CN102848050A - Arc welding monitoring device - Google Patents
Arc welding monitoring device Download PDFInfo
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- CN102848050A CN102848050A CN2012102190073A CN201210219007A CN102848050A CN 102848050 A CN102848050 A CN 102848050A CN 2012102190073 A CN2012102190073 A CN 2012102190073A CN 201210219007 A CN201210219007 A CN 201210219007A CN 102848050 A CN102848050 A CN 102848050A
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Abstract
The present invention provides an arc welding monitoring device. Formerly, high-speed periodic sampling during monitoring of a welding result results in cost increase, on the other hand, no enough information required for finding out reasons of poor welding and so on is remained in low-speed periodic sampling, therefore, an RAM (23) stores, in a circular buffer way, welding current data and welding voltage data which is obtained by a current detecting part (37) and a voltage detecting part (28) in a high-speed period way. A CPU (21) calculates an average value of preset time intervals of the data. A rigid disk (26) stores the average value. When abnormal welding occurs, the various data stored in the RAM (23) is stored in the rigid disk (26). Therefore, even if a high-capacity memory capable of performing high-speed access and having a high price is not used, the data required for analyzing in detail the welding phenomenon during occurrence of the abnormal welding can be obtained automatically.
Description
Technical field
The present invention relates to arc welding monitoring device.
Background technology
As the technology that monitors the arc welding state, known patent documentation 1 and patent documentation 2.A kind of following arc welding monitoring device is proposed: make welding current in the arc welding, weldingvoltage, and the Wave data that obtained by various sensors, synchronously carry out record with the movement locus of robot, and be shown in the display of monitor in patent documentation 1.Also can carry out abnormal welding by this monitor apparatus and judge, and the part of movement locus of the robot of the data area that is equivalent to exist abnormal welding is shown with the color different from this part position in addition.In addition, in this monitor apparatus, the testing agency of welding current and weldingvoltage is arranged at outside the outer and arc welding machine of robot controller independently.Patent documentation 1 is called prior art 1.
A kind of following arc welding robot has been proposed: can the measurement data of the output of the welding current in arc welding mean value, weldingvoltage output mean value etc. be preserved as history information with program name, welding position in patent documentation 2.Wherein selecting the side when preservation of this historical record regularly can be from all welding conditions changes or when unusually producing.Patent documentation 2 is called prior art 2.
In addition, in the arc welding of being undertaken by arc welding robot, in bad situation such as the construction that has produced that electric arc interrupts or the formation of deposited etc. abnormal welding, insufficient (incomplete) penetration or welding welding bead is bad etc., in order to find out its reason, situation need to be resolved the welding phenomena in small time range mostly.In this case, actual welding electric current and the actual welding voltage that in the part that has produced described phenomenon, need to sample with high-frequency at least.To sum up, if the additional information of actual welding wire (wire) feed speed or real gas flow etc. is arranged, it is effective then ascertaining the reason.
Patent documentation 1: Japanese kokai publication hei 11-58007 communique
Patent documentation 2: TOHKEMY 2006-26655 communique
Summary of the invention
Following arc welding monitoring device is disclosed in prior art 1: can make welding current in the arc welding, weldingvoltage and the Wave data that obtained by various sensors and the operating space of robot synchronously carry out record.
Yet, in prior art 1, have following problem.For all welding procedures, will preserve as historical record with the Wave data that same frequency was sampled.For this reason, in the situation of sampling with high-frequency, needing can be with the jumbo nonvolatile memory of zero access, very high thereby the price of system becomes.
On the other hand, in prior art 2 because what can preserve as historical record is welding current and the mean value of weldingvoltage between the teaching step, thus memory capacity less also can, but can't remainingly find out the information of the abundance of failure welding reason.
The object of the present invention is to provide a kind of arc welding monitoring device: but by in the situation of the mass storage of the high price that does not adopt zero access, carrying out high frequency sampling, can automatically obtain the required data of welding phenomena in the small time range of resolving when producing abnormal welding.
In order to address the above problem, the invention of technical scheme 1 of the present invention provides a kind of arc welding monitoring device, it is arranged at welding robot system, described welding robot system possesses: the manipulator more than 1 or 2 that is equipped with welding torch, make the wire melting that is fed to described welding torch come the bonding machine more than 1 or 2 that the welding object is welded, and connected described more than 1 or 2 manipulator and the robot controller of described bonding machine more than 1 or 2, and the welding of the welding robot more than 1 or 2 that is made of described manipulator and described bonding machine action is controlled by described robot controller, described arc welding monitoring device is characterised in that to possess: the 1st storing mechanism of volatibility, and it is stored among welding current that the welding current testing agency that possessed by described bonding machine and weldingvoltage testing agency obtain with the sampling period of regulation and the weldingvoltage in the loop buffer mode, one of them side's data; Mean value calculation mechanism, it calculates the at the appointed time mean value at interval of described data; With non-volatile the 2nd storing mechanism, it stores described mean value.
Usually, the sampling period more is at a high speed, but non-volatile storing mechanism of the data that are sampled as storage and need the mass storage of the high price of zero access.But, according to above-mentioned formation, even if but adopted in the situation of sampling period for the memory (storage) of high speed and zero access in the 1st storing mechanism, also because be the loop buffer mode, so need not mass storage.And then, owing to be volatibility, so but also can not adopt non-volatile mass storage of the high price of zero access to be used as storing mechanism.In addition, because the welding current of storing in the 1st storing mechanism and weldingvoltage are the data that obtain out with the sampling period (=small time) at a high speed, so when producing abnormal welding, can resolve the welding phenomena in the small time range.
The invention of technical scheme 2 is characterised in that to possess the storage controlling organization in technical scheme 1, this storage controlling organization has been stored in the data of one of them side in described the 1st storing mechanism to described the 2nd storing mechanism storage when abnormal welding.
According to above-mentioned formation, when abnormal welding, by being stored in the data of the 1st storing mechanism of volatibility to the storage of non-volatile the 2nd storing mechanism, thus the part of the capacity of confirming the corresponding loop buffer of data obtained out with the sampling period at a high speed of can tracing back to come and go.Namely, can in based on the small time range of high-speed sampling, resolve the welding phenomena that just produces before the abnormal welding.
The invention of technical scheme 3 is characterised in that in technical scheme 2 described robot controller possesses described the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and storage controlling organization.
According to above-mentioned formation, can possess in the welding robot welding system of the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and storage controlling organization at robot controller, realize the effect of technical scheme 2.
The invention of technical scheme 4 is characterised in that in technical scheme 2 described bonding machine possesses described the 1st storing mechanism, mean value calculation mechanism and described storage controlling organization, and described robot controller possesses described the 2nd storing mechanism.
According to above-mentioned formation, possessed the 1st storing mechanism, mean value calculation mechanism and storage controlling organization and robot controller at bonding machine and possessed in the welding robot welding system of the 2nd storing mechanism, can easily realize the effect of technical scheme 2.
The invention of technical scheme 5 is characterised in that in technical scheme 1 to 4 any one, described bonding machine possesses to the wire feed unit of welding torch feeding welding wire, and possesses the testing agency that the load to the welding wire feeding speed of the welding wire of described wire feed unit and feed system detects, described the 1st storing mechanism is stored one of them side in the load of the welding wire feeding speed of the described welding wire in the welding and feed system in the loop buffer mode, one of them side in the load of the welding wire feeding speed of the described welding wire in the welding of described the 1st storing mechanism storage and feed system calculates as at the related mean value of the welding wire of described specific time interval in described mean value calculation mechanism, and described the 2nd storing mechanism is stored described welding wire association mean value.
According to above-mentioned formation, even if but adopted in the situation of sampling period for the memory of high speed and zero access in the 1st storing mechanism, also because be the loop buffer mode, so need not mass storage.And then, owing to be volatibility, so but also can not adopt non-volatile mass storage of the high price of zero access to be used as storing mechanism.In addition, because the welding current of storing in the 1st storing mechanism and weldingvoltage are the data that obtain out with the sampling period (=small time) at a high speed, so when producing abnormal welding, can resolve the welding phenomena in the small time range.
The invention effect
Invention according to technical scheme 1, a kind of arc welding monitoring device can be provided: even if but not using mass storage, non-volatile storing mechanism as the high price of zero access, also can automatically obtain for the welding phenomena in the small time range when producing abnormal welding is resolved required data.
Invention according to technical scheme 2, when abnormal welding, by to the storage of non-volatile the 2nd storing mechanism as the welding current of the 1st storing mechanism that has been stored in volatibility and the data of weldingvoltage, thereby the amount of the capacity of confirming the corresponding loop buffer of data obtained out with the sampling period at a high speed of can tracing back to come and go.Namely, can in based on the small time range of high-speed sampling, resolve the welding phenomena that just produces before the abnormal welding.
According to the invention of technical scheme 3, possess the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and storage controlling organization by making described robot controller, thereby can realize the effect of technical scheme 2.
According to the invention of technical scheme 4, by making bonding machine possess the 1st storing mechanism, mean value calculation mechanism and storage controlling organization and make robot controller possess the 2nd storing mechanism, thereby can easily realize the effect of technical scheme 2.
According to the invention of technical scheme 5, except the effect of technical scheme 1, can also automatically obtain for the additional data that welding phenomena is resolved in further detail (load of welding wire feeding speed and feed system etc.).
Description of drawings
Fig. 1 is the skeleton diagram of arc welding robot welding system that has possessed the arc welding monitoring device of the 1st embodiment.
Fig. 2 is the block diagram that has possessed the arc welding robot welding system of a plurality of bonding machines and manipulator.
Fig. 3 is the flow chart of the sampling of the welding current that carries out of bonding machine and weldingvoltage etc.
Fig. 4 is the flow chart of the processing carried out of the CPU of robot controller.
Fig. 5 (a) is the flow chart of the processing carried out of the bonding machine of the 2nd embodiment, (b), (c) be the flow chart of the processing carried out of the CPU of robot controller.
The specific embodiment
(the 1st embodiment)
Below, with reference to Fig. 1～Fig. 4, the embodiment after arc welding monitoring device set in the welding robot system specialized is described.
As shown in Figure 1 and Figure 2, welding robot system possesses: be arranged at a plurality of manipulators 10 in a plurality of places on ground, 1 robot controller 20 that described manipulator 10 is controlled and a plurality of bonding machines 30 that are connected with robot controller 20 via communication cable L.A plurality of bonding machines 30 each tableland are connected with a plurality of manipulators 10.
(manipulator 10)
As shown in Figure 1, manipulator 10 is by the basal component 11 of the appropriate location that is fixed on ground etc., a plurality of arms 12 that link with this basal component 11 via a plurality of axles and drive the not shown drive motors that goes out of each arm 12 and consist of.In described drive motors, possess the not shown rotary coder that goes out, can detect the current location of described drive motors.At the front end of the set wrist portion of the arm 12 of manipulator 10 front ends, the welding torch 14 that carries out arc welding to as the workpiece of soldered thing (not shown go out) has been installed.
Each manipulator 10 of welding robot system is connected with robot controller 20 via control cables L3 respectively.In Fig. 1, show the place that 1 manipulator (manipulator) and robot controller 20 are connected via control cables L3, but be connected with robot controller 20 similarly for other manipulators 10.
The set described drive motors of each arm 12 of manipulator 10 (not shown go out) is by being driven in rotation via the driving signal that the robot control cables sends from robot controller 20.Be driven in rotation by each drive motors, so that each arm 12 displacement of manipulator 10, welding torch 14 can be mobile all around up and down as a result.
Welding torch 14 will guide to as the welding wire 13 of packing material the welding position of the regulation of workpiece W.Welding wire 13 has been connected respectively feed cable L1, the L2 that applies usefulness from the voltage of the source of welding current 36 of bonding machine 30 with workpiece W, between the front end of welding wire 13 and workpiece W, apply high voltage by bonding machine 30 and produce electric arc, utilize the heat of this electric arc so that welding wire 13 and workpiece W fusing are implemented welding to workpiece W thus.
(robot controller 20)
In addition, robot controller 20 is by communicating with bonding machine 30 via communication cable L, thereby obtains synchronously with this bonding machine 30, carries out such as the beginning of welding or the indication of end, output voltage etc.In addition, robot controller 20 butt welding machines 30 are controlled the indication of wire feed unit 40, make welding wire 13 from described wire feed unit 40 to welding torch 14 feedings.
ROM22 preserves the control software of the action that is used for control manipulator 10.
RAM23 is the memory of volatibility, is the memory that CPU21 is provided the operating area, and temporarily stores calculated data etc.In addition, RAM23 stores welding wire feeding speed and the current of electric of welding current described later and weldingvoltage and welding wire described later 13 in the loop buffer mode.RAM23 is equivalent to the 1st storing mechanism of volatibility.Welding wire feeding speed and current of electric (namely, the load of feed system) become the additional information when abnormal welding resolved.
The weld job that hard disk 26 is preserved manipulators 10 is by the data of the operation procedure of teaching, the data that represent the executive condition of this operation procedure, expression control constant etc.In addition, hard disk 26 is equivalent to non-volatile the 2nd storing mechanism that average welding current described later and average weldingvoltage are stored.
In the present embodiment, arc welding monitoring device is made of RAM23, hard disk 26 and the CPU21 of robot controller 20.
(bonding machine 30)
Each bonding machine 30 possesses CPU31, ROM32, RAM33, welding control part 34 and communication control unit 35 etc., and each one interconnects via bus (BUS) 39.
In addition, bonding machine 30 possesses the source of welding current 36.The source of welding current 36 possesses the digital inverter control circuit, by inverter control circuit high-speed response ground the source power supply (for example 3 phase 200V) from the outside input is carried out accurate welding current waveform control.Namely, the outlet side of the source of welding current 36, between welding torch 14 and workpiece W, supply with high-tension weldingvoltage via feed cable L1, L2.The described each several part of CPU31 butt welding machine 30 is regulated and control.
ROM32 preserve to be used for the control software that the action of welding control part 34 (perhaps the source of welding current 36) that butt welding machine 30 possesses or wire feed unit 40 etc. is controlled.RAM33 is the memory of volatibility, is the memory that CPU31 is provided the operating area, and temporarily stores calculated data etc.
In addition, welding control part 34 is controlled the source of welding current 36 according to the welding condition that sends from robot controller 20, to supply with welding current to welding torch 14.
At the outlet side of digital inverter control circuit, be the outlet side of the source of welding current 36, possess current detecting part 37 and voltage detection department 38.Detect the welding current that flows through in the welding wire 13 by described current detecting part 37.In addition, detect the weldingvoltage that between the front end of welding wire 13 and workpiece W, applies by voltage detection department 38.Current detecting part 37 and voltage detection department 38 are connected with bus 39, and these detection data (namely, welding current and weldingvoltage) are via communication control unit 35, communication cable L and be sent to robot controller 20.
Current detecting part 37 is equivalent to welding current testing agency, and voltage detection department 38 is equivalent to weldingvoltage testing agency.
(effect of embodiment)
With reference to the flow chart of Fig. 3 and Fig. 4, the effect of the welding robot system that consists of as described above is described.
In addition, below for convenience of explanation, and to 1 bonding machine 30 be illustrated with the feed cable L1 of this bonding machine 30, the manipulator 10 that L2 is connected, certainly about other bonding machines 30 with the feed cable L1 of this bonding machine 30, the manipulator 10 that L2 is connected, also be understood as similarly and carry out.In addition, below for convenience of explanation, be located in the communicating by letter between robot controller 20 and the bonding machine 30, communicate with the communication data of having given identification code each other, and be located to have preserved in the hard disk 26 and give this identification code and by the various data of documentation.
The flow chart of Fig. 3 is the handled flow chart of the CPU31 of bonding machine 30.
As shown in the drawing, in the welding that operation procedure is performed, CPU31 obtains welding current and the weldingvoltage of being sampled with the sampling period (for example, above cycle of 1KHz) of described regulation respectively by current detecting part 37 and the voltage detection department 38 of bonding machine 30 in S10.In addition, CPU31 obtains the welding wire feeding speed of the welding wire 13 of being sampled with the sampling period identical with the above-mentioned sampling period by welding control part 34 and the current of electric of motor 43.Afterwards, in S20, CPU31 is that sampled result is sent to robot controller 20 via communication control unit 35 with welding current, weldingvoltage, welding wire feeding speed and current of electric.
Fig. 4 is the flow chart of the processing carried out of the CPU21 of robot controller 20.
As shown in the drawing, if CPU21 receives described sampled result (namely, receive data) via communication control unit 25 in S100, then CPU21 is stored to RAM23 in the loop buffer mode with data (receive data) separately in S110.
The loop buffer mode refers to, the storage area of the regulation of RAM23 is divided into a plurality of sections, and the described hop count that will be partitioned into is made as the number of the data that can preserve simultaneously.For example, when hop count is made as N, there is the section that represents with the 1st～N.For this reason, in the situation that the data of the mensuration number of times that will surpass this number are stored, in N section among the data of current preservation, according to from the oldest data, overriding, upgrade with new data successively.
In the present embodiment, the data of preserving among the RAM23 have welding current, weldingvoltage, welding wire feeding speed and current of electric etc. multiple, and have prepared respectively the storage area of loop buffer mode for data class.And, for each data class, prepared to be used for the writing position register that writes in separately section and be used for carrying out the location register that reads in that this register reads in.About the writing position register, initial value is 1, is respectively increasing by 1 when writing of receive data finished, and be returned as 1 after having reached N.In addition, about reading in location register, initial value is 1, is respectively increasing by 1 when reading in of receive data finished, and be returned as 1 after having reached N.The described location register that reads in is controlled by CUP21, so as not to prior to the value shown in the writing position register carry out, namely in order to avoid cross the value shown in the writing position register.
Then, in S120, CPU21 judges whether it is calculating regularly of mean value.Calculating regularly with predefined specific time interval of mean value carried out, and is set longlyer than the described sampling period.In the present embodiment since the sampling period be more than the 1KHz, so even if minimum also carry out every 10ms.In addition, this numerical value is an illustration, is not limited thereto.
CPU21 determines in the situation of calculating timing that becomes mean value in S120, CPU21 is for each described data class in S130, from the timing of calculating that is timed to this of calculating last time, calculate mean value based on the data that are kept among the RAM23, and will calculate result store to hard disk 26 for each data class, then travel to S140.At this, the mean value of the mean value of the welding wire feeding speed of welding wire 13 and the current of electric of motor 43 is equivalent to the related mean value of welding wire.
In addition, CPU21 determines in the situation of calculating timing that is not mean value in S120, jumps to S140.
In S140, CPU21 determines whether and has produced abnormal welding.
The judgement of abnormal welding is to utilize known decision method to carry out based on the data that receive and other information.For example, with more than the lasting set time and welding current is 0, the situation of welding wire 13 energisings is not judged to be abnormal welding.Perhaps, also having welding wire feeding speed is that 0 situation is judged to be method of abnormal welding etc. more than the lasting stipulated time.
CPU21 is judged to be in the situation that is not abnormal welding in S140, jumps to S160.
To be judged to be in the situation of abnormal welding to CPU21 in S140, in S150, stop all to be stored to hard disk 26 in the loop buffer mode to the storage of RAM23 and by the various data (welding current, weldingvoltage, welding wire feeding speed, current of electric) that each data class will be stored in RAM23, thereby finish this flow process.
In addition, be judged to be in the situation of abnormal welding, for the parsing after carrying out, when the total data that need not to be stored in RAM23 is stored to hard disk 26, also can the scope with predefined limit capacity in, the data that begin to wear successively from up-to-date data are stored to hard disk 26 according to each data class.
Travelling to from S140 in the situation of S160, CPU21 Inspection program judges whether welding is through with in S160.In the unclosed situation of welding, turn back to S100, in the situation that welding is through with, finish this flow process.
The arc welding monitoring device that consists of as described above exists in the situation of abnormal welding, has been stored in the various data of RAM23 of volatibility owing to be saved to non-volatile hard disk 26, so the parsing of the abnormal welding after can be used in.
Present embodiment has following characteristics.
(1) arc welding monitoring device of present embodiment possesses: the RAM23 of volatibility (the 1st storing mechanism), and it stores the two data of welding current that the current detecting part 37 (welding current testing agency) that possessed by bonding machine 30 and voltage detection department 38 (weldingvoltage testing agency) obtain with the sampling period of regulation and weldingvoltage in the loop buffer mode; CPU21 (mean value calculation mechanism), it calculates the mean value of the specific time interval of described data; With non-volatile hard disk 26 (the 2nd storing mechanism), it stores described mean value.
At this, adopting in the situation of non-volatile memory as RAM23, usually the sampling period is faster, but then need to have the mass storage of the high price of zero access, but by adopting above-mentioned formation, owing to adopted the RAM23 of loop buffer mode, so need not mass storage.In addition, about welding current, weldingvoltage, the welding wire feeding speed of welding wire 13 and the current of electric of wire feed unit 40 of storing among the RAM23, by obtain and preserve the sampling period (take the small time as unit) in data, thereby can automatically obtain in order to resolve the required data of welding phenomena when producing abnormal welding.
(2) arc welding monitoring device of present embodiment possesses CPU21 (storage controlling organization), and it has been stored in the various data of RAM23 (the 1st storing mechanism) to hard disk 26 (the 2nd storing mechanism) storage when abnormal welding.By adopting above-mentioned formation, when abnormal welding, the data of the RAM23 of volatibility can be stored in to non-volatile hard disk 26 storages.So, can trace back to the to come and go part of the capacity of confirming the corresponding loop buffer of data obtained with the sampling period at a high speed.Namely, can in based on the small time range of high-speed sampling, resolve the welding phenomena that just produces before the abnormal welding.
(3) robot controller 20 in the arc welding monitoring device of present embodiment possesses RAM23 (the 1st storing mechanism), hard disk 26 (the 2nd storing mechanism), CPU21 (mean value calculation mechanism and storage controlling organization).Its result according to present embodiment, in robot controller 20, possesses the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and storage controlling organization by making described robot controller, thereby can realize the effect of technical scheme 2.
(4) bonding machine 30 in the arc welding monitoring device of present embodiment possesses to the wire feed unit 40 of welding torch 14 feeding welding wires 13 and possesses the welding control part 34 (testing agency) that the load to the welding wire feeding speed of the welding wire 13 of wire feed unit 40 and feed system detects.In addition, RAM23 (the 1st storing mechanism) stores this two side of load of welding wire feeding speed and the feed system of the welding wire 13 in the welding in the loop buffer mode.And then CPU21 (mean value calculation mechanism) calculates mean value (the related mean value of welding wire) among this two side of load of the welding wire feeding speed of the welding wire 13 in the welding that RAM23 (the 1st storing mechanism) stores and feed system, specific time interval.And, the related mean value of hard disk 26 (the 2nd storing mechanism) storage welding wire.
Its result, the required data (welding current or weldingvoltage) of welding phenomena in the small time range when resolve producing abnormal welding, can also automatically obtain for the additional data of resolving in further detail (welding wire feeding speed, feeding load etc.).
(5) even if the arc welding monitoring device of present embodiment has connected in the system of many bonding machines 30 at 1 robot controller 20, also can automatically obtain for the welding phenomena in the small time range when producing abnormal welding and resolve required data.
(6) in the present embodiment, bonding machine 30 is the digital bonding machines that possess the digital inverter control circuit, popularize rapidly in recent years built-in current detecting part 37, voltage detection department 38 in the digital bonding machine that comes because utilized, so than the situation at robot controller 20 or bonding machine 30 outer setting current detecting parts, voltage detection department, the price of system becomes cheaply, installs and keep in repair also to become simple.
(the 2nd embodiment)
With reference to Fig. 1, Fig. 2 and Fig. 5, the arc welding monitoring device of the 2nd embodiment is described.The hardware of the 2nd embodiment consists of identical with the 1st embodiment, and only software consists of differently, so followingly give prosign to same formation, and the difference formation is described.
In the present embodiment, the RAM33 of bonding machine 30 is memories of volatibility, stores welding wire feeding speed and the current of electric of welding current and weldingvoltage and welding wire 13 in the loop buffer mode.RAM33 is equivalent to the 1st storing mechanism of volatibility.In addition, the CPU31 of bonding machine 30 is equivalent to mean value calculation mechanism and storage controlling organization.The hard disk 26 of robot controller 20 is equivalent to the 2nd storing mechanism.And the arc welding monitoring device of the 2nd embodiment is made of the CPU31 of RAM33, hard disk 26 and the bonding machine 30 of bonding machine 30.
(effect of the 2nd embodiment)
With reference to Fig. 5 (a), (b), the effect of the arc welding monitoring device of the 2nd embodiment is described.
Fig. 5 (a) is the flow chart of the processing carried out of the CPU31 of bonding machine 30.
In S200, CPU31 and the 1st embodiment are similarly obtained welding current and the weldingvoltage of being sampled with the sampling period (for example, above cycle of 1KHz) of regulation respectively by current detecting part 37 and the voltage detection department 38 of bonding machine 30.In addition, CPU31 obtains by welding control part 34 with the welding wire feeding speed of the welding wire 13 of sampling with same sampling period in above-mentioned sampling period and the current of electric of motor 43.And in S210, CPU31 is stored to RAM33 in the loop buffer mode that illustrated with data separately in the 1st embodiment.
In ensuing S220, CPU31 judges whether it is calculating regularly of mean value.Calculating regularly of mean value carried out with predefined specific time interval, and is set also longlyer than the described sampling period.In the present embodiment, owing to the sampling period is more than the 1KHz, so minimum is also carried out every 10ms.In addition, this numerical value is an illustration, does not limit.
CPU31 is judged to be in the situation of calculating timing that does not become mean value in S220, temporarily finishes the flow chart of this processing.
CPU31 is judged to be in the situation of calculating timing that becomes mean value in S220, CPU31 is for each described data class in S230, calculating regularly of the control cycle that is timed to this from calculating of last time control cycle calculated respectively mean value based on the data that are stored in RAM33.
And CPU31 is sent to robot controller 20 with these mean values via communication control unit 35 in S240.At this, the mean value of the mean value of the welding wire feeding speed of welding wire 13 and the current of electric of motor 43 is equivalent to the related mean value of welding wire.
Shown in Fig. 5 (b), the mean value of the various data that the CPU21 of robot controller 20 will be received by communication control unit 25 in S300 similarly is saved to hard disk 26 with the 1st embodiment.
At this, the CPU31 of bonding machine 30 will detect the situation of abnormal welding, the data that for example obtain or above welding current of lasting set time and be 0, the situation of welding wire 13 energisings is not judged to be when the abnormal welding or is when 0 situation is judged to be abnormal welding more than the lasting stipulated time with the welding wire feeding speed of welding wire 13, CPU31 notifies abnormal welding to robot controller 20 via communication control unit 35, and stops to store described various data storage in the loop buffer mode to RAM33.In addition, the judgement of abnormal welding also can be the known method beyond the described method.
Perhaps, carried out with known method at the CPU21 of robot controller 20 in the situation of judgement of abnormal welding, CPU21 notifies abnormal welding to bonding machine 30 via communication control unit 25.In this case, the CPU31 of bonding machine 30 stops to store data storage in the loop buffer mode to RAM33 according to via the notice of communication control unit 35 from the abnormal welding of robot controller 20.
So, in the situation of the judgement of having been carried out abnormal welding by robot controller 20 or bonding machine 30, the various data storages (writing) of RAM33 have been stopped, afterwards, CPU31 reads in the various data (RAM data) that are stored to RAM33 in the loop buffer mode, and via communication control unit 25 these RAM data is sent to robot controller 20.
The CPU21 of robot controller 20 will be saved to hard disk 26 by the RAM data that communication control unit 25 receives in the S400 of Fig. 5 (c).
Thus, connected at 1 robot controller 20 in the situation of many bonding machines 30, even if because the reasons such as message capacity deficiency of communication speed or communication cable cause high-frequency sampled data to be sent in real time robot controller 20, also can these detailed datas when producing abnormal welding be saved to the hard disk 26 of robot controller 20 as historical record, thereby can be used in the reason of finding out abnormal welding.
Present embodiment has following characteristics.
(1) in the arc welding monitoring device of present embodiment, the RAM33 of bonding machine 30 is consisted of as the 1st storing mechanism, CPU31 is consisted of as mean value calculation mechanism and storage controlling organization, the hard disk 26 of robot controller 20 is consisted of as the 2nd storing mechanism.
Its result, by adopting this formation, when abnormal welding, non-volatile hard disk 26 storages that possess to robot controller 20 have been stored in the welding current, weldingvoltage, the welding wire feeding speed of welding wire 13, the current of electric of motor 43 of the RAM33 of the volatibility that bonding machine 30 possesses, can obtain thus the data of welding current in the sampling period and weldingvoltage and use when producing abnormal welding from the hard disk 26 of robot controller 20.
In addition, the present invention is not limited to above-mentioned embodiment, also can followingly change.
In the 2nd embodiment, although even if also can judge abnormal welding in robot controller 20 sides, also can only be carried out the abnormal welding judgement of robot controller 20 sides by bonding machine 30.
In described each embodiment, welding robot system has possessed a plurality of bonding machines 30 and a plurality of manipulator 10 in 1 robot controller 20, but also can possess 1 bonding machine 30 and 1 manipulator 10 in 1 robot controller 20.
In described each embodiment, if take the data that obtain of sampling period of regulation as the welding wire feeding speed of welding current, weldingvoltage, welding wire 13, the current of electric of motor 43, but in order to resolve abnormal welding, get final product so long as can resolve a wherein side of welding current and weldingvoltage, so also can constitute the data that obtain the wherein side in welding current and the weldingvoltage, namely obtain welding current or obtain weldingvoltage, and be saved to RAM23 as the 1st storing mechanism of volatibility etc.And, also can be when abnormal welding these data be saved to hard disk 26 as non-volatile the 2nd storing mechanism etc.
In described each embodiment, although welding control part 34 has been obtained (sampling) the current of electric both sides of the welding wire feeding speed of welding wire 13, motor 43, a wherein side also can only sample.
In described each embodiment, although CPU31 has adopted the storage controlling organization, but also can be when having abnormal welding operate the not shown teach box that goes out or the not shown operation board that goes out by operating personnel, welding current and the weldingvoltage that is stored in RAM33 is stored to hard disk 26.
In described each embodiment, although adopted hard disk 26 as non-volatile the 2nd storing mechanism, non-volatile the 2nd storing mechanism is not limited to hard disk.As non-volatile storing mechanism, it also can be the nonvolatile semiconductor memory of the storing mechanism, flash memory etc. of optomagnetic storage device etc.
In described each embodiment, be embodied as the welding robot system that uses the source of welding current 36 that has possessed the digital inverter control circuit, can directly utilize the digital inverter control circuit to attach current detecting part 37, the voltage detection department 38 that arranges.Replace, also can use not possess the source of welding current digital inverter control circuit, analog form.In this case, the welding current detecting sensor that need to further be set in the outlet side detection welding current of power circuit is welding current testing agency, the weldingvoltage detecting sensor that detects weldingvoltage is weldingvoltage testing agency, but formation also can like this.
In described each embodiment, owing in arc welding, generally protective gas is sprayed from welding torch 14, so description thereof is omitted.The measuring gas flow rate device that the gas flow of this protective gas in welding detected also can be set; this measuring gas flow rate device was measured with the sampling period of described regulation; to be worth the 1st storing mechanism that (additional information) is saved to each embodiment in the loop buffer mode, when abnormal welding, be saved to the 2nd storing mechanism of each embodiment.
[symbol description]
10... manipulator, 14... welding torch, 20... robot controller,
(21...CPU storage controlling organization, mean value calculation mechanism),
(23...RAM the 1st storing mechanism), 26... hard disk (the 2nd storing mechanism),
30... bonding machine, 37... current detecting part (welding current testing agency),
38... voltage detection department (weldingvoltage testing agency).
Claims (5)
1. arc welding monitoring device, it is arranged at welding robot system, described welding robot system possesses: the manipulator more than 1 or 2 that is equipped with welding torch, make the wire melting that is fed to described welding torch come the bonding machine more than 1 or 2 that the welding object is welded, and connected described more than 1 or 2 manipulator and the robot controller of described bonding machine more than 1 or 2, and the welding of the welding robot more than 1 or 2 that is made of described manipulator and described bonding machine action is controlled by described robot controller
Described arc welding monitoring device is characterised in that to possess:
The 1st storing mechanism of volatibility, it stores data among welding current that the welding current testing agency that possessed by described bonding machine and weldingvoltage testing agency obtain with the sampling period of regulation and the weldingvoltage, one of them side in the loop buffer mode;
Mean value calculation mechanism, it calculates the at the appointed time mean value at interval of described data; With non-volatile the 2nd storing mechanism, it stores described mean value.
2. arc welding monitoring device according to claim 1 is characterized in that,
Described arc welding monitoring device possesses the storage controlling organization, and this storage controlling organization has been stored in the data of one of them side in described the 1st storing mechanism to described the 2nd storing mechanism storage when abnormal welding.
3. arc welding monitoring device according to claim 2 is characterized in that,
Described robot controller possesses described the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and storage controlling organization.
4. arc welding monitoring device according to claim 2 is characterized in that,
Described bonding machine possesses described the 1st storing mechanism, mean value calculation mechanism and described storage controlling organization,
Described robot controller possesses described the 2nd storing mechanism.
5. according to claim 1 to the described arc welding monitoring device of 4 any one, it is characterized in that,
Described bonding machine possesses to the wire feed unit of welding torch feeding welding wire and possesses the testing agency that the load to the welding wire feeding speed of the welding wire of described wire feed unit and feed system detects,
Described the 1st storing mechanism is stored one of them side in the load of the welding wire feeding speed of the described welding wire in the welding and feed system in the loop buffer mode,
One of them side in the load of the welding wire feeding speed of the described welding wire in the welding of described the 1st storing mechanism storage and feed system calculates at the welding wire association mean value of described specific time interval in described mean value calculation mechanism,
Described the 2nd storing mechanism is stored the related mean value of described welding wire.
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| JP2011-144261 | 2011-06-29 | ||
| JP2011144261A JP6211243B2 (en) | 2011-06-29 | 2011-06-29 | Arc welding monitor |
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| CN102848050B CN102848050B (en) | 2016-01-20 |
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Also Published As
| Publication number | Publication date |
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| JP6211243B2 (en) | 2017-10-11 |
| CN102848050B (en) | 2016-01-20 |
| JP2013010119A (en) | 2013-01-17 |
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