CN101226398A - Distributed soldering point quality monitoring system and method - Google Patents
Distributed soldering point quality monitoring system and method Download PDFInfo
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- CN101226398A CN101226398A CNA2008100327446A CN200810032744A CN101226398A CN 101226398 A CN101226398 A CN 101226398A CN A2008100327446 A CNA2008100327446 A CN A2008100327446A CN 200810032744 A CN200810032744 A CN 200810032744A CN 101226398 A CN101226398 A CN 101226398A
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Abstract
The invention relates to a distribution welding point quality detection system and a relative method, belonging to welding technical field. The system comprises a detection host computer, a controller local network bus and a distribution node lower computer, wherein the detection host computer comprises a PC and a controller local network bus communication adaptive card which are connected via a PCI interface, the controller local network bus communication adaptive card is connected with each distribution node lower computer via a controller local network bus. The inventive method comprises that each lower computer online real-time extracts the impression of welding point to be sent to the controller local network bus, the PC sends the welding point match change information caused by the change of servo welding gun position to a lower computer of relative ID number, real-time refreshes the standard base of the distribution node lower computer that judges the welding point, and returns the off-grade welding point counter. The inventive system and method have high reliability, strong bus correct function, better real-time property, remote transmission distance and better expansibility.
Description
Technical field
The present invention relates to a kind of system and method for welding technology field, specifically is a kind of distributed soldering point quality monitoring system and method based on Controller Area Network BUS.
Background technology
Resistance spot welding at present remains most important connected mode in the white car body assembling, finish about 90% vehicle body assembly work amount, a common white car body has 3000～5000 solder joints, the quality of quality of welding spot directly influences the safe reliability and the assembling deviation of vehicle body, therefore, it is whether qualified very great for the auto industry meaning that online in real time detects quality of welding spot.When using traditional pneumatic welding gun to carry out the welding of automotive bobdy sheet metal, because pneumatic welding gun is open loop control, can't feed back any information that characterizes quality of welding spot in the welding process in real time, so still extensively adopt off-line sampling Detection method at present, cut as cutter that method, destructiveness are peeled off detection method or ultrasound wave, the X ray method of nondestructive inspection detects quality of welding spot, but this can only be confined to can't record the quality of all solder joints on the vehicle body in the scope of small sample, and lacks real-time.
In recent years, a kind of servo torch of novel band feedback function is applied to body in white spot welding production line just gradually, it utilizes the rotation of driven by servomotor leading screw, be converted into the feeding of electrode, the rotational speed of servomotor and rotation amount have determined the electrode speed of feed and the amount of feeding, and servomotor output torque has determined welding foroe.Therefore servo torch control electrode position and pressure is accurately guaranteed welding quality.Meanwhile, the servo torch photoelectric encoder is the feedback electrode displacement in real time, and the distance that electrode moves in the pinpoint welding procedure, promptly electrode is pressed into the depth of cup of workpiece, and is closely related with quality of welding spot, can be used to reflect the quality of solder joint.But because the external supplier's of robot internal core technical know-how, to from robot controller, directly extract very difficulty of electrode impression, in addition, in order to detect each the servo torch station quality of welding spot situation that distributes on the production line, needs adopt field bus technique that servo torch encoder feedback impression is transmitted and manage.
Find by prior art documents, Chinese patent publication number 200510030454.4, patent name is " being used for the real-time quality testing of car body spot welding and the method for warning ", this patent is used the thermal expansion electrode displacement in the pneumatic welding gun welding process of non-contact laser displacement sensor, A/D module by single-chip microcomputer receives, and compare with the normal electrode displacement curve of single-chip microcomputer stored and to judge that whether quality of welding spot is qualified, carries out sound and light alarm for defective solder joint.But have following shortcoming: 1, laser displacement sensor costs an arm and a leg, and the influence of flame of splashing when being subject to site welding of the accuracy of measuring-signal, thereby influences the correctness that quality of welding spot is passed judgment on; 2, because the restriction of pneumatic welding gun station, be not that all stations all can be gathered dynamic electrode displacement by the installation position displacement sensor, for example, for the long welding gun of X type horn, not only will make special anchor clamps and fix sensor, and the electrode displacement linearity of measuring also can't be guaranteed; 3, this device can only detect the quality of welding spot of independent station, does not have the bus communication function, can't satisfy the demand that detects on-the-spot distributed welding gun point quality.
Summary of the invention
The objective of the invention is at above-mentioned the deficiencies in the prior art, a kind of distributed soldering point quality monitoring method and system are provided, make that its solder joint impression that solves the integrated servo torch of distributed robot on vehicle body soldering line obtains, the problem of up-to-standard judge, warning and data transfer management, the measuring accuracy height, real-time is good, antijamming capability is strong, cost performance is high, extensibility is good, be convenient to high volume applications on production line.
The present invention is achieved through the following technical solutions:
The distributed soldering point quality monitoring system that the present invention relates to, comprise: the monitoring host computer, the CAN bus, the distributed node slave computer, wherein: the monitoring host computer comprises PC and CAN bus communication adapter, PC links to each other by pci interface with CAN bus communication adapter, CAN bus communication adapter links to each other by the CAN bus with each distributed node slave computer, each distributed node slave computer is installed between the servo torch scrambler and robot controller of each station on the production line, online in real time is extracted the solder joint impression and is sent to the CAN bus, PC receives each distributed node slave computer and sends over the impression data message, finish quality of welding spot Information Statistics and management, and will mate the distributed node slave computer that modification information send to corresponding ID number because of the solder joint that the change of servo torch station causes, refresh the distributed node slave computer in real time and judge the whether qualified java standard library of solder joint, guarantee the correctness of distributed node slave computer evaluation quality of welding spot, and the defective solder joint counter that resets, store according to the time data of distributed node slave computer record simultaneously, for checking.
Described distributed node slave computer is by facility network agreement (DeviceNET) exploitation, can from the servo torch pulse encoder, extract solder joint impression data, compare with the impression standard that receives from the monitoring host computer, whether qualified pass judgment on quality of welding spot, statistics shows defective solder joint number and reports to the police, simultaneously the impression data are sent to Controller Area Network BUS, carry out data statistics and management for the monitoring host computer.
Described distributed node slave computer, comprise: single-chip microcomputer, alarm module, the LED display module, the perpetual calendar module, the CAN bus communication module, reseting module, wherein: single-chip microcomputer is the central processing unit of distributed node slave computer, single-chip microcomputer is by the DeviceNET protocol development on the one hand, be connected to the servo torch scrambler to extract the solder joint impression, on the other hand, single-chip microcomputer respectively with alarm module, the LED display module, the perpetual calendar module, the CAN bus communication module, reseting module links to each other, alarm module receives the alerting signal of single-chip microcomputer, reports to the police when solder joint is defective; The LED display module receives the position choosing and the section of single-chip microcomputer and selects signal, is used to show defective solder joint counting and solder joint qualification rate number percent; The perpetual calendar module receives the write signal of single-chip microcomputer, register system time; The CAN bus communication module receives the read signal of single-chip microcomputer, and provides power supply for single-chip microcomputer; Reseting module is responsible for supply voltage monitoring is prevented the program endless loop, single-chip microcomputer and CAN bus controller is resetted.
When the present invention works, inter-area traffic interarea is two-way, at first, impression data in the welding process are sent in the single-chip microcomputer of distributed node slave computer by the servo torch scrambler, compare with the impression standard storehouse of its sheet stored, if exceed this scope, then solder joint is defective, report to the police by alarm module, and be added on the defective solder joint counter, showing defective counting and qualification rate by the LED display module, these impression data are sent to the CAN bus by the CAN bus communication module simultaneously, receive by the monitoring host computer, carry out statistical management; Secondly, the servo torch station solder joint coupling modification information that the monitoring host computer sends by the CAN bus to assigned I D node distribution formula node slave computer, the impression standard storehouse of storing in the real-time update distributed node slave computer, estimate the accuracy of quality of welding spot to guarantee slave computer, and the defective solder joint counter that resets, the calendar time data of slave computer perpetual calendar module stores are stored this moment simultaneously, for checking, reseting module provides reset signal for slave computer when brownout and program fleet, guarantee that program normally moves.
The distributed soldering point quality monitoring method that the present invention relates to comprises following concrete steps:
Step 2, online judge, demonstration and warning quality of welding spot: the distributed node slave computer compares the impression data of the tape welding point that collects numbering and the impression java standard library of single-chip microcomputer sheet stored, whether qualified online judgement solder joint is, alarm module sends very brief warning when defective solder joint occurring, simultaneously qualification rate is counted and calculated to defective solder joint, show by the LED display module, when solder joint reaches the setting radix, and qualification rate is crossed when hanging down, alarm module sends long warning, reminds the staff that welding post or parameter are adjusted;
Step 3, distributed node slave computer and monitoring upper machine communication: the distributed node slave computer uses the CAN bus communication module, the impression and the whether qualified information of solder joint are sent to the CAN bus in real time, storage and management for monitoring host computer butt welding point quality information, receive the message relevant that the monitoring host computer sends on the CAN bus simultaneously with this node ID, upgrade the impression java standard library of current station solder joint coupling, and the date of record renewal and the moment, use switching push button on the LED display module, to switch demonstration, so that inquire about when the workman keeps in repair on the line;
Step 4, the monitoring host computer is write the quality of welding spot information database, comprising whether qualified servo torch worker item, solder joint match information, impression java standard library, actual measurement impression data and solder joint be indicates etc., when system moves, the monitoring host computer receives the impression Frame that each slave computer node sends on the CAN bus, judge the servo torch station according to message ID number, then with solder joint impression, whether qualified information stores in the database of correspondence, realize the quality of welding spot management of information database;
Step 5, when certain servo rifle station solder joint mates change, the monitoring host computer is made amendment to the solder joint match information and the qualified solder joint impression standard of corresponding station in the database, send to assigned I D node on the CAN bus then, upgrade the impression java standard library of storing in the slave computer, and the defective solder joint counter that resets, the calendar time data of perpetual calendar module records are stored at this moment simultaneously, for checking.
Compared with prior art, the present invention includes following beneficial effect: 1, good reliability, powerful bus arbitration function has guaranteed reliability of data transmission, has avoided bus collision; 2, the bus correction function is strong, after the transmission data are destroyed, can retransmit automatically; When node is badly damaged, withdraw from bus automatically; 3, real-time is good, and high transmission speed can reach 1Mbps, satisfies the transmission requirement of data on the bus; 4, long transmission distance, under the communication speed of 5Kbps, theoretical communication distance can reach ten thousand metres; 5, extensibility is good, and when using CTM1050 as the CAN bus transceiver, consolidated network can articulate 110 nodes at most.The CAN bussing technique is used very ripe at vehicle electric field, also can be applied to very easily on the vehicle body soldering line.
Description of drawings
Fig. 1 is a system of the present invention composition diagram;
Fig. 2 is system works principle of the present invention and data flow diagram;
Fig. 3 obtains process flow diagram for the solder joint impression.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the distributed soldering point quality monitoring system system of present embodiment, comprise: the monitoring host computer, the CAN bus, the distributed node slave computer, wherein: the monitoring host computer, the CAN bus, the distributed node slave computer, wherein: the monitoring host computer comprises PC and CAN bus communication adapter, PC links to each other with CAN bus communication adapter by pci interface, CAN bus communication adapter links to each other by the CAN bus with each distributed node slave computer, each distributed node slave computer is installed between the servo torch scrambler and robot controller of each station on the production line, online in real time is extracted the solder joint impression and is sent to the CAN bus, PC receives each distributed node slave computer and sends over the impression data message, finish quality of welding spot Information Statistics and management, and will mate the distributed node slave computer that modification information send to corresponding ID number because of the solder joint that the change of servo torch station causes, refresh the distributed node slave computer in real time and judge the whether qualified java standard library of solder joint (be generally solder joint coupling workpiece gross thickness 10%～25%), guarantee the correctness of distributed node slave computer evaluation quality of welding spot, and the defective solder joint counter that resets, store according to the time data of distributed node slave computer record simultaneously, for checking.
Described distributed node slave computer is by facility network agreement (DeviceNET) exploitation, can from the servo torch pulse encoder, extract solder joint impression data, compare with the impression standard that receives from the monitoring host computer, whether qualified pass judgment on quality of welding spot, statistics shows defective solder joint number and reports to the police, simultaneously the impression data are sent to Controller Area Network BUS, carry out data statistics and management for the monitoring host computer.
Described distributed node slave computer, comprise: single-chip microcomputer, alarm module, LED display module, perpetual calendar module, CAN bus communication module, reseting module, single-chip microcomputer is the central processing unit of slave computer, it is by the DeviceNET protocol development on the one hand, be connected to the servo torch scrambler to extract the solder joint impression, on the other hand, it each mouthful links to each other with corresponding peripherals, and be specific as follows: the reset signal of single-chip microcomputer
RST mouth by reseting module provides, and the P1.4 mouth provides alerting signal for alarm module, and least-significant byte address mouth P0 connects the chip of LED display module, provides data and latch signal by P1.5, P1.6, P1.7, will data presented send in the LED display module; Multiplexing mouthful of P0 of address/data links to each other with the perpetual calendar module, transmission calendar time data; Multiplexing mouthful of P0 of address/data links to each other with the CAN bus communication module, carries out the CAN bus communication.
Described single-chip microcomputer is 8 high-performance P87C591, includes 32k sheet internal program storage space, and enough programs are used, and P2.5, P2.6, P2.7 in its sixteen bit address wire most-significant byte encode by 3/8 coding chip 74HC138, output
0 outer expansion 8k * 8Bit data-carrier store 6264 is for the usefulness of impression data storage;
Sheet is CAN bus controller SJA1000, is used for the CAN bus communication;
Sheet is perpetual calendar chip DS12887, is used for register system working time; Outside
Interrupt distribution is given CAN bus transmitting-receiving application,
Interrupt distribution shows the switching push button application to LED, single-chip microcomputer also carries one road CAN module, can be connected to DeviceNET equipment by the CAN bus communication module, to receive the servo torch encoder data, the encoder feedback data still are connected to robot, can not influence the robot normal operation.
Described alarm module is made up of triode and hummer, and single-chip microcomputer determines whether reporting to the police by P1.4 mouth output high-low level, and triode amplifies the signal of single-chip microcomputer P1.4 mouth, and hummer receives amplifying signal and carries out work.
Described LED display module is made up of seven sections LED charactron chip for driving MAX7219 and LED charactron, seven sections LED charactron chip for driving MAX7219 are a serial common cathode charactron display driver chips, can refresh 8 common cathode LED of mode drive charactron by dynamic scan, brightness available software mode is adjusted, when the LED display module is connected with single-chip microcomputer, the P0 mouth is used as address wire, data then are serial mode, by P1.5, P1.6, P1.7 mouth analog chip work schedule writes, and when linking to each other with 87 sections LED, its choosing and section select signal to be connected respectively on the interface of LED display module correspondence.4 are used for defective solder joint counting among 8 LED, and 4 are used to show solder joint qualification rate number percent (being accurate to 0.1%), and the moon of manual switchover display system as required, day, the time, branch information, for checking.
Described perpetual calendar module adopts perpetual calendar chip DS12887, be responsible for carrying out the register system time, DS12887 can provide information such as detailed century, year, month, day, hour, min, second, and there are 24 hours systems this chip demonstration time and made in 12 hours, and binary code and binary-coded decimal form are arranged; Inner 128B RAM is arranged, and 15B is special-purpose, and 113B is that the user is general, use in this example moon, day, the time, branch information, made the binary-coded decimal demonstration by 8 seven sections LED with 24 hours, when being connected with single-chip microcomputer, multiplexing mouthful of P0 of address/data is connected to the chip data mouth, passes through read-write
Carry out data write.
Described CAN bus communication module by CAN bus controller SJA1000 and one band high-speed light every the CTM1050 bus transceiver forms, the multiplexing mouth of the data port of SJA1000 chip and the address/data of single-chip microcomputer P0 links to each other, and passes through read-write
Carry out data write, the J2 wire jumper is used for selecting whether to access terminal resistance, use pin9 and pin3,6 (DeviceNET canonical reference ground) to provide single-chip microcomputer work required 5V power supply in the CAN bus communication cable idle pin of nine kinds of needles joint, the distributed node slave computer is from the power taking of CAN bus, removed the trouble that connects power supply in addition from, it is more convenient that the slave computer module is removed and installed, and extendability is also better.
Described reseting module is realized supply voltage monitoring, is prevented the function of program endless loop, adopts the MAX706 chip, reseting module can power on, power down, line voltage distribution be lower than and produce low level reset signal under 4.4V threshold voltage and the manual case
Reseting module carries the WatchDog Timer of a 1.6s in addition, regularly gives timer by P1.3 output high-low level in the program operation process, flies as program endless loop or race, and reseting module produces
The low level reset signal, this signal is connected to by diode
Be equivalent to produce the hand-reset signal one time
Single-chip microcomputer and CAN bus controller SJA1000 are used to reset.
Described monitoring host computer is made of the CAN bus adapter PCI-9820I and the PC that meet the technical grade standard, and when system moved, host computer can call CAN message receiver function VCI-Receive, monitors the impression data that each slave computer node sends on the bus; When the station information changing causes solder joint sheet material coupling to change, can call the CAN message and send function VCI-Transmit, the impression java standard library that upgrades is sent to the slave computer node of corresponding ID, and the notice slave computer solder joint qualification rate register that resets, write down the system time in the current perpetual calendar chip, for checking.
As shown in Figure 2, the distributed soldering point quality monitoring method of present embodiment, specific as follows: inter-area traffic interarea is two-way, impression data in the welding process are sent in the single-chip microcomputer of distributed node slave computer by the servo torch scrambler, compare with the impression standard storehouse of its sheet stored, if exceed this scope, then solder joint is defective, report to the police by alarm module, and be added on the defective solder joint counter, showing defective counting and qualification rate by the LED display module, these impression data are sent to the CAN bus by the CAN bus communication module simultaneously, receive by the monitoring host computer, carry out statistical management; The servo torch station solder joint coupling modification information that the monitoring host computer sends is by the slave computer of CAN bus to assigned I D node, the impression standard storehouse of storing in the real-time update slave computer, estimate the accuracy of quality of welding spot to guarantee slave computer, and the defective solder joint counter that resets, the calendar time data of perpetual calendar module stores are stored this moment simultaneously, for checking.
As shown in Figure 3, for obtaining the impression flow process, with the encoder data that obtains after protocol processes, be converted into electrode position information, assignment is given a unsigned variant D (0), when system moves, single-chip microcomputer compares D (0) with inquiry mode with reference value, to determine whether electrode enters effective welding scope.When greater than reference value, it is bigger that welding gun is opened amplitude, do not have the welding action and take place, and system ignores; Otherwise, show that then electrode near workpiece, is about to start weld job.This moment, relatively whether currency was worth constantly less than last one every a 10ms inquiry D (0) data, if less than, then electrode is still falling, and continues circulation; Otherwise, show that then electrode movement stops, reaching precompression, this value can be used as the initial value of the preceding impression of weldering, is designated as IND (0).Welding beginning afterwards, because the workpiece fusing, electrode continues to fall, after this still every a 10ms inquiry D (0) data, greater than the previous moment value, show that welding finishes until the current time value, welding gun is opened, the electrode return, to be somebody's turn to do this moment constantly, value (minimum value in the whole welding process) is designated as IND (1), then impression IND=[IND (0)-IND (1) as impression end value] * R, R is a scale-up factor, can be calculated by servomotor encoder resolution, ratio of gear.
After online in real time is obtained impression, on the one hand,, the impression information of being obtained is sent to the CAN bus, and receive that host computer might send over, the standard impression database data of renewal by the CAN bus communication module; On the other hand, by with the single-chip microcomputer sheet in the qualified solder joint impression java standard library that upgrades compare, when current impression exceeds this scope, be defective solder joint, report to the police by alarm module: when indivedual solder joints are defective, in real time the P1.4 mouth is put high level 1s, produce very brief warning; When total solder joint counting greater than 100, and qualification rate still is lower than 90%, then puts high level 1min by the P1.4 mouth, sends long-time warning, reminds the workman that welding parameter is checked or adjusted to this station.
When defective solder joint produces, defective solder joint is added up, show by the LED display module.4 are used for defective solder joint counting among 8 LED, and 4 are used to show solder joint qualification rate number percent (being accurate to 0.1%).When the solder joint qualification rate is crossed low and station is checked, when carrying out necessary welding parameter adjustment, which what can check this qualification rate record is in time period, by pressing the demonstration switching push button, interrupt to the single-chip microcomputer application, the LED display module show the initial time of this qualification rate section of containing the moon, day, the time, branch.
In addition, normally move for guaranteeing Single Chip Microcomputer (SCM) program, the situation that flies is run in unlikely appearance, and slave computer adopts reseting module, realizes hand-reset, supply voltage monitoring, prevents the function of program endless loop.
When system moves, the monitoring host computer is monitored the data of CAN bus, the slave computer that the reception different I is D number sends to the impression data of CAN bus, record in the servo torch solder joint information bank of corresponding station, carry out the storage and the management of point quality information, the monitoring host computer is finished the welding post information database earlier, the industry control information database comprises servo torch ID number, corresponding welding post respectively welds period, the sheet material coupling, parameters such as the solder joint impression that obtains etc., the monitoring host computer is by the data on the CAN bus adapter monitoring bus, when the change of station information, the monitoring host computer is revised solder joint sheet material match condition in the database and corresponding qualified impression scope (be generally workpiece gross thickness 10%～25%), send to the CAN bus by CAN bus communication adapter, notify the slave computer node of corresponding ID, upgrade the impression java standard library of original evaluation quality of welding spot, and the defective solder joint counter that resets, the calendar time data of slave computer perpetual calendar module records are stored this moment simultaneously, for checking.
The real-time of present embodiment is good, and high transmission speed can reach 1Mbps, satisfies the transmission requirement of data on the bus; In addition, the present embodiment long transmission distance, under the communication speed of 5Kbps, theoretical communication distance can reach ten thousand metres, and present embodiment uses CTM1050 as the CAN bus transceiver, and extensibility is good, and consolidated network can articulate 110 nodes at most.
Claims (5)
1. distributed soldering point quality monitoring system, comprise: the monitoring host computer, it is characterized in that, also comprise: Controller Area Network BUS, the distributed node slave computer, wherein: the monitoring host computer comprises PC and Controller Area Network BUS communication adapter, PC links to each other by pci interface with Controller Area Network BUS communication adapter, Controller Area Network BUS communication adapter links to each other by Controller Area Network BUS with each distributed node slave computer, each distributed node slave computer is installed between the servo torch scrambler and robot controller of each station on the production line, online in real time is extracted the solder joint impression and is sent to Controller Area Network BUS, PC receives each distributed node slave computer and sends over the impression data message, finish quality of welding spot Information Statistics and management, and will mate the distributed node slave computer that modification information send to corresponding ID number because of the solder joint that the change of servo torch station causes, refresh the distributed node slave computer in real time and judge the whether qualified java standard library of solder joint, and the defective solder joint counter that resets, store according to the time data of distributed node slave computer record simultaneously, for checking.
2. distributed soldering point quality monitoring system according to claim 1, it is characterized in that, described distributed node slave computer is by the facility network protocol development, can from the servo torch pulse encoder, extract solder joint impression data, compare with the impression standard that receives from the monitoring host computer, whether qualified pass judgment on quality of welding spot, and statistics shows defective solder joint number and reports to the police, simultaneously the impression data are sent to Controller Area Network BUS, carry out data statistics and management for the monitoring host computer.
3. distributed soldering point quality monitoring system according to claim 1 and 2, it is characterized in that, described distributed node slave computer, comprise: single-chip microcomputer, alarm module, light-emitting diode display module, the perpetual calendar module, the Controller Area Network BUS communication module, reseting module, wherein: single-chip microcomputer is the central processing unit of distributed node slave computer, single-chip microcomputer is by the facility network protocol development on the one hand, be connected to the servo torch scrambler to extract the solder joint impression, on the other hand, single-chip microcomputer respectively with alarm module, the LED display module, the perpetual calendar module, the Controller Area Network BUS communication module, reseting module links to each other, alarm module receives the alerting signal of single-chip microcomputer, reports to the police when solder joint is defective; The LED display module receives the position choosing and the section of single-chip microcomputer and selects signal, is used to show defective solder joint counting and solder joint qualification rate number percent; The perpetual calendar module receives the write signal of single-chip microcomputer, register system time; The Controller Area Network BUS communication module receives the read signal of single-chip microcomputer, and provides power supply for single-chip microcomputer; Reseting module is responsible for supply voltage monitoring is prevented the program endless loop, single-chip microcomputer and Controller Area Network BUS controller is resetted.
4. a distributed soldering point quality monitoring method is characterized in that, comprises the steps:
Step 1, gather the impression data: the distributed node slave computer is installed between servo torch scrambler and the robot controller, adopt standard device net cable to connect, receive the absolute serial encoder feedback electrode of servo torch facility network type displacement data, and according to the electrode displacement feature judgement spot welding moment at the whole story, the electrode displacement that calculates in the welding process is the solder joint impression, and encoder data still transfers to robot simultaneously;
Step 2, online judge, demonstration and warning quality of welding spot: the distributed node slave computer compares the impression data of the tape welding point that collects numbering and the impression java standard library of single-chip microcomputer sheet stored, whether qualified online judgement solder joint is, alarm module sends very brief warning when defective solder joint occurring, simultaneously qualification rate is counted and calculated to defective solder joint, show by the LED display module, when solder joint reaches the setting radix, and qualification rate is crossed when hanging down, alarm module sends long warning, reminds the staff that welding post or parameter are adjusted;
Step 3, distributed node slave computer and monitoring upper machine communication: the distributed node slave computer uses the Controller Area Network BUS communication module, the impression and the whether qualified information of solder joint are sent to Controller Area Network BUS in real time, storage and management for monitoring host computer butt welding point quality information, receive the message relevant that the monitoring host computer sends on the Controller Area Network BUS simultaneously with this node ID, upgrade the impression java standard library of current station solder joint coupling, and the date of record renewal and the moment, use switching push button on the LFD display module, to switch demonstration;
Step 4, the monitoring host computer is write the quality of welding spot information database, contain servo torch worker item, solder joint match information, impression java standard library, actual measurement impression data and whether qualified solder joint is indicates, when system moves, the monitoring host computer receives the impression Frame that each distributed node slave computer sends on the Controller Area Network BUS, judge the servo torch station according to message ID number, then with solder joint impression, whether qualified information stores in the database of correspondence, realize the quality of welding spot management of information database;
Step 5, when certain servo rifle station solder joint mates change, the monitoring host computer is made amendment to the solder joint match information and the qualified solder joint impression standard of corresponding station in the database, send to assigned I D node on the Controller Area Network BUS then, upgrade the impression java standard library of storing in the slave computer, and the defective solder joint counter that resets, the calendar time data of perpetual calendar module records are stored at this moment simultaneously, for checking.
5. distributed soldering point quality monitoring method according to claim 4, it is characterized in that, in the step 1, described collection impression data, be specially: with the encoder data that obtains after protocol processes, be converted into electrode position information, assignment is given a unsigned variant D (0), when system moved, single-chip microcomputer compared D (0) with inquiry mode with reference value, to determine whether electrode enters effective welding scope, when greater than reference value, it is bigger that welding gun is opened amplitude, do not have the welding action and take place, and system ignores; Otherwise, showing that then electrode near workpiece, is about to start weld job, this moment, relatively whether currency was worth constantly less than last one every a 10ms inquiry D (0) data, if less than, then electrode is still falling, and continues circulation; Otherwise, show that then electrode movement stops, reaching precompression, this value can be used as the initial value of the preceding impression of weldering, is designated as IND (0); Welding beginning afterwards, because the workpiece fusing, electrode continues to fall, after this still every a 10ms inquiry D (0) data, greater than the previous moment value, show that welding finishes until the current time value, welding gun is opened, the electrode return, this moment, value was designated as IND (1), then impression IND=[IND (0)-IND (1) as impression end value constantly] * R, R is a scale-up factor, is calculated by servomotor encoder resolution, ratio of gear.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101458528B (en) * | 2008-12-23 | 2011-01-19 | 华东理工大学 | On-line fault detection system based on CAN bus |
| CN102039480A (en) * | 2009-10-21 | 2011-05-04 | 发那科株式会社 | Method of detection of welding workpiece position using movable electrode |
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN102288499A (en) * | 2011-08-31 | 2011-12-21 | 湖南大学 | Detection method for identifying static mechanical performance parameters of materials in different regions of weld joint |
| CN102313676A (en) * | 2011-08-31 | 2012-01-11 | 湖南大学 | Detection method for identifying material static mechanical property parameters in different areas of solder joints |
| CN102436238A (en) * | 2011-11-03 | 2012-05-02 | 广东轻工职业技术学院 | Data acquisition and information management system and acquisition method for production line |
| CN102554406A (en) * | 2011-12-27 | 2012-07-11 | 上海空间推进研究所 | Device for controlling height of electric arc of argon arc welding |
| CN102681507A (en) * | 2012-05-03 | 2012-09-19 | 杭州凯尔达电焊机有限公司 | Evaluation method and device for examining operation condition of welders |
| CN103092176A (en) * | 2013-01-23 | 2013-05-08 | 南宁燎旺车灯有限责任公司 | Automatic detection production line control system |
| CN103909325A (en) * | 2014-03-26 | 2014-07-09 | 河海大学 | Welding quality monitoring system |
| CN107717274A (en) * | 2017-10-31 | 2018-02-23 | 天津七所高科技有限公司 | The solder joint number statistics monitoring system and monitoring method of a kind of band alarm |
| CN108537268A (en) * | 2018-03-30 | 2018-09-14 | 烟台维度机器人有限公司 | A kind of robot quasi-periodic motion demonstration learning method |
| CN108918309A (en) * | 2018-08-22 | 2018-11-30 | 广州亨龙智能装备股份有限公司 | The solder joint detection method and solder joint detection device of galvanized steel plain sheet |
| CN109128477A (en) * | 2018-10-31 | 2019-01-04 | 廖承建 | A kind of welding method of novel terminal thermocompression bonder and terminal |
| CN109909650A (en) * | 2019-04-04 | 2019-06-21 | 重庆元创自动化设备有限公司 | White body automatic welding production line control system |
| CN110221550A (en) * | 2018-04-04 | 2019-09-10 | 固高科技(深圳)有限公司 | Robot system |
| CN114527718A (en) * | 2022-02-25 | 2022-05-24 | 江苏鑫亿鼎石英科技股份有限公司 | Quartz sand datamation intelligent production control system |
| CN115423811A (en) * | 2022-11-04 | 2022-12-02 | 长春光华微电子设备工程中心有限公司 | Method and device for registering welding points on chip |
| CN115618287A (en) * | 2022-10-14 | 2023-01-17 | 中国科学院沈阳自动化研究所 | Method for constructing resistance spot welding quality evaluation model based on small sample data |
| CN115685887A (en) * | 2022-11-02 | 2023-02-03 | 深圳市威德克科技有限公司 | CAN bus type servo and pulse type servo mixed-matched control system and method |
-
2008
- 2008-01-17 CN CNB2008100327446A patent/CN100517149C/en not_active Expired - Fee Related
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| CN101458528B (en) * | 2008-12-23 | 2011-01-19 | 华东理工大学 | On-line fault detection system based on CAN bus |
| CN102039480A (en) * | 2009-10-21 | 2011-05-04 | 发那科株式会社 | Method of detection of welding workpiece position using movable electrode |
| CN102039480B (en) * | 2009-10-21 | 2013-09-18 | 发那科株式会社 | Method of detection of welding workpiece position using movable electrode |
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN102139486B (en) * | 2011-04-14 | 2013-02-27 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN102288499B (en) * | 2011-08-31 | 2013-01-02 | 湖南大学 | Detection method for identifying static mechanical performance parameters of materials in different regions of weld joint |
| CN102313676A (en) * | 2011-08-31 | 2012-01-11 | 湖南大学 | Detection method for identifying material static mechanical property parameters in different areas of solder joints |
| CN102288499A (en) * | 2011-08-31 | 2011-12-21 | 湖南大学 | Detection method for identifying static mechanical performance parameters of materials in different regions of weld joint |
| CN102436238A (en) * | 2011-11-03 | 2012-05-02 | 广东轻工职业技术学院 | Data acquisition and information management system and acquisition method for production line |
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| CN102554406A (en) * | 2011-12-27 | 2012-07-11 | 上海空间推进研究所 | Device for controlling height of electric arc of argon arc welding |
| CN102554406B (en) * | 2011-12-27 | 2016-06-01 | 上海空间推进研究所 | A kind of device for controlling height of electric arc of argon arc welding |
| CN102681507A (en) * | 2012-05-03 | 2012-09-19 | 杭州凯尔达电焊机有限公司 | Evaluation method and device for examining operation condition of welders |
| CN103092176A (en) * | 2013-01-23 | 2013-05-08 | 南宁燎旺车灯有限责任公司 | Automatic detection production line control system |
| CN103909325A (en) * | 2014-03-26 | 2014-07-09 | 河海大学 | Welding quality monitoring system |
| CN103909325B (en) * | 2014-03-26 | 2016-02-03 | 河海大学 | A kind of welding quality monitoring system |
| CN107717274A (en) * | 2017-10-31 | 2018-02-23 | 天津七所高科技有限公司 | The solder joint number statistics monitoring system and monitoring method of a kind of band alarm |
| CN108537268A (en) * | 2018-03-30 | 2018-09-14 | 烟台维度机器人有限公司 | A kind of robot quasi-periodic motion demonstration learning method |
| CN108537268B (en) * | 2018-03-30 | 2021-10-15 | 烟台维度机器人有限公司 | Robot quasi-periodic motion demonstration learning method |
| CN110221550B (en) * | 2018-04-04 | 2022-03-29 | 固高科技股份有限公司 | Robot system |
| CN110221550A (en) * | 2018-04-04 | 2019-09-10 | 固高科技(深圳)有限公司 | Robot system |
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| CN108918309A (en) * | 2018-08-22 | 2018-11-30 | 广州亨龙智能装备股份有限公司 | The solder joint detection method and solder joint detection device of galvanized steel plain sheet |
| CN108918309B (en) * | 2018-08-22 | 2021-04-02 | 广州亨龙智能装备股份有限公司 | Welding spot detection method and welding spot detection equipment for galvanized steel sheet |
| CN109128477A (en) * | 2018-10-31 | 2019-01-04 | 廖承建 | A kind of welding method of novel terminal thermocompression bonder and terminal |
| CN109909650B (en) * | 2019-04-04 | 2021-10-29 | 重庆元创自动化设备有限公司 | White automobile body automatic welding production line control system |
| CN109909650A (en) * | 2019-04-04 | 2019-06-21 | 重庆元创自动化设备有限公司 | White body automatic welding production line control system |
| CN114527718A (en) * | 2022-02-25 | 2022-05-24 | 江苏鑫亿鼎石英科技股份有限公司 | Quartz sand datamation intelligent production control system |
| CN114527718B (en) * | 2022-02-25 | 2024-01-09 | 江苏鑫亿鼎石英科技股份有限公司 | Quartz sand datamation intelligent production control system |
| CN115618287A (en) * | 2022-10-14 | 2023-01-17 | 中国科学院沈阳自动化研究所 | Method for constructing resistance spot welding quality evaluation model based on small sample data |
| CN115618287B (en) * | 2022-10-14 | 2023-04-11 | 中国科学院沈阳自动化研究所 | Method for constructing resistance spot welding quality evaluation model based on small sample data |
| CN115685887A (en) * | 2022-11-02 | 2023-02-03 | 深圳市威德克科技有限公司 | CAN bus type servo and pulse type servo mixed-matched control system and method |
| CN115423811A (en) * | 2022-11-04 | 2022-12-02 | 长春光华微电子设备工程中心有限公司 | Method and device for registering welding points on chip |
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