collected at a first fixed time interval. As an example only, the first fixed time interval can be set to 30ms, for example.

[0029] Electrically, the lifting process includes three stages: the first stage is the stage of leaving the positioning hole of the vehicle body, i.e. the grabbing stage; the second stage is the free lifting stage; and the third stage is the stage of positioning the vehicle body at a height of 9 meters. All three stages rely on belt transmission. The reason for this segmentation is mainly to consider the changing law of the motor current, which is conducive to the calculation of current fluctuations. At the same time, the fault situation can be output in stages, and an alarm can be issued to lock the location of the pre-repair point for targeted maintenance.

[0030] In step S102, according to the ratio of the numerical value of the collected motor current sample to the predefined reference current value (or reference current), for example, the collected current value is 10%, 20%, 30%, 50%, 100% of the reference current value, etc. Then, all motor current samples collected during the current collection cycle are divided into a plurality of different motor current levels. As an example only, the motor current level can be divided into 6 levels, namely 0-10%, 10%-20%, 20%-30%, 30%-50%, 50%-80%, 80%-100% of the reference current value. In practical applications, different level granularity and level range can be divided as needed. For example, in the operation of the PICK UP device, large currents, such as the two intervals of 30%-50% and 50%-80%, can be monitored in particular.

[0031] In step S103, the percentage of the number of motor current samples at each motor current level in a plurality of different motor current levels to the number of all motor current samples collected in a current collection period is calculated. The current collection period may be, for example, 12 hours, 24 hours, 36 hours, 48 ​​hours, etc.

[0032] In step S104, a percentage curve of each motor current level in a current statistical period is generated according to the percentage of each motor current level in each current collection period in the current statistical period. The current statistical period may be, for example, one week, ten days, half a month, one month, etc.

[0033] In step S105, when the percentage of the motor current level exceeds the corresponding level percentage threshold range or the slope of the motor current level percentage curve exceeds the corresponding level percentage slope threshold range, a current level proportion alarm information is generated and the current level proportion alarm information is transmitted to the human-machine interface.

[0034] The current of the grabbing section mainly depends on factors such as the starting current of the motor, acceleration time, whether the fixture interferes, whether the positioning pin is scratched, and the lubrication of the transmission mechanism. By collecting the motor running current in real time, if there is instability, the percentage will fluctuate, and the data will be displayed in real time, so that effective maintenance and prevention can be carried out. For example, when the body of the car is severely scratched against the positioning pin or the fixture, the running current will rise to a higher level, that is, the slope of the curve will increase. The data is displayed very intuitively, which is convenient for timely detection of problems and timely maintenance, ensuring the safety of PICK UP operation.

[0035] As an embodiment of the present invention, the method may further include: generating a real-time motor current curve in real time according to the value of the motor current sample; determining in real time whether the value of the motor current sample exceeds a predefined real-time current threshold range and whether the slope of the real-time motor current curve exceeds a predefined real-time current slope threshold range; generating real-time current alarm information when the value of the motor current sample exceeds the real-time current threshold range (e.g., the maximum current critical point) or the slope of the real-time motor current curve exceeds the real-time current slope threshold range, and transmitting the real-time current alarm information to the human-machine interface. As an example only, the maximum current critical point may be, for example, 30A.

[0036] By monitoring the motor parameter range and real-time data trends, hidden dangers of the equipment can be found, and necessary lubrication and adjustments can be made to the equipment to address the problem of unstable motor current, and comprehensive maintenance can be performed. After necessary lubrication and maintenance, the effects of lubrication and maintenance can also be observed through the above monitoring methods, that is, whether the high current has been significantly reduced and whether the current operation is more stable.

[0037] The pull-up section mainly shows the operation of the motor when the vehicle body is in a free state. The most obvious is the monitoring of all bearings, transmission and other components in the operating mechanism. If the bearings are severely worn, the current will increase significantly. The above monitoring method can accurately warn of poor lubrication of components. After lubricating each bearing, continuous monitoring can show that the operating current is greatly reduced, effectively protecting the safety of the PICK UP.

[0038] The positioning section is mainly used to ensure that the vehicle body in the upper position can smoothly enter the positioning pin for positioning, to prevent the collision between the vehicle body and the frame at the top, and to make effective adjustments in time according to the current changes to prevent accidents before they happen.

[0039] During the entire operation of PICK UP, the safety monitoring system records the motor current data at a frequency of 30MS, collects and records the data, and displays it in real time through software programming, such as generating a motor operation diagram. The current changes can be analyzed through the diagram, which is very meaningful for the optimization of inverter parameters and the maintenance of the operating mechanism, and it is convenient to take necessary optimization measures to extend the operating life of the equipment.

[0040] Optionally, in addition to the above-mentioned real-time current threshold range and real-time current slope threshold range, an operating current limit can be pre-defined for each stage as a shutdown threshold. When the value of the motor current sample collected in real time exceeds the shutdown threshold, a device shutdown signal is generated, causing the device to automatically shut down to prevent accidents.

[0041] In step S106 , during the translation phase of the vehicle body frame grabbing device during operation, the vehicle body frame translation position and the motor current samples are correspondingly collected at a second fixed time interval (eg, 30 ms).

[0042] In step S107, when the motor current sample value corresponding to the translation position of the vehicle body frame exceeds a predefined current threshold range corresponding to the translation position of the vehicle body frame, a translation current alarm message is generated, the translation position of the vehicle body frame is determined as an abnormal translation position, and the translation current alarm message and / or the abnormal translation position is transmitted to the human-machine interface.

[0043] The translation stage is a gear rack transmission, and the relationship between the rotation and movement of the gear rack is linear. When the motor runs to the high position for translation, through steps S106-S107, the characteristics of the linear relationship in this stage are fully utilized, and the position and current dual acquisition method is used for monitoring, that is, any position corresponds to a preset range of real-time current values. In this way, the place with abnormal current during operation can be directly located and the problem point can be quickly locked.

[0044] In step S108, during the platform grasping stage of the vehicle body frame grasping device in operation, the actual state of the clamp cylinder is simultaneously detected by the internal detection component disposed inside the clamp cylinder and the external detection component disposed outside the clamp cylinder respectively.

[0045] In step S109, the arrival time of the clamp cylinder is determined according to the actual state of the clamp cylinder.

[0046] In step S110 , when the arrival time of the clamp cylinder exceeds a predefined cylinder arrival time threshold range, a clamp alarm message is generated and transmitted to the human-machine interface.

[0047] In terms of mechanics, the vehicle platform fixture monitoring is implemented in the grabbing stage through the above steps S108-S110. If the vehicle body is to be transferred, it is necessary to ensure that the positioning and clamping cylinder of the vehicle body is fully opened. At present, the cylinder status signal is sent through the detection component inside the cylinder. Long-term high-frequency action will cause the detection component to be damaged and the clamping mechanism to be broken and send the wrong signal. Under such circumstances, the PICK UP will cause a collision when performing the lifting action, resulting in damage to the gripper and belt, and a large production stoppage. In view of this hidden danger, in order to effectively monitor the fixture status, the implementation method of the present invention adds the external detection signal of the key fixture to form an internal detection and external detection dual channel, and calculates the time from the extended position to the return position and the return position to the extended position of the internal and external detection signals respectively. The fixture is in place through the internal and external dual signals. At the same time, according to the actual operation of the fixture, the minimum arrival time of the fixture action is set, and an alarm is issued when the actual arrival time of the fixture exceeds the threshold range, eliminating the safety impact of the fixture status on the PICK UP.

[0048] It should be noted that the above steps S101-S105, S106-S107, S108-S110 are respectively the electrical monitoring of the motor current in the first three stages, the electrical dual monitoring of the current and position in the fourth stage, and the mechanical monitoring of the clamp cylinder. The step numbers used in the above embodiments are only for the purpose of convenience of description, and are not intended to limit the order of execution of the steps. In the specific implementation process, as the body frame grasping device is running, some steps are executed cyclically, some steps can be executed serially or in parallel, or in the opposite order to the order described above, and the present invention has no limitations in this regard.

[0049] As an embodiment of the present invention, the method may further include: during the vehicle model platform conveying stage in the operation of the vehicle body frame grasping equipment, the vehicle model platform moving position and the motor current samples are correspondingly collected at a third fixed time interval, for example, 30ms; when the motor current sample value corresponding to the vehicle model platform moving position exceeds a predefined current threshold range corresponding to the vehicle model platform moving position, generating vehicle model platform conveying current alarm information, determining the vehicle model platform moving position as an abnormal conveying position, and transmitting the vehicle model platform conveying current alarm information and / or the abnormal conveying position to the human-machine interface.

[0050] As an embodiment of the present invention, the method may further include: detecting the belt state of the body frame grabbing device during the platform grabbing stage; detecting the positioning state of the motor during the platform grabbing stage, free lifting stage and high-position positioning stage of the body frame grabbing device during operation; transmitting the belt state and the positioning state of the motor to the human-machine interface. By collecting and displaying important signals such as the positioning state of the motor and the belt state, it is convenient to quickly perform equipment maintenance and fault diagnosis.

[0051] As an embodiment of the present invention, the method may also include: during the vehicle model platform connection stage during the operation of the vehicle body frame grasping equipment, detecting the platform connection time for power supply, site activation, clamp cylinder air supply and network connection after the vehicle model platform is transported to the designated location; when the platform connection time exceeds a predefined connection time threshold, generating a platform connection alarm message, and transmitting the platform connection alarm message to the human-machine interface. For example, if the normal connection time is 3-10 seconds, if the connection time exceeds 10 seconds, it means that there is a problem with the interface or network, and inspection or maintenance needs to be arranged. Since there are multiple vehicle models on the production line, each vehicle model platform has a different network connection time.

[0052] As an embodiment of the present invention, after the vehicle model platform is connected, the method may also include: cyclically sending network protocol (e.g., TCP protocol) data packets to the connected vehicle model platform through a computing device (e.g., PC) communicatively connected to the vehicle frame grasping device; detecting the response time of the vehicle model platform to the network protocol data packets; the longer the time difference, the worse the communication quality, and when the response time exceeds a predefined response time threshold, generating communication quality alarm information, and transmitting the communication quality alarm information to the human-computer interface.

[0053] The vehicle body frame grabbing equipment operation monitoring method proposed in the embodiment of the present invention collects the motor operation status data in real time, performs statistical processing, and proposes a new motor current change statistical algorithm to provide a basis for equipment pre-repair. First, the positioning platform is monitored in the grabbing stage of the gripper, second, the lifting process is monitored in the disengagement grabbing stage, and third, the gripper is monitored when it is positioned after running to a high position. In the first three stages, for example, the real-time current is collected at a frequency of 30MS, and the set reference current is used as a reference. The real-time statistics of the current collected in real time during the operation of each stage are calculated, and the percentage distribution of the ratio in the total number of current samples is calculated to determine the motor operation trend. In the fourth translation stage, the one-to-one correspondence between the platform position value and the real-time state value of the translation motor is used to collect the current value in real time and associate it with the position of the encoder at the tail of the motor (used to record the number of electrode rotations, so that the position can be known), lock the abnormal point in the operation, quickly perform platform abnormality detection, and lock the real-time position of the problem. At the same time, the embodiment of the present invention adds the state determination of the clamp cylinder when grabbing a layer of the platform, and the real state of the cylinder is truly evaluated by monitoring the running time of the cylinder.

[0054] The vehicle body frame grabbing equipment operation monitoring method proposed in the embodiment of the present invention solves the safety problem of the PICK UP equipment operation, adopts a staged monitoring method, combines the characteristics of the stages to monitor the equipment operation in different stages, improves the operation safety, is simple and practical, and has good effects.

[0055] In terms of motor operation, in addition to real-time current monitoring, a phased approach is used to collect current fluctuations within the percentage range of the benchmark current in real time to determine the operating trend of the equipment. The monitoring effect is significant and is very helpful in preventing equipment problems. Moreover, the data can be compared, the status is obvious, and the maintenance effect can be determined in time.

[0056] In terms of mechanics, situations that may occur during operation, such as clamps, positioning pins, etc., are avoided to eliminate the risk of collision.

[0057] In the high-altitude translation processing, dual collection of real-time current and operating position is introduced to achieve real-time one-to-one correspondence, accurately locate abnormal points, quickly lock abnormal positions, and improve maintenance efficiency and inspection results.

[0058] In another aspect, an embodiment of the present invention provides a vehicle body frame grabbing device operation monitoring device. Figure 2 , which shows a block diagram of a vehicle body frame grabbing device operation monitoring device according to an embodiment of the present invention. The device includes modules 201-210.

[0059] The motor current sample collection module 201 can be configured to collect motor current samples at a first fixed time interval during the platform grabbing stage, the free lifting stage and the high-position positioning stage during the operation of the vehicle body frame grabbing device.

[0060] The motor current classification module 202 may be configured to classify all motor current samples collected during a current collection period into a plurality of different motor current grades according to a ratio of a value of the collected motor current sample to a predefined reference current value.

[0061] The level percentage calculation module 203 may be configured to calculate the percentage of the number of motor current samples at each motor current level in a plurality of different motor current levels to the number of all motor current samples collected in a current collection period.

[0062] The percentage curve generating module 204 may be configured to generate a percentage curve of each motor current level in a current statistical cycle according to the percentage of each motor current level in each current collection cycle in the current statistical cycle.

[0063] The level proportion alarm module 205 can be configured to generate current level proportion alarm information when the percentage of the motor current level exceeds the corresponding level percentage threshold range or when the slope of the percentage curve of the motor current level exceeds the corresponding level percentage slope threshold range, and transmit the current level proportion alarm information to the human-machine interface.

[0064] The position and current dual acquisition module 206 may be configured to correspondingly acquire the vehicle body frame translation position and the motor current samples at a second fixed time interval during the translation phase of the vehicle body frame grabbing device during operation.

[0065] The translation current alarm module 207 can be configured to generate translation current alarm information when the motor current sample value corresponding to the translation position of the vehicle body frame exceeds a predefined current threshold range corresponding to the translation position of the vehicle body frame, determine the translation position of the vehicle body frame as an abnormal translation position, and transmit the translation current alarm information and / or the abnormal translation position to the human-machine interface.

[0066] The clamp cylinder detection module 208 can be configured to simultaneously detect the actual state of the clamp cylinder during the platform grasping stage of the vehicle body frame grasping device operation process through internal detection components respectively disposed inside the clamp cylinder and external detection components disposed outside the clamp cylinder.

[0067] The cylinder in-place time determination module 209 may be configured to determine the in-place time of the clamp cylinder according to the actual state of the clamp cylinder.

[0068] The fixture alarm module 210 may be configured to generate fixture alarm information when the fixture cylinder's arrival time exceeds a predefined cylinder arrival time threshold range, and transmit the fixture alarm information to the human-machine interface.

[0069] It should be noted that the functions implemented by each module in the vehicle body frame grasping equipment operation monitoring device proposed in the embodiment of the present invention correspond one-to-one to the various steps of the vehicle body frame grasping equipment operation monitoring method described above. For its specific implementation methods, examples and beneficial effects, please refer to the above description of the method.

[0070] On another aspect, an embodiment of the present invention proposes a vehicle body frame grasping device operation monitoring device, the device includes a memory and a processor, a computer program is stored in the memory, and when the computer program is executed by the processor, the vehicle body frame grasping device operation monitoring method described in any of the above embodiments is implemented.

[0071] In yet another aspect, an embodiment of the present invention provides a storage medium storing computer-readable instructions, which, when executed by a processor, executes the vehicle body frame grabbing device operation monitoring method described in any of the above embodiments.

[0072] The vehicle body frame grabbing equipment operation monitoring method, device, equipment and storage medium proposed in the embodiment of the present invention collects the motor operation status data in real time, performs statistical processing, and proposes a new motor current change statistical algorithm to provide a basis for equipment pre-repair. First, the positioning platform is monitored in the gripping stage of the gripper, second, the lifting process is monitored in the separation gripping stage, and third, the gripper is monitored when it is positioned after running to a high position. In the first three stages, for example, the real-time current is collected at a frequency of 30MS, and the set reference current is used as a reference. The real-time statistics of the current collected in real time during the operation of each stage are calculated, and the percentage distribution of the ratio in the total number of current samples is calculated to determine the motor operation trend. In the fourth translation stage, the one-to-one correspondence between the platform position value and the real-time state value of the translation motor is used to collect the current value in real time and associate it with the position of the encoder at the tail of the motor (used to record the number of electrode rotations, so that the position can be known), lock the abnormal point in the operation, quickly perform platform abnormality detection, and lock the real-time position of the problem. At the same time, the embodiment of the present invention adds the state determination of the clamp cylinder when grabbing a layer of the platform, and the real state of the cylinder is truly evaluated by monitoring the running time of the cylinder.

[0073] The vehicle body frame grabbing equipment operation monitoring method, device, equipment and storage medium proposed in the embodiments of the present invention solve the safety problem of the PICK UP equipment operation, adopt a staged monitoring method, combine the characteristics of the stages to monitor the equipment operation in different stages, improve the operation safety, simple and practical, and have good effects.

[0074] In terms of motor operation, in addition to real-time current monitoring, a phased approach is used to collect current fluctuations within the percentage range of the benchmark current in real time to determine the operating trend of the equipment. The monitoring effect is significant and is very helpful in preventing equipment problems. Moreover, the data can be compared, the status is obvious, and the maintenance effect can be determined in time.

[0075] In terms of mechanics, situations that may occur during operation, such as clamps, positioning pins, etc., are avoided to eliminate the risk of collision.

[0076] In the high-altitude translation processing, dual collection of real-time current and operating position is introduced to achieve real-time one-to-one correspondence, accurately locate abnormal points, quickly lock abnormal positions, and improve maintenance efficiency and inspection results.

[0077] For the purpose of illustration, the foregoing description of the embodiments of the present invention has been given, which is not exhaustive nor intended to limit the present invention to the disclosed exact form. It will be appreciated by those skilled in the art that various changes can be made without departing from the scope of the present invention, and that the elements therein can be replaced with equivalents. In addition, without departing from the basic scope of the present invention, many modifications can be made so that specific situations or materials are adapted to the teachings of the present invention. Therefore, the present invention is not intended to be limited to the specific embodiments disclosed as the best mode for realizing the present invention, and the present invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A method for monitoring the operation of a vehicle frame grabbing device, characterized in that: The method comprises: During the platform grabbing stage, the free lifting stage and the high-position positioning stage in the operation of the vehicle body frame grabbing device, motor current samples are collected at first fixed time intervals; According to the ratio of the value of the collected motor current sample to the predefined reference current value, all motor current samples collected during the current collection period are divided into a plurality of different motor current levels; Calculating the percentage of the number of motor current samples at each motor current level in the plurality of different motor current levels to the number of all motor current samples collected in the current collection period; Generate a percentage curve of each motor current level in the current statistical period according to the percentage of each motor current level in each current collection period in the current statistical period; When the percentage of the motor current level exceeds the corresponding level percentage threshold range or the slope of the motor current level percentage curve exceeds the corresponding level percentage slope threshold range, a current level proportion alarm message is generated and the current level proportion alarm message is transmitted to the human-machine interface; During the translation phase of the vehicle body frame grabbing device during operation, the vehicle body frame translation position and the motor current samples are correspondingly collected at second fixed time intervals; When the motor current sample value corresponding to the translation position of the vehicle body frame exceeds a predefined current threshold range corresponding to the translation position of the vehicle body frame, a translation current alarm message is generated, the translation position of the vehicle body frame is determined as an abnormal translation position, and the translation current alarm message and / or the abnormal translation position is transmitted to a human-machine interface; During the platform grabbing stage during the operation of the vehicle body frame grabbing device, the actual state of the clamp cylinder is simultaneously detected by an internal detection component disposed inside the clamp cylinder and an external detection component disposed outside the clamp cylinder respectively; Determine the arrival time of the clamp cylinder according to the actual state of the clamp cylinder; When the arrival time of the clamp cylinder exceeds a predefined cylinder arrival time threshold range, a clamp alarm message is generated and transmitted to a human-machine interface.

2. The method according to claim 1, characterized in that The method further comprises: Generating a real-time motor current curve in real time according to the value of the motor current sample; Determine in real time whether the value of the motor current sample exceeds a predefined real-time current threshold range and whether the slope of the motor current real-time curve exceeds a predefined real-time current slope threshold range; When the value of the motor current sample exceeds the real-time current threshold range or the slope of the motor current real-time curve exceeds the real-time current slope threshold range, real-time current alarm information is generated and transmitted to the human-machine interface.

3. The method according to claim 1, characterized in that The method further comprises: During the vehicle body platform conveying phase during the operation of the vehicle body frame grabbing device, the vehicle body platform movement position and the motor current samples are correspondingly collected at a third fixed time interval; When the motor current sample value corresponding to the vehicle model platform moving position exceeds a predefined current threshold range corresponding to the vehicle model platform moving position, a vehicle model platform transmission current alarm information is generated, the vehicle model platform moving position is determined as an abnormal transmission position, and the vehicle model platform transmission current alarm information and / or the abnormal transmission position is transmitted to the human-machine interface.

4. The method according to claim 1, characterized in that: The first fixed time interval and the second fixed time interval are 30 ms.

5. The method according to claim 1, characterized in that The method further comprises: During the platform grabbing phase, detecting the belt status of the vehicle body frame grabbing device; During the platform grabbing stage, free lifting stage and high-position positioning stage of the vehicle body frame grabbing device during operation, detecting the positioning state of the motor; The belt status and the positioning status of the motor are transmitted to a human-machine interface.

6. The method according to claim 1, characterized in that The method further comprises: During the vehicle model platform connection phase during the operation of the vehicle body frame grabbing device, the platform connection time for power supply, site activation, clamp cylinder air supply and network connection after the vehicle model platform is transported to the designated location is detected; When the platform connection time exceeds a predefined connection time threshold, platform connection alarm information is generated, and the platform connection alarm information is transmitted to a human-machine interface.

7. The method according to claim 6, characterized in that After the vehicle model platform is connected, the method further includes: cyclically sending a network protocol data packet to the connected vehicle model platform through a computing device communicatively connected to the vehicle frame grabbing device; Detecting the response time of the vehicle model platform to the network protocol data packet; When the response time exceeds a predefined response time threshold, communication quality alarm information is generated and transmitted to a human-machine interface.

8. A vehicle body frame grabbing equipment operation monitoring device, characterized in that: The device comprises: A motor current sample collection module, configured to collect motor current samples at a first fixed time interval during a platform grabbing stage, a free lifting stage and a high-position positioning stage during the operation of the vehicle body frame grabbing device; a motor current classification module configured to classify all motor current samples collected during a current collection period into a plurality of different motor current grades according to a ratio of a value of the collected motor current sample to a predefined reference current value; A level percentage calculation module, configured to calculate the percentage of the number of motor current samples at each motor current level in the plurality of different motor current levels to the number of all motor current samples collected in the current collection period; A percentage curve generating module, configured to generate a percentage curve of each motor current level in the current statistical period according to the percentage of each motor current level in each current collection period in the current statistical period; A level proportion alarm module, configured to generate a current level proportion alarm message when the percentage of the motor current level exceeds the corresponding level percentage threshold range or when the slope of the motor current level percentage curve exceeds the corresponding level percentage slope threshold range, and transmit the current level proportion alarm message to the human-machine interface; A position and current dual acquisition module configured to correspondingly acquire the body frame translation position and motor current samples at a second fixed time interval during the translation phase of the body frame grabbing device during operation; A translation current alarm module, configured to generate translation current alarm information when a motor current sample value corresponding to a translation position of a vehicle body frame exceeds a predefined current threshold range corresponding to the translation position of the vehicle body frame, determine the translation position of the vehicle body frame as an abnormal translation position, and transmit the translation current alarm information and / or the abnormal translation position to a human-machine interface; A clamp cylinder detection module, configured to simultaneously detect the actual state of the clamp cylinder during the platform grabbing stage during the operation of the vehicle body frame grabbing device, through an internal detection component respectively disposed inside the clamp cylinder and an external detection component disposed outside the clamp cylinder; A cylinder arrival time determination module, configured to determine the arrival time of the fixture cylinder according to the actual state of the fixture cylinder; The fixture alarm module is configured to generate fixture alarm information when the arrival time of the fixture cylinder exceeds a predefined cylinder arrival time threshold range, and transmit the fixture alarm information to the human-machine interface.

9. A vehicle body frame grabbing device operation monitoring device, characterized in that: The device comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium storing computer-readable instructions, wherein when the instructions are executed by a processor, the method according to any one of claims 1 to 7 is executed.

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