Welding robot monitoring system

Abstract

The utility model provides a welding robot monitoring system, and belongs to the technical field of monitoring. The welding robot monitoring system comprises a temperature monitoring module, a resistance monitoring module, an AND module, an oil pump control module, an oil pump module and a grading alarm module. The output end of the temperature monitoring module is connected with the first input end of the AND module and the first control end of the grading alarm module. The output end of the resistance monitoring module is connected with the second input end of the AND module and the first control end of the grading alarm module. The output end of the AND module is connected with the control end of the oil pump control module and the second control end of the grading alarm module. The first end of the oil pump control module is connected with a power supply; the second end of the oil pump control module is connected with the oil pump module; the temperature monitoring module is configured to monitor the joint temperature of the welding robot; the resistance monitoring module is configured to monitor joint resistance of the welding robot. The monitoring and adding accuracy of the lubricating oil of the joints of the welding robot can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of monitoring technology, and in particular to a monitoring system for welding robots. Background Technology

[0002] With the development of industrial automation, welding robots are increasingly widely used in welding production. However, due to the complexity of welding processes and the diversity of working environments, welding robots may experience various malfunctions during the welding process. Considering that each joint of a welding robot requires lubrication to increase its flexibility, a lack of lubrication not only affects welding quality but also the lifespan of the welding robot itself. However, current methods for monitoring and adding lubricating oil to the joints of welding robots lack accuracy. Utility Model Content

[0003] This disclosure provides a welding robot monitoring system to address the problem of inaccurate monitoring and addition of lubricating oil to various joints of a welding robot.

[0004] This disclosure provides a welding robot monitoring system, including:

[0005] Temperature monitoring module, resistance monitoring module, AND module, oil pump control module, oil pump module, and graded alarm module;

[0006] The output terminal of the temperature monitoring module is connected to the first input terminal of the module and the first control terminal of the graded alarm module, respectively.

[0007] The output of the resistance monitoring module is connected to the second input of the module and the first control terminal of the graded alarm module, respectively.

[0008] The output terminal of the module is connected to the control terminal of the oil pump control module and the second control terminal of the graded alarm module, respectively.

[0009] The first end of the oil pump control module is used to connect to the power supply, and the second end of the oil pump control module is connected to the oil pump module.

[0010] The temperature monitoring module is configured to monitor the joint temperature of the welding robot;

[0011] The resistance monitoring module is configured to monitor the joint resistance of the welding robot.

[0012] In one exemplary embodiment of this disclosure, the welding robot monitoring system further includes a liquid level monitoring module and a liquid level alarm module;

[0013] The liquid level monitoring module is configured to monitor the liquid level in the oil tank;

[0014] The output of the liquid level monitoring module is connected to the control terminal of the liquid level alarm module.

[0015] In one exemplary embodiment of this disclosure, the temperature monitoring module includes a thermistor RT and a resistor R6;

[0016] The first terminal of the thermistor RT is connected to the first terminal of the resistor R6, and the second terminal of the thermistor RT is grounded.

[0017] The second end of resistor R6 is connected to the VCC power supply, and the first end of the thermistor RT is connected to the first input terminal of the module.

[0018] In one exemplary embodiment of this disclosure, the temperature monitoring module further includes an operational amplifier U5, a voltage comparator U3, a resistor R10, a resistor R13, and a sliding resistor RP2;

[0019] The non-inverting input of operational amplifier U5 is connected to the first terminal of the thermistor RT, and the inverting input of operational amplifier U5 is grounded through resistor R13.

[0020] The output of operational amplifier U5 is connected to the inverting input of operational amplifier U5 through resistor R10, and the output of operational amplifier U5 is connected to the non-inverting input of voltage comparator U3.

[0021] The inverting input of voltage comparator U3 is connected to the sliding contact of sliding resistor RP2; the output of voltage comparator U3 is connected to the first input of the module.

[0022] The first end of the sliding resistor RP2 is connected to the VCC power supply, and the second end of the sliding resistor RP2 is grounded.

[0023] In one exemplary embodiment of this disclosure, the resistance monitoring module includes a varistor RV and a resistor R3;

[0024] The first terminal of the varistor RV is connected to the first terminal of the resistor R3, and the second terminal of the varistor RV is grounded.

[0025] The second end of resistor R3 is connected to the VCC power supply, and the first end of varistor RV is connected to the second input terminal of the module.

[0026] In one exemplary embodiment of this disclosure, the resistance monitoring module further includes an operational amplifier U1, a voltage comparator U2, a resistor R1, a resistor R4, and a sliding resistor RP1;

[0027] The non-inverting input of operational amplifier U1 is connected to the first terminal of varistor RV, and the inverting input of operational amplifier U1 is grounded through resistor R1;

[0028] The output of operational amplifier U1 is connected to the inverting input of operational amplifier U1 through resistor R4, and the output of operational amplifier U1 is connected to the non-inverting input of voltage comparator U2.

[0029] The inverting input of voltage comparator U2 is connected to the sliding contact of sliding resistor RP1; the output of voltage comparator U2 is connected to the second input of the module.

[0030] The first terminal of the sliding resistor RP1 is connected to the VCC power supply, and the second terminal of the sliding resistor RP1 is grounded.

[0031] In one exemplary embodiment of this disclosure, the AND module includes an AND gate U7;

[0032] The first input terminal of AND gate U7 is connected to the output terminal of the temperature monitoring module;

[0033] The second input terminal of AND gate U7 is connected to the output terminal of the resistance monitoring module;

[0034] The output of AND gate U7 is connected to the control terminal of the oil pump control module.

[0035] In one exemplary embodiment of this disclosure, the oil pump control module includes NOT gate U8, NOT gate U9, D flip-flop U6, transistor Q1, and relay K1; the oil pump module includes oil pump H1;

[0036] The input terminals of NOT gate U8 and the clock input terminals of D flip-flop U6 are both connected to the output terminals of the module;

[0037] The output of NOT gate U8 is connected to the input of NOT gate U9;

[0038] The output of NOT gate U9 is connected to the input of D flip-flop U6;

[0039] The inverting output of D flip-flop U6 is connected to the base of transistor Q1;

[0040] The emitter of transistor Q1 is connected to the VCC power supply, and the collector of transistor Q1 is connected to the first input terminal of relay K1.

[0041] The second input terminal of relay K1 is grounded, the common terminal of relay K1 is connected to the VCC power supply, and the normally open terminal of relay K1 is connected to the first power supply terminal of oil pump H1.

[0042] The second power supply terminal of oil pump H1 is grounded.

[0043] In one exemplary embodiment of this disclosure, the graded alarm module includes transistor Q2, transistor Q3, light-emitting diode LED1, and buzzer U4;

[0044] The base of transistor Q2 is connected to the output of the temperature monitoring module and the output of the resistance monitoring module, respectively. The emitter of transistor Q2 is connected to the anode of LED1, and the collector of transistor Q2 is connected to the VDD power supply.

[0045] The cathode of LED1 is grounded;

[0046] The base of transistor Q3 is connected to the output terminal of the module, the collector of transistor Q3 is connected to the VDD power supply, and the emitter of transistor Q3 is connected to the first power supply terminal of buzzer U4.

[0047] The second power supply terminal of buzzer U4 is grounded.

[0048] The beneficial effects of the welding robot monitoring system provided in this embodiment are as follows:

[0049] The temperature monitoring module monitors whether the joint temperature of the welding robot exceeds a preset reference value, and the resistance monitoring module monitors whether the joint resistance of the welding robot exceeds a preset reference value. Combined with the logical judgments of the modules, the three modules work together to reduce misjudgments caused by environmental factors, improving the accuracy of judgment and accurately detecting whether the joints of the welding robot lack lubricating oil. Subsequently, this disclosure precisely controls the working state of the oil pump control module through control signals from the modules, and the oil pump module accurately adds lubricating oil to the joints of the welding robot according to the control signals from the oil pump control module. Therefore, this disclosure solves the problem of inaccurate monitoring and addition of lubricating oil to the various joints of the welding robot. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the structure of the welding robot monitoring system provided in the embodiments of this disclosure;

[0052] Figure 2 This is a schematic diagram of the liquid level monitoring structure provided in an embodiment of this disclosure;

[0053] Figure 3 This is a circuit diagram of the welding robot monitoring system provided in an embodiment of this disclosure. Detailed Implementation

[0054] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this solution will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this solution, not all of them. Based on the embodiments of this solution, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this solution.

[0055] The term "comprising" and any other variations thereof in the specification, claims, and accompanying drawings of this invention mean "including but not limited to," and are intended to cover a non-exclusive inclusion, not limited to the examples listed herein. Furthermore, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order.

[0056] The implementation of this disclosure will be described in detail below with reference to the specific accompanying drawings:

[0057] Figure 1 This is a schematic diagram of a welding robot monitoring system provided in an embodiment of this disclosure. (Refer to...) Figure 1 The welding robot monitoring system includes:

[0058] Temperature monitoring module 101, resistance monitoring module 102, AND module 103, oil pump control module 104, oil pump module 106, and graded alarm module 105;

[0059] The output terminal of the temperature monitoring module 101 is connected to the first input terminal of the module 103 and the first control terminal of the graded alarm module 105, respectively.

[0060] The output terminal of the resistance monitoring module 102 is connected to the second input terminal of the module 103 and the first control terminal of the graded alarm module 105, respectively.

[0061] The output terminal of module 103 is connected to the control terminal of oil pump control module 104 and the second control terminal of graded alarm module 105, respectively.

[0062] The first end of the oil pump control module 104 is used to connect to the power supply, and the second end of the oil pump control module 104 is connected to the oil pump module 106.

[0063] Temperature monitoring module 101 is configured to monitor the joint temperature of the welding robot;

[0064] The resistance monitoring module 102 is configured to monitor the joint resistance of the welding robot.

[0065] In this embodiment, the temperature monitoring module 101 is configured to monitor the temperature of each joint of the welding robot in real time. During the welding process, the robot joints experience a temperature rise due to a lack of lubricant. When the joint temperature exceeds a preset temperature, it will affect the joint's performance and reduce its service life. This embodiment uses temperature sensors at the welding robot joints to monitor the joint temperature and convert the temperature signal into an electrical signal, enabling timely detection of abnormal temperature rises and ensuring that the welding robot operates within a safe temperature range.

[0066] Considering that the temperature monitoring module 101 is affected by the ambient temperature, a resistance monitoring module 102 is introduced to help determine whether the joint components need to be lubricated.

[0067] The resistance monitoring module 102 is configured to monitor the resistance of each joint of the welding robot in real time. Changes in joint resistance can reflect the lubrication status of the joint components of the welding robot. In this embodiment, force sensors installed at the joints of the welding robot can measure the resistance at the joints and convert the force signals into electrical signals.

[0068] The AND module 103 receives signals from the temperature monitoring module 101 and the resistance monitoring module 102 and performs a logical AND operation. The AND module 103 will only output a corresponding control signal, i.e., a high-level signal, when both the temperature monitoring module 101 and the resistance monitoring module 102 detect an abnormal situation simultaneously.

[0069] For example, the input temperature signal and resistance signal are analyzed and judged. When the temperature exceeds the set threshold and the resistance also exceeds the set threshold, module 103 can send control commands to oil pump control module 104 and graded alarm module 105.

[0070] The oil pump control module 104 controls the oil pump module 106 based on the control signal received from module 103, thereby lubricating the joints of the welding robot. When abnormal joint temperature or resistance occurs, the oil pump module 106 needs to increase the supply of lubricating oil to protect the joint components. Specifically, the control signal output from module 103 changes the on / off state of the oil pump control module 104, thus controlling the operation of the oil pump module 106.

[0071] Under the control of the oil pump control module 104, the oil pump module 106 delivers lubricating oil to various joints of the welding robot to achieve lubrication. The oil pump module 106 is an actuator that ensures the smooth movement of the robot's joints.

[0072] The graded alarm module 105 judges the operating status of the welding robot based on the signals transmitted from the temperature monitoring module 101, the resistance monitoring module 102, and the module 103, and issues graded alarms according to different abnormal situations.

[0073] For example, this embodiment pre-sets different temperature and resistance thresholds, as well as corresponding alarm levels. When the signal detected by the temperature monitoring module 101 or the resistance monitoring module 102 exceeds the corresponding preset threshold, the graded alarm module 105 will issue a first-level alarm, i.e., a light alarm, which can be a red light; when the module 103 outputs a high-level signal, i.e., when both temperature and resistance are abnormal, the graded alarm module 105 will issue a higher-level alarm, such as a second-level alarm, i.e., a light alarm plus a buzzer alarm.

[0074] As can be seen from the above, the temperature monitoring module 101 can monitor whether the joint temperature of the welding robot exceeds the preset reference value, and the resistance monitoring module 102 can monitor whether the joint resistance of the welding robot exceeds the preset reference value. Combined with the logical judgment of module 103, the three modules work together to reduce misjudgments caused by environmental factors, improve the accuracy of judgment, and accurately monitor whether the joints of the welding robot lack lubricating oil. Subsequently, this disclosure precisely controls the working state of the oil pump control module 104 through the control signal of module 103. The oil pump module 106 accurately adds lubricating oil to the joints of the welding robot according to the control signal of the oil pump control module 104. Therefore, this disclosure can solve the problem of inaccurate monitoring and addition of lubricating oil to various joints of the welding robot.

[0075] In one embodiment of this disclosure, reference is made to Figure 2 The welding robot monitoring system also includes a liquid level monitoring module 107 and a liquid level alarm module 108;

[0076] The liquid level monitoring module 107 is configured to monitor the liquid level in the oil tank 10;

[0077] The output terminal of the liquid level monitoring module 107 is connected to the control terminal of the liquid level alarm module 108.

[0078] In this embodiment, the oil tank 10 serves as a container for storing lubricating oil, providing a stable supply of lubricating oil to the oil pump module 106 and ensuring the continuous lubrication function of the welding robot joints. Therefore, the oil tank 10 needs to have sufficient capacity to meet the lubrication requirements of the welding robot within a certain working cycle.

[0079] The liquid level monitoring module 107 monitors the lubricating oil level in the oil tank 10 in real time, providing accurate oil level information for the system. In this embodiment, by monitoring the liquid level, it can promptly detect whether the lubricating oil in the oil tank 10 is insufficient, avoiding poor lubrication of the robot joints due to insufficient lubrication, which could affect welding quality and the normal operation of the robot. The liquid level monitoring module 107 can be a float-type liquid level sensor.

[0080] The liquid level alarm module 108 receives the liquid level signal from the liquid level monitoring module 107 and compares it with a preset liquid level threshold. When the liquid level is lower than the set threshold, the liquid level alarm module 108 will issue a corresponding alarm signal, such as emitting a blue light, to remind the operator to pay attention to the liquid level in the oil tank 10 and take timely measures to replenish the lubricating oil.

[0081] As can be seen from the above, the liquid level monitoring module 107 can accurately sense the liquid level of the lubricating oil in the oil tank 10. When the liquid level is lower than the preset threshold, the liquid level alarm module 108 is triggered to remind the staff to replenish the lubricating oil. This embodiment can effectively avoid the oil pump running dry and improve the operational safety of the welding robot.

[0082] In one embodiment of this disclosure, reference is made to Figure 3 The temperature monitoring module 101 includes a thermistor RT and a resistor R6;

[0083] The first terminal of the thermistor RT is connected to the first terminal of the resistor R6, and the second terminal of the thermistor RT is grounded.

[0084] The second end of resistor R6 is connected to the VCC power supply, and the first end of the thermistor RT is connected to the first input terminal of module 103.

[0085] In this embodiment, the thermistor RT and resistor R6 form a voltage divider circuit. When the joint temperature rises, the resistance of the thermistor RT increases, and the voltage divider voltage between the thermistor RT and resistor R6 increases; conversely, when the joint temperature decreases, the resistance of the thermistor RT decreases, and the voltage divider voltage between the thermistor RT and resistor R6 decreases. The change in the voltage divider voltage accurately reflects the change in joint temperature. Inputting the voltage divider voltage signal to the first input terminal of module 103 provides a control basis for subsequent modules.

[0086] As can be seen from the above, the positive temperature characteristic of the thermistor RT enables it to sense temperature changes in real time. The thermistor RT and resistor R6 form a voltage divider circuit, which provides a basis for the working logic of module 103, effectively improving the real-time performance and reliability of monitoring.

[0087] In one embodiment of this disclosure, reference is made to Figure 3 The temperature monitoring module 101 also includes an operational amplifier U5, a voltage comparator U3, a resistor R10, a resistor R13, and a sliding resistor RP2;

[0088] The non-inverting input of operational amplifier U5 is connected to the first terminal of the thermistor RT, and the inverting input of operational amplifier U5 is grounded through resistor R13.

[0089] The output of operational amplifier U5 is connected to the inverting input of operational amplifier U5 through resistor R10, and the output of operational amplifier U5 is connected to the non-inverting input of voltage comparator U3.

[0090] The inverting input of voltage comparator U3 is connected to the sliding terminal of sliding resistor RP2; the output of voltage comparator U3 is connected to the first input of module 103.

[0091] The first end of the sliding resistor RP2 is connected to the VCC power supply, and the second end of the sliding resistor RP2 is grounded.

[0092] In this embodiment, operational amplifier U5, resistors R10 and R13 constitute a non-inverting proportional amplifier, which amplifies the input signal. The amplification factor is determined by the ratio of resistors R10 and R13. The non-inverting input terminal of operational amplifier U5 receives the voltage signal generated by the thermistor RT as temperature changes.

[0093] The non-inverting input of voltage comparator U3 receives the amplified temperature signal, while the inverting input acquires an adjustable reference voltage. The output signal of voltage comparator U3 provides temperature status information for logic operations with module 103.

[0094] For example, when the voltage at the non-inverting input of voltage comparator U3 (i.e., the amplified temperature signal voltage) is greater than the reference voltage at the inverting input, voltage comparator U3 outputs a high level; conversely, when the voltage at the non-inverting input of voltage comparator U3 is less than the reference voltage at the inverting input, voltage comparator U3 outputs a low level.

[0095] The sliding resistor RP2 is used to provide an adjustable reference voltage. By adjusting the position of the sliding contact, the magnitude of the reference voltage at the inverting input terminal can be changed.

[0096] As can be seen from the above, operational amplifier U5 constructs a negative feedback amplifier circuit, effectively amplifying the temperature signal and ensuring stable transmission of the temperature signal. Voltage comparator U3, in conjunction with sliding resistor RP2, achieves adjustable threshold function, which can flexibly adapt to different operating conditions.

[0097] In one embodiment of this disclosure, reference is made to Figure 3 The resistance monitoring module 102 includes a varistor RV and a resistor R3;

[0098] The first terminal of the varistor RV is connected to the first terminal of the resistor R3, and the second terminal of the varistor RV is grounded.

[0099] The second end of resistor R3 is connected to the VCC power supply, and the first end of varistor RV is connected to the second input terminal of module 103.

[0100] In this embodiment, the piezoresistor RV and resistor R3 form a voltage divider circuit. The piezoresistor RV is installed at a location that senses joint resistance. When the joint experiences different resistances, the pressure on the piezoresistor RV changes accordingly, causing its resistance value to change. When the pressure increases, the resistance value of the piezoresistor RV increases; when the pressure decreases, the resistance value decreases.

[0101] For example, when the joint resistance increases, the resistance of the varistor RV increases, and the voltage drop across the varistor RV and resistor R3 increases; conversely, when the joint resistance decreases, the voltage drop across the varistor RV and resistor R3 decreases.

[0102] As can be seen from the above, the resistance monitoring module 102 achieves efficient and accurate resistance signal acquisition by forming a voltage divider circuit with the piezoresistor RV and the resistor R3. The resistance value of the piezoresistor RV is adjusted in real time according to the change of joint resistance, providing an accurate basis for the logical judgment of the module 103, which can improve the real-time performance and reliability of monitoring.

[0103] In one embodiment of this disclosure, reference is made to Figure 3 The resistance monitoring module 102 also includes an operational amplifier U1, a voltage comparator U2, a resistor R1, a resistor R4, and a sliding resistor RP1;

[0104] The non-inverting input of operational amplifier U1 is connected to the first terminal of varistor RV, and the inverting input of operational amplifier U1 is grounded through resistor R1;

[0105] The output of operational amplifier U1 is connected to the inverting input of operational amplifier U1 through resistor R4, and the output of operational amplifier U1 is connected to the non-inverting input of voltage comparator U2.

[0106] The inverting input of voltage comparator U2 is connected to the sliding terminal of sliding resistor RP1; the output of voltage comparator U2 is connected to the second input of module 103.

[0107] The first terminal of the sliding resistor RP1 is connected to the VCC power supply, and the second terminal of the sliding resistor RP1 is grounded.

[0108] In this embodiment, operational amplifier U1, resistor R1, and resistor R4 constitute a non-inverting proportional amplifier to receive and amplify the voltage signal output by the varistor RV due to changes in joint resistance. The non-inverting input of voltage comparator U2 receives the amplified resistance signal; the inverting input obtains an adjustable reference voltage. When the voltage at the non-inverting input of voltage comparator U2 (i.e., the amplified resistance signal voltage) is greater than the reference voltage at the inverting input, voltage comparator U2 outputs a high level; when the voltage at the non-inverting input is less than the reference voltage at the inverting input, it outputs a low level, facilitating subsequent logic judgment with module 103. A sliding resistor RP1 provides an adjustable reference voltage; by adjusting the position of the sliding contact, the magnitude of the reference voltage at the inverting input can be changed.

[0109] As can be seen from the above, the resistance monitoring module 102 improves monitoring accuracy and flexibility through the cascaded design of operational amplifier U1 and voltage comparator U2. Operational amplifier U1 constructs a negative feedback amplification circuit, effectively amplifying the resistance signal and ensuring stable transmission. Voltage comparator U2, in conjunction with sliding resistor RP1, enables adjustable threshold functionality, flexibly adapting to different operating conditions.

[0110] In one embodiment of this disclosure, reference is made to Figure 3 Module 103 includes AND gate U7;

[0111] The first input terminal of AND gate U7 is connected to the output terminal of temperature monitoring module 101;

[0112] The second input terminal of AND gate U7 is connected to the output terminal of resistance monitoring module 102;

[0113] The output of AND gate U7 is connected to the control terminal of oil pump control module 104.

[0114] In this embodiment, the first input of AND gate U7 receives a signal from temperature monitoring module 101, i.e., a high-level signal or a low-level signal, which reflects the temperature state of the joint of the welding robot. The second input of AND gate U7 receives a signal from resistance monitoring module 102, i.e., a high-level signal or a low-level signal, which represents the resistance of the joint of the welding robot.

[0115] In this embodiment, a control signal is sent to the oil pump control module 104 based on the logical operation result of the AND gate U7. When both the first and second input terminals of the AND gate U7 are high, indicating abnormal temperature and resistance, the output terminal will output a high-level signal, triggering the oil pump control module 104 to operate, such as starting the oil pump for lubrication. If one or both of the first and second input terminals of the AND gate U7 are low, indicating that at least one of the temperature or resistance is normal, the output terminal will output a low-level signal, and the oil pump control module 104 will remain unchanged and will not perform any corresponding operation.

[0116] As can be seen from the above, the dual judgment of gate U7 can improve the reliability of the decision on whether to add lubricating oil, reduce the impact of environmental factors, improve response accuracy, and extend the service life of the equipment.

[0117] In one embodiment of this disclosure, reference is made to Figure 3 The oil pump control module 104 includes NOT gate U8, NOT gate U9, D flip-flop U6, transistor Q1 and relay K1; the oil pump module 106 includes oil pump H1.

[0118] The input terminals of NOT gate U8 and the clock input terminals of D flip-flop U6 are both connected to the output terminals of module 103;

[0119] The output of NOT gate U8 is connected to the input of NOT gate U9;

[0120] The output of NOT gate U9 is connected to the input of D flip-flop U6;

[0121] The inverting output of D flip-flop U6 is connected to the base of transistor Q1;

[0122] The emitter of transistor Q1 is connected to the VCC power supply, and the collector of transistor Q1 is connected to the first input terminal of relay K1.

[0123] The second input terminal of relay K1 is grounded, the common terminal of relay K1 is connected to the VCC power supply, and the normally open terminal of relay K1 is connected to the first power supply terminal of oil pump H1.

[0124] The second power supply terminal of oil pump H1 is grounded.

[0125] In this embodiment, when the AND module 103 outputs a high level, the NOT gate U8 outputs a low level; when the AND module 103 outputs a low level, the NOT gate U8 outputs a high level. The NOT gate U9 inverts the signal output by the NOT gate U8 again. The NOT gates U8 and U9 work together to buffer the signal.

[0126] The signal output from module 103 serves as the clock signal for the clock input of the D flip-flop U6. The clock signal is used to control the state update timing of the D flip-flop.

[0127] The input of D flip-flop U6 receives the signal processed by two NOT gates. The inverting output of D flip-flop U6 controls the on / off state of transistor Q1. D flip-flop U6 samples the input signal on the rising edge of the clock signal, stores the sampling result internally, and then outputs it through the output terminal.

[0128] When the inverting output of the D flip-flop U6 is high, transistor Q1 is turned on; when it is low, transistor Q1 is turned off. When transistor Q1 is on, current flows from the VCC power supply through transistor Q1 to the first input terminal of relay K1, energizing relay K1; when transistor Q1 is off, relay K1 is de-energized.

[0129] When transistor Q1 is turned on, and current flows through the coil of relay K1, the relay contacts will actuate. Specifically, when relay K1 is de-energized, the common terminal and normally open terminal are open; when relay K1 is energized, the common terminal and normally open terminal close, thereby connecting the VCC power supply to the first power supply terminal of oil pump H1.

[0130] The second power supply terminal of oil pump H1 is grounded. When the common terminal and normally open terminal of relay K1 are closed, oil pump H1 receives power and starts working to provide lubrication for the joints of the welding robot.

[0131] From the above, it can be concluded that the cascaded double NOT gates effectively buffer the input signal, and the D flip-flop provides a state holding function, ensuring reliable transmission of control commands. The combination of transistor Q1 and relay K1 constitutes a high-power switch, which can carry the oil pump operating current and realize safe control of power supply switching.

[0132] In one embodiment of this disclosure, reference is made to Figure 3 The graded alarm module 105 includes transistor Q2, transistor Q3, light-emitting diode LED1 and buzzer U4;

[0133] The base of transistor Q2 is connected to the output terminal of temperature monitoring module 101 and the output terminal of resistance monitoring module 102, respectively. The emitter of transistor Q2 is connected to the anode of light-emitting diode LED1, and the collector of transistor Q2 is connected to VDD power supply.

[0134] The cathode of LED1 is grounded;

[0135] The base of transistor Q3 is connected to the output terminal of module 103, the collector of transistor Q3 is connected to the VDD power supply, and the emitter of transistor Q3 is connected to the first power supply terminal of buzzer U4.

[0136] The second power supply terminal of buzzer U4 is grounded.

[0137] In this embodiment, whenever the temperature monitoring module 101 or the resistance monitoring module 102 outputs a high-level signal (indicating an abnormality in the corresponding monitoring parameter), the base of transistor Q2 will receive a high-level signal. When the base receives a high-level signal, transistor Q2 conducts, and current flows from the VDD power supply through the collector of transistor Q2 to the emitter, and then to the light-emitting diode LED1. The cathode of LED1 is grounded, forming a circuit with the anode, causing LED1 to emit light, visually alerting the user to an abnormality in the temperature or resistance monitoring parameter.

[0138] Only when both the temperature monitoring module 101 and the resistance monitoring module 102 output high-level signals will module 103 output a high-level signal, at which point the base of transistor Q3 receives a high-level signal. When the base of transistor Q3 receives a high-level signal, transistor Q3 conducts, and current flows from the VDD power supply through the collector to the emitter of transistor Q3, powering the buzzer U4. The second power supply terminal of buzzer U4 is grounded, forming a loop with the first power supply terminal, causing buzzer U4 to emit a sound, providing an auditory alert to the user that both the temperature and resistance monitoring parameters are abnormal. At this time, LED1 also illuminates, providing a dual alarm alert through both light and sound.

[0139] As can be seen from the above, the graded alarm module 105 achieves multi-level warning functions through a dual transistor drive circuit. When temperature or resistance is abnormal, Q2 conducts and illuminates LED1 to provide a visual warning; when both parameters simultaneously trigger an AND gate signal abnormally, Q3 conducts and activates buzzer U4 to generate an audible alarm, while Q2 also conducts and illuminates LED1 to provide a visual warning. The above graded design effectively improves response efficiency, and the combination of light and sound warnings ensures the reliability of information transmission.

[0140] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A welding robot monitoring system, characterized by, It includes a temperature monitoring module, a resistance monitoring module, an AND module, an oil pump control module, an oil pump module, and a graded alarm module; The output terminal of the temperature monitoring module is connected to the first input terminal of the module and the first control terminal of the graded alarm module, respectively. The output terminal of the resistance monitoring module is connected to the second input terminal of the module and the first control terminal of the graded alarm module, respectively. The output terminal of the module is connected to the control terminal of the oil pump control module and the second control terminal of the graded alarm module, respectively. The first end of the oil pump control module is used to connect to the power supply, and the second end of the oil pump control module is connected to the oil pump module; The temperature monitoring module is configured to monitor the joint temperature of the welding robot; The resistance monitoring module is configured to monitor the joint resistance of the welding robot.

2. The welding robot monitoring system of claim 1, wherein, It also includes a liquid level monitoring module and a liquid level alarm module; The liquid level monitoring module is configured to monitor the liquid level in the oil tank; The output of the liquid level monitoring module is connected to the control terminal of the liquid level alarm module.

3. The welding robot monitoring system of claim 1, wherein, The temperature monitoring module includes a thermistor RT and a resistor R6; The first terminal of the thermistor RT is connected to the first terminal of the resistor R6, and the second terminal of the thermistor RT is grounded. The second end of the resistor R6 is connected to the VCC power supply, and the first end of the thermistor RT is connected to the first input terminal of the module.

4. The welding robot monitoring system of claim 3, wherein, The temperature monitoring module also includes an operational amplifier U5, a voltage comparator U3, a resistor R10, a resistor R13, and a sliding resistor RP2; The non-inverting input terminal of the operational amplifier U5 is connected to the first terminal of the thermistor RT, and the inverting input terminal of the operational amplifier U5 is grounded through resistor R13. The output terminal of the operational amplifier U5 is connected to the inverting input terminal of the operational amplifier U5 through the resistor R10, and the output terminal of the operational amplifier U5 is connected to the non-inverting input terminal of the voltage comparator U3. The inverting input terminal of the voltage comparator U3 is connected to the sliding terminal of the sliding resistor RP2; the output terminal of the voltage comparator U3 is connected to the first input terminal of the AND module. The first end of the sliding resistor RP2 is connected to the VCC power supply, and the second end of the sliding resistor RP2 is grounded.

5. The welding robot monitoring system of claim 1, wherein, The resistance monitoring module includes a varistor RV and a resistor R3; The first end of the varistor RV is connected to the first end of the resistor R3, and the second end of the varistor RV is grounded. The second end of the resistor R3 is connected to the VCC power supply, and the first end of the varistor RV is connected to the second input terminal of the module.

6. The welding robot monitoring system of claim 5, wherein, The resistance monitoring module also includes an operational amplifier U1, a voltage comparator U2, a resistor R1, a resistor R4, and a sliding resistor RP1; The non-inverting input terminal of the operational amplifier U1 is connected to the first terminal of the varistor RV, and the inverting input terminal of the operational amplifier U1 is grounded through resistor R1; The output terminal of the operational amplifier U1 is connected to the inverting input terminal of the operational amplifier U1 through the resistor R4, and the output terminal of the operational amplifier U1 is connected to the non-inverting input terminal of the voltage comparator U2. The inverting input terminal of the voltage comparator U2 is connected to the sliding terminal of the sliding resistor RP1; the output terminal of the voltage comparator U2 is connected to the second input terminal of the AND module. The first end of the sliding resistor RP1 is connected to the VCC power supply, and the second end of the sliding resistor RP1 is grounded.

7. The welding robot monitoring system of claim 1, wherein, The AND module includes AND gate U7; The first input terminal of the AND gate U7 is connected to the output terminal of the temperature monitoring module; The second input terminal of the AND gate U7 is connected to the output terminal of the resistance monitoring module; The output terminal of AND gate U7 is connected to the control terminal of the oil pump control module.

8. The welding robot monitoring system of claim 1, wherein, The oil pump control module includes NOT gate U8, NOT gate U9, D flip-flop U6, transistor Q1 and relay K1; the oil pump module includes oil pump H1; The input terminal of the NOT gate U8 and the clock input terminal of the D flip-flop U6 are both connected to the output terminal of the AND module; The output of NOT gate U8 is connected to the input of NOT gate U9; The output of the NOT gate U9 is connected to the input of the D flip-flop U6; The inverting output terminal of the D flip-flop U6 is connected to the base of the transistor Q1; The emitter of transistor Q1 is connected to the VCC power supply, and the collector of transistor Q1 is connected to the first input terminal of relay K1. The second input terminal of the relay K1 is grounded, the common terminal of the relay K1 is connected to the VCC power supply, and the normally open terminal of the relay K1 is connected to the first power supply terminal of the oil pump H1. The second power supply terminal of the oil pump H1 is grounded.

9. The welding robot monitoring system of claim 1, wherein, The graded alarm module includes transistor Q2, transistor Q3, light-emitting diode LED1, and buzzer U4; The base of transistor Q2 is connected to the output terminal of the temperature monitoring module and the output terminal of the resistance monitoring module, respectively. The emitter of transistor Q2 is connected to the anode of light-emitting diode LED1, and the collector of transistor Q2 is connected to VDD power supply. The cathode of the light-emitting diode LED1 is grounded; The base of transistor Q3 is connected to the output terminal of the module, the collector of transistor Q3 is connected to the VDD power supply, and the emitter of transistor Q3 is connected to the first power supply terminal of the buzzer U4. The second power supply terminal of the buzzer U4 is grounded.

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