Car body frame grabbing equipment operation monitoring method, device, equipment and storage medium

Abstract

The present invention provides a method, device, equipment, and storage medium for monitoring the operation of a vehicle body frame grasping device. The method includes: collecting motor current samples during the platform grasping, free lifting, and high-position positioning stages; classifying the motor current levels based on the ratio of the sample values ​​to the reference current value; calculating the percentage of the number of grade samples to the total number of samples to generate a percentage curve; generating a current level ratio alarm message when the percentage exceeds a corresponding threshold range or the slope of the percentage curve exceeds a corresponding slope threshold range; collecting translation position and motor current samples correspondingly during the translation stage; generating a translation current alarm message when the sample value exceeds the threshold range to determine the abnormal translation position; detecting the actual state of the clamp cylinder during the platform grasping stage to determine the arrival time; and generating a clamp alarm message when the arrival time exceeds the threshold. The present invention improves operational safety and maintenance efficiency.

Description

Technical Field

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

[0002] Pick-up equipment is a common method of conveying car bodies in the lower frame area of ​​welding shops in the domestic automotive manufacturing industry. It is a key production station in the workshop. Its main function is to grab the car body from the ground-level platform using a gripper. The lifting motor operates the gripper via a belt. After reaching a high position, the gripper positions the car body and the translation motor transfers it to the second-level conveyor platform. Throughout this process, the risk of collision during grabbing on the ground-level platform, the status of various transmission components during motor lifting, and the operation of the high-level translation track and translation motor cannot be monitored, making the equipment's safety unreliable. Furthermore, the pick-up equipment operates at a height difference of 9 meters, posing a high maintenance risk. In this situation, a safety system that can monitor and compile real-time statistics on the equipment's operating status and provide early warning of abnormal parameters is essential.

[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 a 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 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 values ​​of the collected motor current samples 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 for each motor current level in the current statistical period according to the percentage of each motor current level in each of the current statistical period; in the case where 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 ratio alarm information and transmit the current level ratio alarm information to the human-machine interface; during the translation stage of the vehicle body frame grasping device during operation, collect the vehicle body frame translation position and motor current samples correspondingly at a second fixed time interval; when the motor current sample value corresponding to the vehicle body frame translation position exceeds a predefined current threshold range corresponding to the vehicle body frame translation position, generate translation current alarm information, determine the vehicle 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 of the vehicle body frame grasping device during operation, 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 respectively 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 the 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 further includes: generating a real-time motor current curve in real time based on 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, collecting the vehicle model platform movement position and motor current samples correspondingly at a third fixed time interval; when the motor current sample value corresponding to the vehicle model platform movement position exceeds a predefined current threshold range corresponding to the vehicle model platform movement position, generating vehicle model platform conveying current alarm information, determining the vehicle model platform movement 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 embodiments, the first fixed time interval and the second fixed time interval are 30 ms.

[0008] In some embodiments, the method further includes: detecting the belt status of the vehicle body frame grabbing device during the platform grabbing stage; detecting the positioning status of the 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 model 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 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.

[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 through 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; when the response time exceeds a predefined response time threshold, generating communication quality alarm information, and transmitting the communication quality alarm information to a human-machine interface.

[0011] In a second aspect, an embodiment of the present invention proposes an operation monitoring device for a vehicle body frame grasping 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 pulling stage and high-position positioning stage in the operation process 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 as a percentage of the number of all motor current samples collected in the current acquisition cycle; a percentage curve generation module, configured to generate a percentage curve for each motor current level in the current statistical period according to the percentage of each motor current level in each of 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 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 grabbing 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 vehicle body frame grasping device through internal detection components respectively arranged inside the clamp cylinder and external detection components respectively 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 implementing the vehicle body frame grasping device operation monitoring method described in any of the above embodiments when the computer program is executed by the processor.

[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 skeleton grasping device operation monitoring method described in any of the above embodiments.

[0014] The vehicle body frame grasping equipment operation monitoring method, apparatus, device, and storage medium proposed in embodiments of the present invention collect motor operating status data in real time, perform statistical processing, and propose a new motor current change statistical algorithm to provide a basis for equipment pre-repair. First, the positioning platform is monitored during the grasping phase of the gripper; second, the lifting process is monitored during the disengagement phase; and third, the gripper is monitored during positioning after reaching the upper position. For the first three phases, real-time current is collected at a frequency of, for example, 30ms. Using a set reference current as a benchmark, the ratio of the real-time collected current to the set current value during each phase is calculated in real time. The percentage distribution of this ratio in the total number of current samples is then calculated to determine the motor operating trend. In the fourth translation phase, the current value is collected in real time, utilizing the one-to-one correspondence between the platform position value and the real-time status value of the translation motor. This current value is correlated with the position of the encoder at the rear of the motor (which records the number of electrode rotations, thereby determining the position). This identifies any anomalies in the operation, quickly detects platform anomalies, and pinpoints the real-time location of the problem. Furthermore, embodiments of the present invention include status assessment of the gripper cylinder during platform grasping on a single level, providing a true assessment of the cylinder's true state by monitoring the cylinder's operating time.

[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. It 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.

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

[0017] In terms of mechanics, it avoids situations that may occur during operation, such as fixtures, positioning pins, etc., eliminating 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 which several embodiments of the present invention are shown by way of example and not limitation, 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 an apparatus for monitoring the operation of a vehicle body frame grabbing device according to an embodiment of the present invention is shown.

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

[0023] The principles 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 present invention focuses on the entire operation of the equipment, dividing the pick-up equipment installation process into four main phases: platform grabbing, free lifting, high-position positioning, and translation. The present invention employs different strategies based on the distinct characteristics of these four phases, monitoring the pick-up operation status at each stage and programming it to achieve automatic intervention protection for the pick-up equipment.

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

[0027] refer to Figure 1 , which shows a flow chart of a vehicle body skeleton 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 phase, free lifting phase, and high-position positioning phase of the vehicle body frame grabbing device, motor current samples are collected at a first fixed time interval. For example, the first fixed time interval may be set to 30 ms.

[0029] Electrically, the lifting process consists of three phases: the first, when the vehicle is released from the positioning hole (grasping), the second, the free lifting phase, and the third, when the vehicle is lifted to a height of 9 meters for positioning. All three phases rely on belt transmission. This segmentation takes into account the changing patterns of motor current, facilitating the calculation of current fluctuations. It also allows for phased fault detection and alarm generation, identifying the location of pre-repair points and enabling targeted maintenance.

[0030] In step S102, based on the ratio of the numerical value of the collected motor current sample to a predefined reference current value (or reference current), for example, the collected current value is 10%, 20%, 30%, 50%, 100%, etc. of the reference current value. Subsequently, 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%, and 80%-100% of the reference current value. In actual applications, different level granularity and level ranges can be divided as needed. For example, during 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 of the multiple motor current levels to the total number of motor current samples collected during a current collection period is calculated. The current collection period can 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 based on the percentage of each motor current level in each current collection period in the current statistical period. The current statistical period can 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 when 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 in the pickup section depends primarily on factors such as the motor's starting current, acceleration time, fixture interference, locating pin scraping, and transmission lubrication. By collecting the motor's operating current in real time, any instability will cause the percentage to fluctuate, and the data is displayed in real time, enabling effective repair and prevention. For example, if the vehicle body scrapes severely against the locating pin or fixture, the operating current will increase, meaning the slope of the curve will increase. This intuitive data display facilitates timely identification and repair of problems, ensuring safe pickup operation.

[0035] As an embodiment of the present invention, the method may further include: generating a real-time motor current curve in real time based on 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; and generating a real-time current alarm message when the value of the motor current sample exceeds the real-time current threshold range (e.g., a 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 message to a human-machine interface. For example, the maximum current critical point may be 30A.

[0036] By monitoring motor parameter ranges and real-time data trends, hidden dangers can be identified. For unstable motor currents, necessary lubrication and adjustments can be made to address these issues, allowing for comprehensive maintenance. After lubrication and maintenance, the aforementioned monitoring methods can be used to monitor their effectiveness, determining whether high current has been significantly reduced and current operation has become more stable.

[0037] The pull-up section primarily displays the motor's operating status when the vehicle body is in a free state. This is most evident in the monitoring of all bearings, transmission components, and other components within the operating mechanism. Severe bearing wear will significantly increase the current. This monitoring method accurately warns of poor lubrication of components. After lubricating each bearing, continuous monitoring reveals a significant reduction in operating current, effectively protecting the safety of the pickup.

[0038] The positioning section is mainly to ensure that the vehicle body can smoothly enter the positioning pins for positioning in the upper position, 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] Throughout the Pick Up's operation, the safety monitoring system records motor current data at a frequency of, for example, 30ms. This data is then collected and recorded, and software programming creates real-time graphical displays, such as a motor operation diagram. This chart allows for analysis of current changes, which is valuable for optimizing inverter parameters and maintaining the operating mechanism, facilitating the implementation of necessary optimization measures to extend the equipment's lifespan.

[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 to be 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 phase utilizes rack-and-pinion transmission, and the relationship between the rack's rotation and its position is linear. When the motor reaches its highest position for translation, steps S106-S107 fully utilize this linear relationship, using dual position and current monitoring. Each position corresponds to a preset range of real-time current values. This allows for direct location of abnormal current flow during operation, quickly pinpointing the problem.

[0044] In step S108 , during the platform grasping phase of the vehicle body frame grasping apparatus, 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.

[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 a human-machine interface.

[0047] Mechanically, the vehicle platform fixture is monitored during the grabbing phase through steps S108-S110. To transfer a vehicle body, the positioning and clamping cylinders must first be fully opened. Currently, cylinder status signals are generated by internal detection components. Prolonged, high-frequency operation can damage the detection components, leading to erroneous signals and breakage of the clamping mechanism. Under these conditions, the lifting action of the pickup can cause collisions, damaging the gripper and belt, and causing significant production downtime. To address this potential risk, an embodiment of the present invention effectively monitors fixture status by adding external detection signals for key fixtures, creating dual internal and external detection channels. The time it takes for the internal and external detection signals to transition from the extended position to the retracted position, and vice versa, is calculated. The fixture's position is confirmed by both internal and external signals. Furthermore, a minimum time for the fixture to be in place is set based on the fixture's actual operating conditions. An alarm is issued when the actual time exceeds a threshold, eliminating the impact of fixture status on pickup safety.

[0048] It should be noted that steps S101-S105, S106-S107, and S108-S110 respectively represent 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 embodiment are for ease of description only and do not limit the order in which the steps are executed. During implementation, as the vehicle frame grasping device operates, some steps may be executed cyclically, while others may be executed serially, in parallel, or in the reverse order of the order described above. The present invention is not limited in this respect.

[0049] As an embodiment of the present invention, the method may further include: during the vehicle model platform conveying stage during the operation of the vehicle body frame grasping equipment, collecting the vehicle model platform moving position and motor current samples correspondingly 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 status of the vehicle frame grabbing device during the platform grabbing phase; detecting the positioning status of the motor during the platform grabbing phase, free lifting phase, and high-position positioning phase of the vehicle frame grabbing device; and transmitting the belt status and motor positioning status to a human-machine interface. By collecting and displaying important signals such as the motor positioning status and belt status, equipment maintenance and fault diagnosis can be facilitated and quickly performed.

[0051] As an embodiment of the present invention, the method may further include: during the vehicle platform connection phase during the operation of the vehicle frame grasping equipment, detecting the platform connection time after the vehicle platform is transported to the designated location for power supply, site activation, clamp cylinder air supply, and network connection; when the platform connection time exceeds a pre-defined 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 indicates that there is a problem with the interface or network, and inspection or repair needs to be arranged. Since there are multiple vehicle models on the production line, each vehicle 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 further 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 body frame grabbing 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; when the response time exceeds a predefined response time threshold, a communication quality alarm message is generated, and the communication quality alarm message is transmitted to the human-computer interface.

[0053] The vehicle body frame grasping equipment operation monitoring method proposed in the present invention collects motor operating 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 during the grasping phase of the gripper; second, the lifting process is monitored during the disengagement phase; and third, the gripper is monitored during positioning after reaching the highest position. For the first three phases, real-time current is collected at a frequency of, for example, 30ms. Using a set reference current as a benchmark, the ratio of the real-time collected current to the set current value during each phase is calculated in real time. The percentage distribution of this ratio in the total number of current samples is then calculated to determine the motor operating trend. In the fourth translation phase, the current value is collected in real time, utilizing the one-to-one correspondence between the platform position value and the real-time status value of the translation motor. This current value is correlated with the position of the encoder at the rear of the motor (which records the number of electrode rotations, thereby determining the position). This identifies any anomalies in the operation, quickly detects platform anomalies, and pinpoints the real-time location of the problem. Furthermore, the present invention adds status assessment of the gripper cylinder during the first-layer platform grasping phase, monitoring the cylinder's operating time to provide a true assessment of the cylinder's true state.

[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. It adopts a staged monitoring method and monitors the equipment operation in different stages based on the characteristics of the stages, thereby improving the operation safety. It is simple, practical and effective.

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

[0056] In terms of mechanics, it avoids situations that may occur during operation, such as fixtures, positioning pins, etc., eliminating 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 first fixed time intervals during the platform grabbing phase, free lifting phase and high-position positioning phase of the vehicle body frame grabbing device during operation.

[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 the values ​​of the collected motor current samples 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 period according to the percentage of each motor current level in each current collection period in the current statistical period.

[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 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 status of the clamp cylinder during the platform grasping stage of the vehicle body frame grasping device operation by using internal detection components respectively arranged inside the clamp cylinder and external detection components respectively arranged outside the clamp cylinder.

[0067] The cylinder in-position time determining module 209 may be configured to determine the in-position 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 clamp 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. When the instructions are executed by a processor, the method for monitoring the operation of the vehicle body frame grabbing device described in any of the above embodiments is executed.

[0072] The vehicle body frame grasping equipment operation monitoring method, apparatus, device, and storage medium proposed in embodiments of the present invention collect motor operating status data in real time, perform statistical processing, and propose a new motor current change statistical algorithm to provide a basis for equipment pre-repair. First, the positioning platform is monitored during the grasping phase of the gripper; second, the lifting process is monitored during the disengagement phase; and third, the gripper is monitored during positioning after reaching the upper position. For the first three phases, real-time current is collected at a frequency of, for example, 30ms. Using a set reference current as a benchmark, the ratio of the real-time collected current to the set current value during each phase is calculated in real time. The percentage distribution of this ratio in the total number of current samples is then calculated to determine the motor operating trend. In the fourth translation phase, the current value is collected in real time, utilizing the one-to-one correspondence between the platform position value and the real-time status value of the translation motor. This current value is correlated with the position of the encoder at the rear of the motor (which records the number of electrode rotations, thereby determining the position). This identifies any anomalies in the operation, quickly detects platform anomalies, and pinpoints the real-time location of the problem. Furthermore, embodiments of the present invention include status assessment of the gripper cylinder during platform grasping on a single level, providing a true assessment of the cylinder's true state by monitoring the cylinder's operating time.

[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. It adopts a staged monitoring method and monitors the equipment operation in different stages based on the characteristics of the stages, thereby improving the operation safety. It is simple, practical and effective.

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

[0075] In terms of mechanics, it avoids situations that may occur during operation, such as fixtures, positioning pins, etc., eliminating 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 illustrative purposes, 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 disclosed exact forms. It will be appreciated by those skilled in the art that various changes may be made without departing from the scope of the present invention, and that elements therein may be replaced with equivalents. In addition, without departing from the basic scope of the present invention, many modifications may 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 within the scope of the appended claims.

Claims

1. A method for monitoring the operation of a vehicle body frame grabbing device, characterized in that: The method comprises: During the platform grabbing stage, the free lifting stage, and the high-position positioning stage of the vehicle body frame grabbing device during operation, motor current samples are collected at first fixed time intervals; Classifying all motor current samples collected during a current collection period into a plurality of different motor current levels according to a ratio of a value of the collected motor current sample to a predefined reference current value; Calculating a percentage of the number of motor current samples at each of the plurality of different motor current levels to the number of all motor current samples collected during 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 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, generating current level proportion alarm information and transmitting the current level proportion alarm information to the human-machine interface; During a translation phase of the vehicle body frame grabbing device during operation, the vehicle body frame translation position and motor current samples are correspondingly collected at second fixed time intervals; When a motor current sample value corresponding to a translation position of the vehicle body frame exceeds a predefined current threshold range corresponding to the translation position of the vehicle body frame, generating translation current alarm information, determining the translation position of the vehicle body frame as an abnormal translation position, and transmitting the translation current alarm information and / or the abnormal translation position to a human-machine interface; During the platform grasping phase of the vehicle body frame grasping device during operation, 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; Determining 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; 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 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 movement position exceeds a predefined current threshold range corresponding to the vehicle model platform movement position, a vehicle model platform transmission current alarm information is generated, the vehicle model platform movement 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, wherein The first fixed time interval and the second fixed time interval are 30 ms.

5. The method according to claim 1, wherein 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 platform connection phase during the operation of the vehicle body frame grabbing device, the platform connection time for power supply, station activation, gripper cylinder air supply, and network connection is detected after the vehicle platform is transported to the designated location; 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 via a computing device communicatively connected to the vehicle frame grabbing device; detecting a response time of the vehicle 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 first fixed time intervals 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; 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 classes based on 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 is 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 a corresponding level percentage threshold range or when the slope of the motor current level percentage curve exceeds a 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 translation position of the vehicle body frame and the motor current samples at a second fixed time interval during the translation phase of the vehicle body frame grabbing device; a translation current alarm module configured to generate a translation current alarm message when a motor current sample value corresponding to a 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 message 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 grasping phase of the vehicle body frame grasping device during operation, using an internal detection component disposed inside the clamp cylinder and an external detection component disposed outside the clamp cylinder; a cylinder in-position time determination module, configured to determine the in-position time of the clamp cylinder according to the actual state of the clamp 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 includes 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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