CN103846915B - Robot system - Google Patents
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- CN103846915B CN103846915B CN201310613070.XA CN201310613070A CN103846915B CN 103846915 B CN103846915 B CN 103846915B CN 201310613070 A CN201310613070 A CN 201310613070A CN 103846915 B CN103846915 B CN 103846915B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a robot system. In a production line where a monitoring device and a plurality of robot control devices are connected via the network, when a communication circuit is abnormal, it fails to ensure that welding construction data is reliably stored. Thus, robot control devices (RC1) provided by the invention comprise storing devices (15) and main control parts (16). The storing devices successively store the wielding construction data. The main control parts judge whether idle storing capacity of the storing devices is enough for storing the welding construction data predetermined to be obtained in a to-be-performed welding control procedure. When failing to communicate with a monitoring device (PC), the main control part performs abnormal processing and keeps monitoring associated information stored by the storing devices. When the main control part is capable of communicating with the monitoring device, or becomes to be capable of carrying out communication from a communication failure, the welding construction data of the storing devices are sent to the monitoring device. The welding construction data can be reliably stored, so traceability of the whole production line can be ensured.
Description
Technical field
The present invention relates to robot system.
Background technology
In saving in labour or unmanned electric arc welding production line in recent years, each welding to each welding workpiece
The all welding procedure data of position reliable recording (command value and actual value), to follow the trail of, in qualitative control afterwards
It is so-called retrospective to guarantee to become critically important.As this technology, known patent document 1 and patent document 2.
Patent document 1 proposes following technology, i.e., do not use external equipment, and makes individually to be entered by arc welding robot
The collection of Wave data during row weld job, display.
In patent document 2, the welding current in electric arc welding is monitored by robot controller.For example, if completing 1
The interval weld job of welding, then preserve hereof the current value for monitoring, by Ethernet (registration mark) or RS-232C
Send connected personal computer to.Additionally, on the picture of the display device possessed in personal computer, with broken line chart
Form shows the file for being transmitted.The data interval thereby, it is possible to have a guide look of multiple welding in the way of reducing and show.
Patent document 1：TOHKEMY 2006-26640 publications
Patent document 2：TOHKEMY 2002-172574 publications
The arc welding robot that patent document 1 is recorded is collected separately welding procedure data (such as command value and actual value)
And in the technology for being shown, there is a problem of as follows.
(1) robot controller can be carried RAM (random access memory) or the capacity reality of attachable memory
It is limited on border, it is impossible to all of welding procedure data of non-volatile recording.
(2) multiple robot controllers are used to constitute in order to preserve welding procedure data in robot controller
Electric arc welding production line in, it is impossible to and the data that preserve collected by the unified management of each robot controller.
According to patent document 2, welding procedure data are finally stored in and connect via communication line and robot controller
In the personal computer for connecing.But, patent document 2 there is also following problem.
(3) in the case of generating exception on communication line because of certain reason, it is impossible to guarantee reliably to preserve
Welding procedure data.
(4) due to unifying after welding terminates to the welding procedure data in the welding interval of personal computer transmission 1, therefore
The data (can not monitor in real time) in welding procedure cannot be confirmed in personal computer.If additionally, with weld interval example
The large-scale workpiece as more than 1 hour as object welding procedure, then welding terminate after data transmission need spend when
Between.
(5) multiple stage welding robot is not accounted for.
The problems referred to above are listed as the problem points of arc welding robot, but beyond arc welding robot
In other industrial robots, passing through the network connection situation of monitoring arrangement and single or multiple robot controllers
Under, when to monitoring arrangement send including the monitoring value including the various information got by robot controller and for controlling
During the command information of the robot in the robot controller, there is a problem of same.
The content of the invention
It is an object of the invention to provide it is a kind of make robot carry out to workpiece processing operation robot system in,
The robot system including the monitoring related information including monitoring value and command information can reliably be preserved.
In order to solve the above problems, robot system is via network connection with the monitoring dress of monitoring storage part
The multiple robots control dress put and be based respectively on the training data for completing and multiple robots are carried out with regeneration operation
Put, in the robot system, each robot controller possesses：Storage part, it is sequentially stored in regeneration operation and obtains
The monitoring value (hereinafter referred to as monitor related information) related to the robot；Judging section, it judges the storage part
Idle memory capacity whether can store will carry out regeneration operation in make a reservation for obtain monitoring related information；Communication unit
Point, its on the basis of being judged to carry out the storage, when communicate with the monitoring arrangement, the holding storage
The monitoring related information of part storage, when communicating with the monitoring arrangement, sends described to the monitoring arrangement
The monitoring related information that storage part is stored；And control section, it is being judged to that the situation of the storage can not be carried out
Under, carry out abnormality processing.
It is preferred that the abnormality processing include stop it is described regeneration run and carry out abnormality warnings process process or including
Ask whether that the inquiry that stop the regeneration operation is processed.
Furthermore it is preferred that the robot is welding robot, the monitoring related information is at least included in welding control
The welding current of acquirement and any one of weldingvoltage.
Furthermore it is preferred that the monitoring storage part of the monitoring arrangement by the storage of each robot controller respectively from
The monitoring related information that the robot controller sends.
Furthermore it is preferred that the monitoring arrangement possesses：Transmitting portion, it reaches pre- in the idle capacity of the monitoring storage part
In the case of the idle capacity for first setting, to the multiple robot controllers for being connected to the network caution signal, institute are sent
The control section of robot controller is stated based on the caution signal from the transmitting portion, stops regeneration operation.
Robot system is connected to the monitoring arrangement with monitoring storage part and based on the training data for completing
Robot is carried out to regenerate 1 robot controller of operation, in the robot system, the robot controller tool
It is standby：Storage part, it is sequentially stored in the monitoring value related to the robot obtained in regeneration operation and (hereinafter referred to as monitors
Related information)；Judging section, it judges whether the idle memory capacity of the storage part can store the regeneration that will be carried out
Make a reservation for the monitoring related information for obtaining in operation；Communications portion, it works as nothing on the basis of being judged to carry out the storage
When method communicates with the monitoring arrangement, the monitoring related information of storage part storage is kept, when can be with the monitoring
When device communicates, to the monitoring arrangement monitoring related information that the storage part is stored is sent；And control section, its
In the case where being judged to that the storage can not be carried out, abnormality processing is carried out.
(invention effect)
According to robot system, robot is set to carry out in the robot system to the processing operation of workpiece, Neng Gouke
The monitoring related information including monitoring value and including command information is preserved by ground, thus, it is possible to guarantee trackability.
Description of the drawings
Fig. 1 is the block diagram of the robot system of an embodiment.
Fig. 2 is the flow chart of the monitoring processing routine that the master control part of robot controller is performed.
Fig. 3 is the flow chart of the monitoring processing routine that the master control part of robot controller is performed.
Fig. 4 is the flow chart of the analysis and processing program that the analysis portion of robot controller is performed.
Fig. 5 is the explanatory diagram of operation procedure.
Symbol description：
RC1～RCN... robot controllers, Y1～YN... bonding machines, PC... monitoring arrangements,
15... storage device (storage part), 16... master control parts (control section),
17... network communication unit (communications portion),
20... network, 31...CPU,
34... storage device (monitoring storage part), 35... network communication units
Specific embodiment
Hereinafter, the present invention is embodied as an embodiment of arc welding robot system with reference to Fig. 1～Fig. 5 explanations.
As shown in figure 1, arc welding robot system 10 has is configured to the multiple robots that can carry out electric arc welding (not
Diagram) and control robot controller RC1, RC2 of each robot～RCN and monitoring arrangement PC.
The robot that robot controller RC1, RC2～RCN is controlled respectively is known articulated robot, therefore letter
Change explanation.The manipulator of robot is constituted by the substrate parts where being fixed on ground etc. suitably, via multiple joints and base
Multiple arms of bottom parts connection and the motor (not shown) of each arm of driving are constituted.The motor possesses (not shown)
Rotary encoder, can detect the current location of the motor.In the front end of the wrist portion of manipulator front end, install to making
Workpiece (not shown) to be soldered thing carries out the welding torch of electric arc welding.
Additionally, each robot controller RC1～RCN respectively with the teaching each robot operated for operator
Device (not shown) and bonding machine Y1～YN connections.
Robot controller RC1～RCN and monitoring arrangement PC are interconnected via wired network 20.In the network
In 20, for information communication system network and Control System NetWork, communication line is separately provided with.Additionally, network 20
Also it is connected to host controller, but without diagram.The network 20 is for example by Ethernet (registration mark) structure of LAN modes
Into.In addition, network 20 is not limited to the Ethernet of LAN modes, it is also possible to be made up of other networks.
In the communication line that the information for the network 20 communicates, the information carried out between robot controller is handed over
Change and the information between robot controller and monitoring arrangement PC communicates.Additionally, in the communication line of the control for network 20
In, carry out the inputoutput data for robot controller RC1～RCN controls robot and the communication of various signals.
(robot controller)
Then, robot controller and bonding machine are illustrated.Further, since the structure of robot controller RC1～RCN
It is identical, therefore typically illustrate the structure of robot controller RC1.
As shown in figure 1, robot controller RC1 possesses CPU (central processing units) 11, ROM12, RAM13, communication control
Portion processed 14, storage device 15, master control part 16 and network communication unit 17 etc., each several part is connected with each other via bus (not shown)
.CPU11 controls constitute each several part of control device.
In the ROM12, the system program of the control device itself is preserved.RAM13 is volatile memory, is become
Perform job memory during the various programs such as operation procedure described later.Communication control unit 14 carries out the communication with bonding machine Y1.
The storage device 15 is read-write memory, for example, be made up of hard disk, semiconductor memory etc..Storage device 15 stores machine
The operation procedure of device people and monitoring related information described later.Storage device 15 is equivalent to storage part.Additionally, robot controller
The warning devices such as warning lamp or siren 18 are provided with RC1.
(example of operation procedure)
Fig. 5 represents the example of the operation procedure for describing various training datas.In operation procedure shown in Fig. 5, work is described
Industry program sequence number, 001～n of workpiece sequence number and multiple teaching step numbers.(it is in the example of Fig. 5 in the teaching step for starting to weld
Teaching step 004) in describe welding initiation command, and (be teaching step in the example of Fig. 5 the teaching step of welding is terminated
008) welding is described in and terminates order.The welding initiation command, welding terminate one that order is training data.
In the teaching step (being teaching step 004 in the example of Fig. 4) for describing the welding initiation command, also state that
Welding current, weldingvoltage and translational speed (speed command) (being respectively 200A, 18.0V and 50cm/min in the example of Fig. 5).
Here, the welding current, weldingvoltage and the translational speed (speed command) that describe together with the welding initiation command are
The example of welding instruction condition when welding starts.The welding current, weldingvoltage, speed command are of training data.
Additionally, in the teaching step (the teaching step 008 of the example of Fig. 5) for describing teaching and terminating order, also stating that
Welding current and weldingvoltage (being 180A, 17.0V in the example of Fig. 5).The welding described together with terminating order with the welding
Electric current, weldingvoltage and translational speed (speed command) are the examples of the welding instruction condition at the end of welding.
Additionally, in teaching step 001～003, describing positioning command and translational speed (speed command).In teaching step
Linear interpolation order (Zhi Line Fill Inter orders are described in rapid 005～007) and translational speed.Describing the movement directive
In teaching step, in storage device 15 taught point is stored.
Here, the positioning command and linear interpolation order are the examples of movement directive.In addition, though in the example of Fig. 5 not
Diagram, but movement directive also has circular interpolation order etc. in addition to positioning command, linear interpolation order.As shown in figure 5, note
Stated these movement directives teaching step also stated that to corresponding teaching step taught point move when welding torch mobile speed
Degree.
The operation procedure sequence number, workpiece sequence number, teaching step number, welding instruction condition etc. are equivalent to command information.
Master control part 16 possesses：Analysis portion 16a, the operation to teaching training data in teaching machine (not shown)
Each teaching step of program is analyzed；With enforcement division 16b, the analysis information analyzed based on analysis portion 16a etc. by known
Method carry out trajectory plan and interpolation arithmetic, and based on from the (not shown) described rotation located at the joint of the manipulator
Current location information of encoder etc., generates controlling value.Enforcement division 16b via the controlling value servo-drive (not shown)
Device, rotation control, the hand of the movement manipulator are carried out to the motor (not shown) located at each joint of the manipulator
The welding torch of wrist.Master control part 16 is of control unit and detection unit.Network communication unit 17 via network 20 information
Communication system network and communicated with other robot control device RC2～RCN and monitoring arrangement PC.The phase of network communication unit 17
When in communication unit.
(bonding machine)
Then, bonding machine is illustrated.The composition of bonding machine Y1～YN is identical, therefore typically illustrates the knot of bonding machine Y1
Structure.
Bonding machine Y1 possesses CPU (central processing units) 21, ROM22, RAM23, communication control unit 24 and welding control unit
25 etc., each several part is connected with each other via bus (not shown).
Additionally, bonding machine Y1 possesses the source of welding current 28.The source of welding current 28 possesses digitalizer control circuit (not shown),
Converter control circuit to the source power supply (such as 3 phases 200V) from outside input with high-speed response by way of carry out precision
Welding current waveform control.That is, the outlet side of the source of welding current 28 via power cable (not shown), between welding torch and workpiece
Supply weldingvoltage.CPU21 controls each several part of bonding machine Y1.ROM22 is preserved for controlling what bonding machine Y1 possessed
The control software of the action of welding control unit 25 (or source of welding current 28), wire feed unit (not shown) etc..RAM23 is easy
The property lost memory, to CPU21 operating area is provided, and temporarily storage calculates data etc..
Welding control unit 25 according to the welding condition sent from robot controller RC1, control the source of welding current 28 to
The welding torch supplies welding current.
Communication control unit 24 is connected, energy via the communications cable 40 with the communication control unit 14 of robot controller RC1
Enough communicated.
The outlet side of the source of welding current 28 possesses current detecting part 26 and voltage detection department 27.By the current detecting part 26
The welding current of welding wire (not shown) is flow through in detection.Additionally, by voltage detection department 27, detecting before the welding wire not shown
The weldingvoltage applied between end and workpiece.Detection data (i.e. welding current, the weldering of current detecting part 26 and voltage detection department 27
Connect voltage) sent to robot via communication control unit 24, the communications cable 40 with the identical sampling period as monitoring value
The communication control unit 14 of control device RC1.
(monitoring arrangement)
Then, monitoring arrangement PC is illustrated.Monitoring arrangement PC is made up of computer, possess CPU (central processing unit) 31,
ROM32, RAM33, storage device 34 and network communication unit 35 etc..The system that CPU31 controls monitoring arrangement PC itself.ROM32 is protected
Deposit the program of the monitoring arrangement its own system.RAM33 is volatile memory, becomes job storage when performing various programs
Device.Storage device 34 is read-write memory, for example, be made up of hard disk, semiconductor memory, magnetic resistance RAM etc..In addition, depositing
Storage device 34 be semiconductor memory in the case of, preferably need not standby (backup) power supply nonvolatile memory, but
It is the semiconductor memory for being not limited to this, or needing stand-by power supply.Storage device 34 is equivalent to monitoring storage part.
Network communication unit 35 is communicated via network 20 with each robot controller RC1～RCN.Network communication unit
35 equivalent to sending part.Additionally, monitoring arrangement PC is connected with output device 50.Output device 50 for example by display device or is beaten
Printing mechanism into.
(effect of embodiment)
With reference to Fig. 2～Fig. 4, the effect of arc welding robot system for constituting as described above is illustrated.Hereinafter, in order to just
In explanation, the process performed by robot controller RC1 is illustrated.
Fig. 2 is the flow chart of the monitoring processing routine that master control part 16 is performed, and is being controlled not based on the operation procedure
When the manipulator of diagram and the source of welding current 28, the process with the operation procedure abreast processes the monitoring processing routine.Separately
Outward, in the following description, for convenience of description, to " step " additional S of the flow chart of Fig. 2～Fig. 4, to operation procedure
" teaching step " not additional S.Further, since the process of operation procedure is known, therefore omit the description.
(step S1) in S1, master control part 16 determines whether to reach under the controlling cycle that regeneration performs operation procedure
Moment of welding initiation command.In the case where not being the moment of welding initiation command, S23 is skipped to, be that welding starts life
In the case of making the moment, S2 is transferred to.
(step S2) in S2, master control part 16 judges whether storage device 15 can store and is soldered to weldering from now on
Acquired whole various data (monitoring related information) in a period of till binding beam.Namely it is decided that being in storage device 15
It is no there is the time point that welds from now on to the time point for terminating to weld in a period of achieve (the monitoring of various data
Related information) in the case of store the idle memory capacity of these various data, that is, judge in storage device 15 with the presence or absence of the spare time
The storage region put.
(calculating of the data size of the interval monitoring related information of welding)
Here, the data size of the monitoring related information welded in interval welded from now on reference to Fig. 4 explanations
Calculate.
Fig. 4 is the flow chart of the analysis and processing program performed by analysis portion 16a of master control part 16, with the control week for specifying
Phase performs.In addition, the program is to pre-read place before analysis portion 16a performs control based on each teaching step to the manipulator
Reason (Xian Reading body processes) in be performed.
In S101, analysis portion 16a should divide what is specified by counting step described later during operation procedure is carried out
1 teaching step of analysis is analyzed.In addition, the initial value of counting step is the initial teaching step number of teaching step.
In the example of the operation procedure of Fig. 5, counting step is 001.
In S102, judge in the corresponding teaching step of S101 analyses with the presence or absence of welding initiation command.
In S102, analysis teaching step in do not exist welding initiation command in the case of, be transferred to S113, to point
Enforcement division 16b that analysis portion 16a possesses notifies the analysis information obtained after analyzing in S101, in S114, advances a meter
Number step, temporarily terminates the program.In addition, the counting step is used to determine the teaching step of analysis object in S101.
In the case of there is welding initiation command in the teaching step analyzed in S102, in S103, analysis portion 16a
The traveling time Ta for making the welding of welding torch interval is reset to 0.
In S104, analysis portion 16a first analyzes again next teaching step, judges what is first analyzed in S104 in S105
As a result whether there is welding in its teaching step and terminate order.
In S105, the analysis result in S104 is not in the case that welding terminates order, in S106, to judge S104
In analysis result whether be movement directive.In S106, in the case that the analysis result in S104 is not movement directive, although not
Diagram, but temporarily by the first analysis information Store got in S104 in a buffer, and return S104.Additionally,
In S106, in the case that the analysis result in S104 is movement directive, traveling time Tmv is calculated in S107.
For the calculating of traveling time Tmv, specifically, will transfer to divide in the newest S104 before S107
The taught point of the corresponding teaching step (hereinafter referred to as latest analysis teaching step) for separating out is set to P1, will analyze in S104 in the past
Go out and when the taught point adjacent with the taught point of latest analysis teaching step is set to P2, based on distance between P1, P2 and latest analysis
The translational speed described in teaching step is carrying out.In S108, analysis portion 16a is on the traveling time Ta being previously calculated out
This traveling time Tmv for calculating is added, to update traveling time Ta.In S109, analysis portion 16a is temporarily in a buffer
S104 is returned after the first analysis information got in storage S104.
In S105, in the case where the analysis result of S104 terminates order for welding, S110 is transferred to.In S110,
Notify to enforcement division 16b after the additional traveling time Ta for welding interval on the welding initiation command of operation procedure.In S111,
The analysis information of each teaching step on the buffer is notified to enforcement division 16b by teaching sequence of steps.In S112, will count
Number step is carried out to the teaching step that there is welding end order, subsequently temporarily terminates the program.
As set forth above, it is possible to think between the interval traveling time Ta of the welding obtained by analysis portion 16a and respective lands
Weld interval it is roughly equal.In addition, strictly speaking traveling time is roughly equal with weld interval to be because that electric arc welding starts
When the weldering that rises exist situations such as be delayed by because of environment, and the delay is on the whole small difference from traveling time.
Therefore, as described below, master control part 16 calculates the total data size of the monitoring value between respective lands.That is, institute
It is based on traveling time Ta, the sampling period of monitoring value, the monitoring value of every 1 sample between respective lands to state total data size
Data size, is calculated by following formula.
Total data size=Ta ÷ (1/ sample frequency) × (data size of the monitoring value of every 1 sample)
In addition, the data size of the monitoring value of every 1 sample in formula is the value of the total of welding current and weldingvoltage,
Each sampling period of present embodiment is all identical.In addition, in the case where welding current is different with the sampling period of weldingvoltage,
As long as calculating the total data size of welding current and individually value total obtained from the total data size of weldingvoltage i.e.
Can, but the preferred synchronous identical sampling period.
Additionally, it is interior in respective lands, for the command information exported when welding is performed, it is known a priori by data ruler
It is very little, therefore the data size of the command information of output is stored in advance storage dress together with operation procedure in the welding is interval
Put in 15.In the present embodiment, it is interior in the respective lands, by the command information exported when performing welding and the prison
Apparent value is set to monitor related information.
Here, return Fig. 2 flow chart, in S2, between respective lands monitoring related information data size be
The total data chi of the interior monitoring value in the data size of the command information of the interior output in respective lands and respective lands
Very little aggregate values.
In S2, in the case of the storage region of related information is not monitored in storage device 15, it is believed that cannot store
Monitoring relating value between the respective lands, is transferred to S4, the storage region for having monitoring related information in storage device 15
In the case of, it is transferred to S3.
(step S4) in S4, master control part 16 carries out abnormality processing.That is, master control part 16 is carried out as abnormality processing
Warning device 18 is set to show that abnormality warnings that are abnormal and producing warning tones are processed, while stopping the operation procedure of manipulator not shown
Regeneration, that is, stop manipulator action, be transferred to S23.In addition, it can also be abnormal show or warning that abnormality warnings are processed
Sound it is aborning either one.
In S4, the action of manipulator stops being the communication interrupt state with monitoring arrangement PC, in the monitoring that welding is interval
The data size of related information is produced when exceeding the idle memory capacity of storage device 15.That is, if manipulator is also continued in welding
Regeneration actions are carried out in interval, then cannot guarantee trackability, therefore stop the regeneration operation of manipulator.
(step S3) in S3, master control part 16 from operation procedure read welding start when welding instruction condition, and with
Workpiece identification information is stored temporarily in together in the storage region for the communication of storage device 15, by network communication unit 17 to
Monitoring arrangement PC sends.In addition, the workpiece identification information is in advance from input dress (not shown) before regeneration operation procedure
Put or host controller and robot controller RC1 the information that is stored in association in storage device 15 of operation procedure.
The workpiece identification information is the information for determining each workpiece, e.g. sequence number, but is not limited to this.
(step S5) in S5, master control part 16 is directed to the number sent in S3 in certain hour from monitoring arrangement PC
According to the signal (hereinafter referred to as ACK) for determining whether have received the order that expression is normally received.
(step S6, S7), in the case where ACK is received, is arranged to the situation of PC connection status in S6 in S5
S8 is transferred to after " in connection ".Additionally, in S5, in the case of not receiving ACK, by the situation of PC connection status in S7
It is arranged to be transferred to S8 after " in cut-out ".In addition, the initial value of the situation of PC connection status is configured to " in cut-out ".
The sampling period of (step S8) to set in bonding machine Y1 in advance, by current detecting part 26 and voltage detection department 27
The welding current, weldingvoltage are detected, bonding machine Y1 sends out in real time via communication control unit 24 to robot controller RC1
Send sampled welding current and weldingvoltage, i.e. monitoring value.In S8, master control part 16 is confirmed whether to have received from the welding
The monitoring value that machine Y1 sends.In the case where the reception of monitoring value is not confirmed, master control part 16 skips to S20, is confirming prison
In the case of the reception of apparent value, S9 is transferred to.
(step S9) in S9, in order to determine the monitoring value for receiving and welding of being associated with the monitoring value
Position, makes the program sequence number (counting procedure sequence number) and teaching step number of the operation procedure of current regeneration interrelated simultaneously
It is stored in the idle storage region of storage device 15 simultaneously.
(step S10) in step slo, master control part 16 confirms the situation of PC connection status, in the feelings of PC connection status
Shape be " in cut-out " in the case of, be transferred to S14, be transferred to S20 in the case that the situation is set to always into " in cut-out ".This
Outward, in the case that the situation in PC connection status is " in connection ", it is transferred to S11.
(step S11) in step s 11, is sent in be stored in S9 and deposits via network communication unit 17 to monitoring arrangement PC
Monitoring value, program sequence number (counting procedure sequence number) and teaching step number in storage device 15.
(step S12) in S12, master control part 16 confirms whether can receive from monitoring arrangement PC within a certain period of time
ACK, in the case of can not receiving ACK within a certain period of time, be transferred to the S14, can receive ACK's within a certain period of time
In the case of, it is transferred to S13.
(step S13) in S13, master control part 16 is again updated to the situation of PC connection status " in connection ", transfer
To S20.
(step S20) in S20, master control part 16 determines whether under the controlling cycle for performing operation procedure again
Perform the moment that welding terminates order.In the case where being carried out welding the moment for terminating order, S21 is transferred to, is not being held
Property welding terminate order moment in the case of, be transferred to S22.
(step S21) in S21, master control part 16 reads the welding instruction condition at the end of welding from operation procedure, and
It is stored temporarily in together with workpiece identification information in the storage region for the communication of storage device 15, and by network communication unit
17 are sent to monitoring arrangement PC, are transferred to S31.
(step S31) in S31, master control part 16 determine whether it has received for from monitoring arrangement PC certain hour with
The ACK of the interior data sent by S21.
(step S32, S33), in the case where ACK is received, sets the situation of PC connection status in S32 in S31
" in connection " is set to, S8 is transferred to.Additionally, in S31, without receiving an ack, PC is connected into shape in S33
The situation of state is arranged to " in cut-out ", is transferred to S8.
In the case that (step S22) is transferred to S22 from S20, in step S22, master control part 16 as monitoring according to being worth
Welding current, i.e. arc current be whether 0 judging whether welding terminates.The reasons why arranging the step is as follows.That is, in S20
In be considered to weld moment for terminating order and in the case of being judged to "Yes", master control part 16 is to manipulator (not shown) and weldering
The Y1 that picks exports corresponding command information, but exists to actual breaking arc electric current from the output command information moment and prolong
The slow time.Because within the time delay, if being judged in S22, welding is not over, and is transferred to S8, carry out S8～S13,
Or the process of S14.
Here, S8～S13 is the process carried out in welding interval, the monitoring related information quilt obtained in the welding is interval
In being stored in storage device 15.Additionally, in the case where the communication connection with monitoring arrangement PC can be carried out, being stored in storage device
Monitoring related information in 15 is sent to monitoring arrangement PC in S11, can not carry out the communication connection with monitoring arrangement PC
In the case of, the temporarily storage monitoring related information in storage device 15.In addition, in the welding is interval, the monitoring for being stored
Related information is sent to after monitoring arrangement PC, till being eliminated in S29 described later in storage hold mode.
In S22, in the case where being judged to that finishing welding, i.e. arc current (welding current) is 0, S23 is transferred to.
Then, S23～S30, S34, S35 are post processings when finishing 1 welding interval.
When (step S23～S25, S34, S35) is transferred to S23, the communication connection with monitoring arrangement PC cannot be carried out sometimes,
Therefore the situation of PC connection status is reaffirmed.That is, in S23, master control part 16 confirms that whether the situation of PC connection status is
" in connection ".In the case where the situation of PC connection status is for " in connection ", S26 is skipped to, be " to cut in the situation of PC connection status
In disconnected " in the case of, make monitoring arrangement PC be attached confirmation request by network communication unit 17 in S24, judge in S25
Whether ACK is received within certain hour from monitoring arrangement PC.In S25, it is not received by ACK's within certain hour
In the case of, the situation of PC connection status is arranged to into " in cut-out " in S34, and in S35 during standby regulation set in advance
Between after, perform and processed with the communication recovery of monitoring arrangement PC, therefore return S1.That is, return S1 after, give in S1 from
"No" is transferred to the chance of S23.In S25, if master control part 16 receives within a certain period of time ACK, S26 is transferred to.
Then, S26～S30 is the place carried out according to the data that do not send are whether there is in storage device 15 after welding terminates
Reason.
(step S26) in S26, master control part 16 judges to whether there is what is do not sent in the storage region of storage device 15
Monitoring related information, in case of absence, skips to S30, in case of presence, is transferred to S27.
(step S27) in S27, master control part 16 sends all in storage via network communication unit 17 to monitoring arrangement PC
The monitoring related information not sent present in device 15.
(step S28) in S28, master control part 16 determine whether it has received for from monitoring arrangement PC certain hour with
The ACK of the interior data sent by S27, in the case of could not receiving ACK within a certain period of time, is transferred to the S34, one
In the case of can receiving ACK in fixing time, S29 is transferred to.
(step S29) in S29, master control part 16 removes the phase with corresponding operation procedure being stored in storage device 15
The all monitoring related informations during regeneration of interval correlation should be welded, S30 is transferred to.
(step S30) in S30, the situation of PC connection status is arranged to " in connection " by master control part 16, is temporarily terminated
The program.
In the present embodiment, start when the moment of the welding initiation command of S1 arrives until the welding of S22 is tied
Control operation till Shu Chengwei "Yes" is welding control operation, and equivalent to robot operation is controlled.
In addition, in the case where the communication recovery process of S24 and S25, S27 and S28 fails respectively, carrying out S34, S35
Process, and return S1, and do not return S24.So, when the communication recovery in S24 and S25, S27 and S28 is processed and failed respectively not
The reasons why returning S24 is to need the cost time till communication of the recovery with monitoring arrangement PC, even if performing in the meantime
The interval welding of next welding, it is also possible to store in storage device 15 the monitoring related information in welding interval.
As described above, the monitoring related information in robot controller RC1 is stored in into the storage dress of monitoring arrangement PC
Put in 34.
Similarly monitoring arrangement PC's is stored in by monitoring related information to other robot control device RC2～RCN
In storage device 34.In addition, giving single operation procedure sequence respectively to the operation procedure regenerated by each robot controller
Number.
Also, these monitoring related informations are by the identification code or robot controller of each robot controller
Each operation procedure sequence number make a distinction after store in the storage means 34.
In monitoring arrangement PC, if closing as described above, receiving the monitoring sent from robot controller RC1～RCN
Connection information etc., then store in the storage means 34 in temporal sequence their monitoring related information etc., after having received, as above institute
State and return like that ACK.
As a result, monitoring arrangement PC in the case where 1 workpiece is welded simultaneously by multiple stage welding robot, can be respectively
Reliably ensure that the monitoring related information of multiple welding robots.I.e., it can be ensured that the welding procedure knot of each welding robot
The trackability of fruit.
According to the arc welding robot system and robot controller of present embodiment, with following feature.
(1) the arc welding robot system of present embodiment has storage device 34 via network connection (monitoring is deposited
Storage portion) monitoring arrangement PC and control multiple robot controller RC1～RCN of multiple robots respectively.Each robot control
Device RC1～RCN processed possesses：Storage device 15 (storage part), according to welding control process sequence, to welding control operation (machine
Device people control operation) in monitoring related information carry out storage action；With master control part 16 (detection unit), judge with storage device
Whether the idle memory capacity of 15 (storage parts) can store the monitoring association in the welding control operation for carrying out from now on
Information.
Additionally, each robot controller RC1～RCN possesses：Network communication unit 17 (communication unit), described in it can carry out
On the basis of the judgement of storage, when the communication with monitoring arrangement PC cannot be carried out, storage device 15 (storage part) is kept to be stored
The monitoring related information, when the communication of monitoring arrangement PC can be carried out, to monitoring arrangement PC send storage device 15 (deposit
Storage portion) the monitoring related information that stored.In addition, robot controller RC1～RCN possesses：Master control part 16 (control unit),
In the case where being judged to that the storage can not be carried out, carry out abnormality processing, will not make storage device 15 (storage part) storage from
The monitoring related information of welding control operation (robot control operation) for now beginning to carry out.
As a result, according to present embodiment, in the arc welding machine for making multiple stage robot carry out the processing operation of 1 workpiece
In device people's system, the monitoring related information for including monitoring value and command information is reliably preserved, therefore ensure that trackability, and
Uniqueization management can also be carried out.That is, the monitoring related information of multiple manipulators can uniquely be changed by monitoring arrangement
Management.More specifically, particularly it is processed the production of operation simultaneously to 1 workpiece in the multiple robots with network connection
On line, effect can be played.On this production line, for example, it will be assumed that following situation：Because of 1 robot and internetwork cable
The reason such as temporary transient interruption of broken string or radio communication and generate communication abnormality, and communication is not produced in remaining robot
It is abnormal.Now, in the prior art, the robot of communication abnormality is detected without normal direction monitoring arrangement transmission monitoring related information.
This means to guarantee as the overall trackability of production line.And this point is in the present embodiment, generate in network
It is not to monitor related information to monitoring arrangement transmission in the case of communication abnormality, but temporarily protects in the storage device of itself
Monitoring related information is deposited, the monitoring related information thus, it is possible to reliably preserve configuration all robots on a production line.That is,
It is able to ensure that the overall trackability of production line.
Even if additionally, the communication between robot controller and monitoring arrangement generates temporary transient obstacle, will not stop
The operation of robot controller itself or monitoring arrangement, and be to continue with preserving monitoring related information, thus, it is possible to guarantee can
Retrospective.In addition, robot control operation sends controlling by corresponding machine people for whole after terminating to each robot controller
The monitoring related information that operation processed is obtained, is then purged, therefore robot controller need not carry jumbo depositing
Storage device, can inexpensively constitute system.Additionally, the maintenance for monitoring related information can be implemented at the one of monitoring arrangement, therefore
Upkeep operation can be simplified.In addition, in the case of communications status between robot controller and monitoring arrangement are normal,
While monitoring arrangement side saves historical data, the real-time monitoring that robot controls operation can also be carried out.
(2) in the arc welding robot system of present embodiment, the abnormality processing stop robot control and
Also including abnormality warnings process.As a result, according to present embodiment, by abnormality warnings, operator can know storage device
15 (storage parts) cannot store the monitoring related information of welding control operation (robot control operation) for carrying out from now on,
Rapidly corresponding countermeasure can be carried out to it.
(4) in the arc welding robot system of present embodiment, robot is set to into welding robot, by storage dress
Putting needs the robot control operation for storing monitoring related information to be set to welding control operation, and the monitoring in 15 (storage parts)
Value includes welding current and weldingvoltage.As a result, according to present embodiment, in arc welding robot system, Neng Goushi
The effect of existing above-mentioned (1).
(5) in the arc welding robot system of present embodiment, (the monitoring storage of storage device 34 of monitoring arrangement PC
Portion) the monitoring related information for sending from robot controller RC1～RCN respectively is stored by each robot controller.Its
As a result, according to present embodiment, monitoring that can be by each robot controller to sending from multiple robot controllers
Related information carries out uniqueization management.
(6) robot controller of present embodiment possesses：Storage device 15 (storage part), it is suitable by welding control operation
Monitoring related information in sequence storage welding control operation (robot control operation)；With master control part 16 (detection unit), judge
During the welding control operation for carrying out from now on whether can be stored with the idle memory capacity of storage device 15 (storage part)
Monitoring related information.Additionally, each robot controller RC1～RCN possesses：Network communication unit 17 (communication unit), is judging
To carry out on the basis of the storage, in the case where the communication with monitoring arrangement PC can not be carried out, storage device is kept
The monitoring related information that 15 (storage parts) are stored, in the case where the communication with monitoring arrangement PC can be carried out, to prison
View apparatus PC sends the monitoring related information that storage device 15 (storage part) is stored.In addition, robot controller RC1～
RCN possesses：Master control part 16 (control unit), in the case where being judged to that the storage can not be carried out, carries out abnormality processing, will not
The welding that making storage device 15 (storage part) storage is carried out from now on controls the monitoring of operation (robot control operation) and closes
Connection information.As a result, in the case that via network the robot controller is connected with multiple stage monitoring arrangement, energy
Enough effects for easily realizing above-mentioned (1).
In addition, the present invention is not limited to the embodiment, can also constitute as described below.
In said embodiment, the CPU31 of monitoring arrangement PC judges the idle of storage device 34 (monitoring storage part)
Memory capacity is judged to that the idle memory capacity is advance whether below idle memory capacity set in advance in CPU31
In the case of below the idle memory capacity of setting, network communication unit 35 (sending part) also can be to multiple with the network connection
Robot controller RC1～RCN sends caution signal.
Also, the master control part 16 (control unit) of robot controller RC1～RCN is based on from network communication unit 35
The caution signal, it is also possible to stop the control for needing the welding for storing monitoring related information to control operation (robot control operation)
System, i.e., stopped the control before next welding interval is entered.Now, the memory capacity set in advance is to close every time
When the 1 welding interval from each robot controller completes to monitor the storage of related information, for example as described below certainly
Move what is calculated.
For example, CPU31 synchronously carries out welding control in each robot controller RC1～RCN with identical operation procedure
In the case of manufacturing, the maximum with the interval monitoring related information of 1 welding received from each robot controller is
Benchmark, based on " the connection number of units of maximum × robot controller ", calculates robot controller RC1～RCN automatically
Memory capacity needed for maximum required when robot is controlled is started simultaneously at.
Also, the CPU31 of monitoring arrangement PC was deposited before next welding interval is entered needed for the maximum is judged to
When storage capacity is not reaching to the current idle memory capacity of storage device 34, send to each robot controller RC1～RCN
The caution signal.
If so constituting, in the case of the lack of memory capacity of the storage device 34 of monitoring arrangement PC, each robot
Control device can stop the regeneration operation of robot before welding control operation is entered, therefore in arc welding robot system
In system, the monitoring related information including monitoring value and including command information can be reliably preserved, thus, it is possible to guarantee to review
Property.
In said embodiment, for example, in S24, S25 of Fig. 3, from each robot controller RC1～RCN sides
Confirmation request is attached to monitoring arrangement PC, but the connection confirmation request from robot controller can also be replaced,
From monitoring arrangement PC to robot controller, RC1～RCN is attached request and confirms.For example, connecting monitoring arrangement PC's
During power supply, via the information communication system network of network 20, from monitoring arrangement PC to robot controller, RC1～RCN is carried out
Connection request confirmation, or along with the moment of the power supply is connected, to each robot controller RC1～RCN via described
The Control System NetWork output starting order of the network 20 of operation procedure, and by information communication system network to robot control
Device RC1～RCN processed is attached request and confirms.Now, preferably monitoring arrangement PC is set to into host controller.
In said embodiment, in the case that the S105 in the flow chart from Fig. 4 is transferred to S110, it is also possible in weldering
Predetermined shift time is added on the traveling time Ta for connecing interval, and will add up value obtained from the shift time and be set to
Traveling time Ta, calculates the total data size of the interval monitoring value of welding.Sometimes enforcement division 16b in master control part 16 is instructed
Welding start until produce electric arc and till manipulator starts action or manipulator reaches welding end point and starts until welding
The regular hour is needed till end, the shift time is used to guarantee the storage in the monitoring related information for obtaining interior during this period
Region.This shift time can be tested by operation procedure and obtained.
In each embodiment, monitoring value is set as into welding current and weldingvoltage, but monitoring value is not
It is limited to welding current and weldingvoltage.For example, although not shown, but can also arrange detect to welding torch supply welding wire welding wire
The sensor of the welding wire transporting velocity of feed arrangement, and the welding wire transporting velocity is set to into monitoring value, or when electric arc is welded
The gas flow of the time per unit of the protective gas spued from welding torch to welding procedure position is set to monitoring value.
As monitoring value, it is also possible to only welding current or only weldingvoltage.
Can be welding current and the welding wire transporting velocity as monitoring value；Or weldingvoltage and the protection
Gas flow；Or weldingvoltage and the welding wire transporting velocity；Or weldingvoltage and the shield gas flow rate；Or weldering
Connect electric current, the welding wire transporting velocity and the shield gas flow rate；Or weldingvoltage, the welding wire transporting velocity and described
Shield gas flow rate；Or welding current, weldingvoltage, the welding wire transporting velocity and the shield gas flow rate.
As described above, calculating the prison different from each embodiment by the method same with the embodiment
Total data size in the welding interval of apparent value.
In each embodiment, arc welding robot system is embodied in, and in the welding is interval
The command information exported when performing welding and the monitoring value are set as into monitoring related information, but are embodied as arc welding
In the case of other robot system beyond welding robot system, it is also possible to which the control operation for obtaining monitoring value in needs is interval
It is interior to be set to the command information for being exported and monitoring value to monitor related information.
In each embodiment, in abnormality processing, by the warning device of robot controller RC1～RCN
18 carry out abnormality warnings process, thus stop the regeneration operation of robot, but can also make police before regeneration operation is stopped
Accusing device 18 carries out abnormality warnings process, makes display device (not shown) and show that robot controller RC1～RCN possesses
At least one party in the display that religion device (not shown) possesses carries out asking whether that the inquiry that can stop regenerating operation shows
(inquiry process).Or, it is also possible to make robot controller RC1～RCN possess synthetic video generating unit (not shown), by institute
State synthetic video generating unit and generate the synthetic video of the inquiry for asking whether that robot control can be stopped, and held by loudspeaker
OK.Now, in order to answer the inquiry, making teaching machine or input unit (not shown) possess input stops the action of robot
Stop signal switch.
In said embodiment, the order of S1 and S2 can also be set to the suitable of S2 and S1 in the flowchart of fig. 2
Sequence.
The network 20 can also be made up of wired composition wireless network.
In each embodiment, illustrate to be embodied as robot system and the robot system can pass through network
Realization stores by multiple robots simultaneously monitoring result when carrying out welding processing in 1 monitoring arrangement, but, supervise at 1
In the robot system that view apparatus and 1 robot controller are connected in a 1-to-1 manner, it is also possible to carry out and the reality
Apply the process of mode identical such that it is able to reliably preserve the monitoring related information including monitoring value and including command information.That is,
It is identical with above-mentioned embodiment, in the case where communication abnormality is generated, not to monitoring arrangement transmission monitoring related information, and
It is that monitoring related information is temporarily preserved in the storage device of itself, guarantees thus, it is possible to reliably preserve monitoring related information
Trackability.
Claims (6)
1. a kind of robot system, it monitoring arrangement with monitoring storage part and is based respectively on system via network connection
The multiple robot controllers made the training data for completing and multiple robots are carried out with regeneration operation, in the robot system
In,
Each robot controller possesses：
Storage part, it is sequentially stored in the robot dependent surveillance value obtained in regeneration operation and monitors related information；
Judging section, it judges whether the idle memory capacity of the storage part can be stored in the regeneration operation that will be carried out
The predetermined monitoring related information for obtaining；
Communications portion, it, when communicating with the monitoring arrangement, is protected on the basis of being judged to carry out the storage
The monitoring related information of storage part storage is held, when communicating with the monitoring arrangement, to the monitoring dress
Put and send the monitoring related information that the storage part is stored；With
Control section, it carries out abnormality processing in the case where being judged to that the storage can not be carried out,
The monitoring arrangement possesses transmitting portion, and idle capacity of the transmitting portion in the monitoring storage part reaches and set in advance
In the case of fixed idle capacity, caution signal is sent to the multiple robot controllers for being connected to the network,
The control section of the robot controller stops regeneration fortune based on the caution signal from the transmitting portion
OK.
2. robot system according to claim 1, wherein,
The abnormality processing includes that stop the regeneration operation carries out the process of abnormality warnings process or ask whether to stop simultaneously
The only inquiry of the regeneration operation is processed.
3. robot system according to claim 1 and 2, wherein,
The robot is welding robot,
The monitoring related information is at least included in any one of the welding current and weldingvoltage obtained in welding control.
4. robot system according to claim 2, wherein,
The monitoring storage part of the monitoring arrangement is stored respectively from the robot control by each robot controller
The monitoring related information that device processed sends.
5. robot system according to claim 3, wherein,
The monitoring storage part of the monitoring arrangement is stored respectively from the robot control by each robot controller
The monitoring related information that device processed sends.
6. a kind of robot system, it is connected to the monitoring arrangement with monitoring storage part and based on the teaching for completing
Data carry out regenerating a robot controller of operation to robot, in the robot system,
The robot controller possesses：
Storage part, it is sequentially stored in the robot dependent surveillance value obtained in regeneration operation and monitors related information；
Judging section, it judges whether the idle memory capacity of the storage part can be stored in the regeneration operation that will be carried out
The predetermined monitoring related information for obtaining；
Communications portion, it, when communicating with the monitoring arrangement, is protected on the basis of being judged to carry out the storage
The monitoring related information of storage part storage is held, when communicating with the monitoring arrangement, to the monitoring dress
Put and send the monitoring related information that the storage part is stored；With
Control section, it carries out abnormality processing in the case where being judged to that the storage can not be carried out,
The monitoring arrangement possesses transmitting portion, and idle capacity of the transmitting portion in the monitoring storage part reaches and set in advance
In the case of fixed idle capacity, caution signal is sent to robot controller,
The control section of the robot controller stops regeneration fortune based on the caution signal from the transmitting portion
OK.
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| JP2012260859A JP6046467B2 (en) | 2012-11-29 | 2012-11-29 | Robot system |
| JP2012-260859 | 2012-11-29 |
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| JP6510761B2 (en) * | 2014-04-08 | 2019-05-08 | 川崎重工業株式会社 | Data acquisition system and method |
| JP6343199B2 (en) * | 2014-07-28 | 2018-06-13 | 株式会社Ｆｕｊｉ | COMMUNICATION SYSTEM, MOUNTING DEVICE, AND COMMUNICATION DATA PROCESSING METHOD |
| CN104669272B (en) * | 2015-03-19 | 2017-03-01 | 广州科然机电有限公司 | Robot |
| JP2017001120A (en) * | 2015-06-08 | 2017-01-05 | 三菱電機株式会社 | Robot control device |
| JP6862081B2 (en) | 2015-06-23 | 2021-04-21 | キヤノン株式会社 | Robot system control methods, control programs, computer-readable recording media, and robot systems |
| JP6525769B2 (en) * | 2015-06-30 | 2019-06-05 | キヤノン株式会社 | Management device, control method and program, and system |
| CN105159252A (en) * | 2015-08-18 | 2015-12-16 | 深圳市科昭科技有限公司 | Robot intelligent cloud compatible control system |
| JP6333790B2 (en) | 2015-10-21 | 2018-05-30 | ファナック株式会社 | Robot system having a plurality of control devices connected via a network |
| JP6810630B2 (en) | 2017-02-13 | 2021-01-06 | 川崎重工業株式会社 | Robot control device, robot system and robot control method |
| CN109887396A (en) * | 2017-12-06 | 2019-06-14 | 北京猎户星空科技有限公司 | A kind of robot teaching system, method and device |
| JP6962229B2 (en) * | 2018-02-15 | 2021-11-05 | オムロン株式会社 | Central controller, control method and program |
| CN111975171A (en) * | 2019-05-22 | 2020-11-24 | 伊利诺斯工具制品有限公司 | Welding monitoring system with unknown downtime disablement |
| JP7280109B2 (en) * | 2019-05-23 | 2023-05-23 | ファナック株式会社 | Anomaly monitoring device |
| US20220276640A1 (en) * | 2019-09-10 | 2022-09-01 | Fuji Corporation | Line production facility |
| CN113507514B (en) * | 2021-06-30 | 2024-04-30 | 歌尔股份有限公司 | Multi-station control method, production line, production system and readable storage medium |
| CN116512272B (en) * | 2023-05-29 | 2024-04-12 | 天津诺瑞信精密电子有限公司 | Part processing supervision method, device, equipment and storage medium |
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| Publication number | Publication date |
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| JP6046467B2 (en) | 2016-12-14 |
| TW201420292A (en) | 2014-06-01 |
| TWI616291B (en) | 2018-03-01 |
| CN103846915A (en) | 2014-06-11 |
| JP2014104561A (en) | 2014-06-09 |
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