CN102848050B - arc welding monitoring device - Google Patents
arc welding monitoring device Download PDFInfo
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- CN102848050B CN102848050B CN201210219007.3A CN201210219007A CN102848050B CN 102848050 B CN102848050 B CN 102848050B CN 201210219007 A CN201210219007 A CN 201210219007A CN 102848050 B CN102848050 B CN 102848050B
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Abstract
The invention provides a kind of arc welding monitoring device.In the past, the sampling carrying out the high speed cycle when monitoring welding result can relate to cost increase, on the other hand, and can not the remaining information finding out the abundance needed for the reasons such as failure welding in the sampling of low speed periods.For this reason, RAM (23) stores the data of welding current and the weldingvoltage obtained to the high speed cycle by current detecting part (37) and voltage detection department (38) in loop buffer mode.CPU (21) calculates the mean value of the specific time interval of described data.Hard disk (26) stores described mean value.When abnormal welding, store the various data being stored in RAM (23) to hard disk (26).Thus, can the mass storage of high price of zero access even if do not use, also can automatically obtain in order to the data needed for resolving in detail the welding phenomena when producing abnormal welding.
Description
Technical field
The present invention relates to arc welding monitoring device.
Background technology
As the technology monitoring arc welding state, known patent document 1 and patent document 2.A kind of following arc welding monitoring device is proposed in patent document 1: make the welding current in arc welding, weldingvoltage and the Wave data obtained by various sensor, synchronously carry out record with the movement locus of robot, and be shown in the display of monitor.Also can carry out abnormal welding judgement by this monitor apparatus, and the part of the movement locus of the robot of the data area being equivalent to exist abnormal welding is shown with the color different from this part position in addition.In addition, in this monitor apparatus, it is outer and outside arc welding machine that the testing agency of welding current and weldingvoltage is arranged at robot controller independently.Patent document 1 is called prior art 1.
A kind of following arc welding robot is proposed: together with program name, welding position, the welding current in arc welding can be exported mean value, measurement data that weldingvoltage exports mean value etc. preserves as history information in patent document 2.Select the wherein side when preservation timing of this historical record can be changed from all welding conditions or when extremely producing.Patent document 2 is called prior art 2.
In addition, in the arc welding undertaken by arc welding robot, when creating electric arc interrupts or the formation of the abnormal welding of deposition etc., insufficient (incomplete) penetration or welding welding bead is bad etc. construction and being bad, in order to find out its reason, most cases needs to resolve the welding phenomena within the scope of tiny time.In this case, in the part creating described phenomenon, at least need the actual welding electric current of sampling with high-frequency and actual welding voltage.To sum up, if there is the additional information of actual welding wire (wire) feed speed or real gas flow etc., then it is effective for ascertaining the reason.
Patent document 1: Japanese Unexamined Patent Publication 11-58007 publication
Patent document 2: Japanese Unexamined Patent Publication 2006-26655 publication
Summary of the invention
Following arc welding monitoring device is disclosed: the welding current in arc welding can be made, the operating space of weldingvoltage and the Wave data obtained by various sensor and robot synchronously carries out record in prior art 1.
But, in prior art 1, there is following problem.For all welding procedures, the Wave data of sampling using same frequency is preserved as historical record.For this reason, when sampling with high-frequency, needing can with the jumbo nonvolatile memory of zero access, thus the price of system becomes very high.
On the other hand, in prior art 2, be welding current and the mean value of weldingvoltage between teaching step due to what can carry out preserving as historical record, so memory capacity is also passable less, but remainingly cannot 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: by when not adopting and can carry out high frequency sampling when the mass storage of high price of zero access, automatically can obtaining the data needed for welding phenomena within the scope of the tiny time of resolving when producing abnormal welding.
In order to solve the 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 of more than 1 or 2 being equipped with welding torch, make the bonding machine of more than 1 or 2 that the wire melting being fed to described welding torch welds welding object, and be connected to the robot controller of the manipulator of described more than 1 or 2 and the bonding machine of described more than 1 or 2, and the welding action of the welding robot of more than 1 or 2 be made up of described manipulator and described bonding machine controls by described robot controller, the feature of described arc welding monitoring device is to possess: the 1st storing mechanism of volatibility, it stores among the welding current and weldingvoltage that the welding current testing agency that possessed by described bonding machine and weldingvoltage testing agency obtain with the sampling period of regulation in loop buffer mode, the data of one of them side, mean value calculation mechanism, it calculates the mean value of described data at specific time interval, with non-volatile 2nd storing mechanism, it stores described mean value.
Usually, the sampling period is more at a high speed, and as the non-volatile storing mechanism storing the data be sampled, need can the mass storage of high price of zero access.But, according to above-mentioned formation, even if when the 1st storing mechanism have employed the sampling period be at a high speed and can memory (storage) of zero access, also because be loop buffer mode, so without the need to mass storage.And then, owing to being volatibility, non-volatile mass storage of high price of zero access storing mechanism can be used as so also can not adopt.In addition, because the welding current that stores in the 1st storing mechanism and weldingvoltage are the data obtained out with the sampling period (=tiny time) at a high speed, so the welding phenomena within the scope of tiny time can be resolved when producing abnormal welding.
The feature of invention in technical scheme 1 of technical scheme 2 is to possess storage controlling organization, and this storage controlling organization stores the data of one of them side be stored in described 1st storing mechanism to described 2nd storing mechanism when abnormal welding.
According to above-mentioned formation, when abnormal welding, be stored in the data of the 1st storing mechanism of volatibility by storing to non-volatile 2nd storing mechanism, thus the part of the capacity in the past confirming the corresponding loop buffer of data obtained out with the sampling period at a high speed can have been traced back to.Namely, the welding phenomena before abnormal welding can just produced based on parsing within the scope of the tiny time of high-speed sampling.
The feature of invention in technical scheme 2 of technical scheme 3 is, described robot controller possesses described 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and stores controlling organization.
According to above-mentioned formation, can the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism be possessed at robot controller and store in the welding robot welding system of controlling organization, the effect of actualizing technology scheme 2.
The feature of invention in technical scheme 2 of technical scheme 4 is, described bonding machine possesses described 1st storing mechanism, mean value calculation mechanism and described storage controlling organization, and described robot controller possesses described 2nd storing mechanism.
According to above-mentioned formation, possess the 1st storing mechanism, mean value calculation mechanism at bonding machine and stored controlling organization and robot controller has possessed in the welding robot welding system of the 2nd storing mechanism, can the effect of easily actualizing technology scheme 2.
The feature of invention in technical scheme 1 to 4 any one of technical scheme 5 is, described bonding machine possesses the wire feed unit to welding torch feeding welding wire, and possess the testing agency that the welding wire feeding speed of the welding wire of described wire feed unit and the load of feed system are detected, described 1st storing mechanism stores one of them side in the welding wire feeding speed of the described welding wire in welding and the load of feed system in loop buffer mode, described mean value calculation mechanism calculates the welding wire feeding speed of described welding wire in the welding of described 1st storing mechanism storage and one of them side in the load of feed system associates mean value as the welding wire at described specific time interval, described 2nd storing mechanism stores described welding wire association mean value.
According to above-mentioned formation, even if when the 1st storing mechanism have employed the sampling period be at a high speed and can the memory of zero access, also because be loop buffer mode, so without the need to mass storage.And then, owing to being volatibility, non-volatile mass storage of high price of zero access storing mechanism can be used as so also can not adopt.In addition, because the welding current that stores in the 1st storing mechanism and weldingvoltage are the data obtained out with the sampling period (=tiny time) at a high speed, so the welding phenomena within the scope of tiny time can be resolved when producing abnormal welding.
Invention effect
According to the invention of technical scheme 1, a kind of arc welding monitoring device can being provided: can mass storage, non-volatile storing mechanism of high price of zero access even if be not used as, also can automatically obtaining for the data needed for resolving the welding phenomena within the scope of the tiny time when producing abnormal welding.
According to the invention of technical scheme 2, when abnormal welding, by being stored as the welding current of the 1st storing mechanism and the data of weldingvoltage that are stored in volatibility to non-volatile 2nd storing mechanism, thus the amount of the capacity in the past confirming the corresponding loop buffer of data obtained out with the sampling period at a high speed can be traced back to.Namely, the welding phenomena before abnormal welding can just produced based on parsing within the scope of the tiny time of high-speed sampling.
According to the invention of technical scheme 3, by making described robot controller possess the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and store controlling organization, thus can the effect of actualizing technology scheme 2.
According to the invention of technical scheme 4, by making bonding machine possess the 1st storing mechanism, mean value calculation mechanism and store controlling organization and make robot controller possess the 2nd storing mechanism, thus can the effect of easily actualizing technology scheme 2.
According to the invention of technical scheme 5, except the effect of technical scheme 1, automatically can also obtain the additional data (load etc. of welding wire feeding speed and feed system) for resolving in further detail welding phenomena.
Accompanying drawing explanation
Fig. 1 is the skeleton diagram of the arc welding robot welding system of the arc welding monitoring device having possessed the 1st embodiment.
Fig. 2 is the block diagram of the arc welding robot welding system having possessed multiple bonding machine and manipulator.
Fig. 3 is the flow chart of the sampling of the welding current and weldingvoltage etc. that bonding machine carries out.
Fig. 4 is the flow chart of the process that the CPU of robot controller carries out.
Fig. 5 (a) is the flow chart of the process that the bonding machine of the 2nd embodiment carries out, and (b), (c) are the flow charts of the process that the CPU of robot controller carries out.
Detailed description of the invention
(the 1st embodiment)
Below, with reference to Fig. 1 ~ Fig. 4, the embodiment after being specialized by arc welding monitoring device set in welding robot system is described.
As shown in Figure 1 and Figure 2, welding robot system possesses: 1 robot controller 20 be arranged at multiple manipulators 10 in multiple places on ground, controlling to described manipulator 10 and the multiple bonding machines 30 be connected with robot controller 20 via communication cable L.The each tableland of multiple bonding machine 30 is connected with multiple manipulator 10.
(manipulator 10)
As shown in Figure 1, manipulator 10 by be fixed on ground etc. appropriate location basal component 11, the multiple arms 12 linked with this basal component 11 via multiple axle and drive the not shown drive motors of each arm 12 and form.In described drive motors, possess not shown rotary coder, the current location of described drive motors can be detected.The front end of the wrist portion set by the arm 12 in manipulator 10 front end, has installed the welding torch 14 workpiece (not shown) as soldered thing being carried out to arc welding.
Each manipulator 10 of welding robot system is connected with robot controller 20 via control cables L3 respectively.In FIG, show the place that 1 manipulator (manipulator) is connected via control cables L3 with robot controller 20, but be connected with robot controller 20 similarly for other manipulators 10.
Described drive motors (not shown) set by each arm 12 of manipulator 10 is driven in rotation by the drive singal sent via robot controlling cable from robot controller 20.Be driven in rotation by each drive motors, make each arm 12 displacement of manipulator 10, result welding torch 14 can be mobile all around up and down.
Welding torch 14 will guide to the welding position of the regulation of workpiece W as the welding wire 13 of packing material.Welding wire 13 and workpiece W are connected to respectively from feed cable L1, L2 that the voltage of the source of welding current 36 of bonding machine 30 applies, 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 that welding wire 13 and workpiece W are melted, thus welding is implemented to workpiece W.
(robot controller 20)
Robot controller 20 possesses CPU21, ROM22, RAM23, master control part 24, communication control unit 25 and hard disk 26 etc., and each portion is interconnected via bus (BUS) 27.CPU21 controls each portion.In addition, CPU21 is equivalent to mean value calculation mechanism and stores controlling organization.
Master control part 24 is based on the operation procedure gone out by not shown teach box (teachpendant) teaching or from the operation signal of teach box or generate control instruction from the current location information etc. of not shown described rotary coder, via bus 27 and not shown servo-driver and control cables L3, carry out rotation to described not shown drive motors to control, move to make welding torch 14.
In addition, robot controller 20 by communicating with bonding machine 30 via communication cable L, thus obtains synchronous with this bonding machine 30, carrys out the instruction of beginning or end, the output voltage etc. such as welded.In addition, robot controller 20 butt welding machine 30 carries out the instruction controlling wire feed unit 40, makes welding wire 13 from described wire feed unit 40 to welding torch 14 feeding.
ROM22 preserves the control software design of the action for controlling manipulator 10.
RAM23 is the memory of volatibility, is memory CPU21 being provided to operating area, and temporarily stores calculating 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 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 additional information when resolving abnormal welding.
The data etc. of the operation procedure of weld job by teaching of manipulator 10, the data representing the executive condition of this operation procedure, expression control constant preserved by hard disk 26.In addition, hard disk 26 is equivalent to non-volatile 2nd storing mechanism of storing average welding current described later and average weldingvoltage.
Communication control unit 25 can communicate with each bonding machine 30 via communication cable L.
In the present embodiment, arc welding monitoring device is made up of the RAM23 of robot controller 20, hard disk 26 and CPU21.
(bonding machine 30)
Each bonding machine 30 possesses CPU31, ROM32, RAM33, welding control part 34 and communication control unit 35 etc., and each portion is interconnected via bus (BUS) 39.
In addition, bonding machine 30 possesses the source of welding current 36.The source of welding current 36 possesses digital inverter control circuit, carries out accurate welding current waveform control by inverter control circuit high-speed response to the source power supply inputted from outside (such as 3 phase 200V).Namely, the outlet side of the source of welding current 36, between welding torch 14 and workpiece W, supply high-tension weldingvoltage via feed cable L1, L2.The described each several part of CPU31 butt welding machine 30 regulates and controls.
ROM32 preserves the control software design that the action being used for the welding control part 34 (or source of welding current 36) that possesses of butt welding machine 30 or wire feed unit 40 etc. is carried out controlling.RAM33 is the memory of volatibility, is memory CPU31 being provided to operating area, and temporarily stores calculating data etc.
Welding control part 34 controls the action of wire feed unit 40 grade according to described control software design.Such as, in the timing of regulation or according to the instruction from robot controller 20, wire feed unit 40 is driven.
Wire feed unit 40 possesses driven roller 41 and backer roll 42, and welding wire 13 all the time to driven roller 41 side force by not shown spring, is clipped between two rollers, makes it pull out from not shown wire reel because this frictional force clamps welding wire 13 by backer roll 42.Driven roller 41 is by motor 43 rotary actuation as drive source.
Motor 43 is made up of the servomotor of band encoder.And, welding control part 34 utilizes from the pulse of described encoder feedback to measure the welding wire feeding speed of welding wire 13, and the speed (welding wire feeding speed) during cutting feed monitoring carries out FEEDBACK CONTROL, detects the current of electric of motor 43, thus the load of cutting feed monitoring system.
Welding control part 34 is equivalent to the testing agency detected the welding wire feeding speed of welding wire and the load of feed system.
In addition, welding control part 34, according to the welding condition sent from robot controller 20, controls the source of welding current 36, to supply welding current to welding torch 14.
Communication control unit 35 can carry out being connected communicating with the communication control unit 25 of robot controller 20 via communication cable L.
At the outlet side of the outlet side of digital inverter control circuit, the i.e. source of welding current 36, possess current detecting part 37 and voltage detection department 38.The welding current flow through in welding wire 13 is detected by described current detecting part 37.In addition, the weldingvoltage applied between the front end of welding wire 13 and workpiece W is detected 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 formed as described above is described.
In addition, below for convenience of explanation, and 1 bonding machine 30 and the manipulator 10 that is connected with feed cable L1, L2 of this bonding machine 30 are illustrated, certainly about other bonding machines 30 and the manipulator 10 that is connected with feed cable L1, L2 of this bonding machine 30, be also understood as and similarly carry out.In addition, below for convenience of explanation, be located in the communication between robot controller 20 and bonding machine 30, communicate with the communication data imparting identification code each other, and be located in hard disk 26 to save and give this identification code and by the various data of documentation.
The flow chart of Fig. 3 is the flow chart handled by CPU31 of bonding machine 30.
As shown in the drawing, in the welding that operation procedure is performed, in S10, CPU31 obtains the welding current and weldingvoltage of being sampled with the sampling period of described regulation (such as, the cycle of more than 1KHz) respectively by the current detecting part 37 of bonding machine 30 and voltage detection department 38.In addition, CPU31 obtains the welding wire feeding speed of welding wire 13 and the current of electric of motor 43 of being sampled with the sampling period identical with the above-mentioned sampling period by welding control part 34.Afterwards, in S20, welding current, weldingvoltage, welding wire feeding speed and current of electric and sampled result are sent to robot controller 20 via communication control unit 35 by CPU31.
Fig. 4 is the flow chart of the process that the CPU21 of robot controller 20 carries out.
As shown in the drawing, if CPU21 receives described sampled result (namely, receiving data) via communication control unit 25 in S100, then in S110, respective data (reception data) are stored to RAM23 in loop buffer mode by CPU21.
Loop buffer mode refers to, the storage area of the regulation of RAM23 is divided into multiple sections, and the described hop count be partitioned into is set to the number of the data that can simultaneously preserve.Such as, when hop count is set to N number of, exist by the 1st ~ N number of section of carrying out representing.For this reason, when the data of the mensuration number of times having exceeded this number are stored, among the data of current preservation in N number of section, carry out overriding, upgrading with new data successively according to from the oldest data.
In the present embodiment, the data of preserving in RAM23 have welding current, weldingvoltage, welding wire feeding speed and current of electric etc. multiple, and have prepared the storage area of loop buffer mode respectively for data class.Further, for each data class, prepared writing position register for carrying out writing in respective section and read in location register for what carry out that this register reads in.About writing position register, initial value is 1, increases by 1, and be returned as 1 each at the end of the write receiving data after reaching N.In addition, about reading in location register, initial value is 1, increases by 1, and be returned as 1 each at the end of receiving the reading in of data after reaching N.The described location register that reads in controls by CUP21, in order to avoid carry out prior to the value shown in writing position register, namely in order to avoid cross the value shown in writing position register.
Then, in S120, CPU21 judges whether it is calculating regularly of mean value.The timing that calculates of mean value is carried out with the specific time interval preset, and is set longer than the described sampling period.In the present embodiment, because the sampling period is more than 1KHz, even if so minimumly also to carry out every 10ms.In addition, this numerical value is an illustration, is not limited thereto.
In S120 CPU21 determine become mean value calculate timing, in S130, CPU21 is for each described data class, from previous calculating be timed to this calculate timing, mean value is calculated based on the data of preserving in the ram 23, and result will be calculated for each data class and be stored to hard disk 26, 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 welding wire association mean value.
In addition, in S120 CPU21 determine be not mean value calculate timing, jump to S140.
In S140, CPU21 determines whether to create abnormal welding.
The judgement of abnormal welding utilizes known decision method to carry out based on the data received and other information.Such as, by more than fixed duration and welding current be 0, abnormal welding be not judged to be to the situation that welding wire 13 is energized.Or, also have welding wire feeding speed continued the stipulated time more than be 0 situation be judged to be the method etc. of abnormal welding.
CPU21 is judged to not to be abnormal welding in S140, jump to S160.
In S140, CPU21 is judged to be abnormal welding, stop by each data class, the various data (welding current, weldingvoltage, welding wire feeding speed, current of electric) being stored in RAM23 being all stored to hard disk 26 to the storage of RAM23 in loop buffer mode in S150, thus terminate this flow process.
In addition, when being judged to be abnormal welding, in order to the parsing after carrying out, when without the need to the total data being stored in RAM23 is stored to hard disk 26, also the data worn successively in the scope of the limit capacity preset, from up-to-date data can be stored to hard disk 26 according to each data class.
When travelling to S160 from S140, in S160, CPU21 Inspection program judges whether welding finishes.In the unclosed situation of welding, turn back to S100, terminate this flow process when welding and finishing.
The arc welding monitoring device formed as described above, when there is abnormal welding, has been stored in the various data of the RAM23 of volatibility owing to being saved to non-volatile hard disk 26, so the parsing of abnormal welding after can be used in.
Present embodiment has following characteristics.
(1) arc welding monitoring device of present embodiment possesses: the RAM23 (the 1st storing mechanism) of volatibility, and it stores the data of both the welding current and weldingvoltage 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 specified in 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, when have employed non-volatile memory as RAM23, usually the sampling period is faster, then needing to have can the mass storage of high price of zero access, but by adopting above-mentioned formation, owing to have employed the RAM23 of loop buffer mode, so without the need to mass storage.In addition, about the welding wire feeding speed of the welding current stored in RAM23, weldingvoltage, welding wire 13 and the current of electric of wire feed unit 40, by obtaining and preserving the sampling period data in (in units of tiny time), thus automatically can obtain the data needed for the welding phenomena in order to resolve when producing abnormal welding.
(2) arc welding monitoring device of present embodiment possesses CPU21 (storage controlling organization), it is when abnormal welding, stores the various data being stored in RAM23 (the 1st storing mechanism) to hard disk 26 (the 2nd storing mechanism).By adopting above-mentioned formation, when abnormal welding, the data of the RAM23 being stored in volatibility can be stored to non-volatile hard disk 26.So, the part of the capacity in the past confirming the corresponding loop buffer of data obtained with the sampling period at a high speed can be traced back to.Namely, the welding phenomena before abnormal welding can just produced based on parsing within the scope of the tiny time of high-speed sampling.
(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 store controlling organization).Its result, according to the present embodiment, in robot controller 20, by making described robot controller possess the 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and store controlling organization, thus can the effect of actualizing technology scheme 2.
(4) bonding machine 30 in the arc welding monitoring device of present embodiment possesses the wire feed unit 40 to welding torch 14 feeding welding wire 13 and possesses the welding control part 34 (testing agency) detected the welding wire feeding speed of the welding wire 13 of wire feed unit 40 and the load of feed system.In addition, RAM23 (the 1st storing mechanism) stores the welding wire feeding speed of the welding wire 13 in welding and this two side of load of feed system in loop buffer mode.And then CPU21 (mean value calculation mechanism) calculates mean value (welding wire association mean value) in the welding wire feeding speed of welding wire 13 in the welding that RAM23 (the 1st storing mechanism) stores and this two side of load of feed system, specific time interval.Further, hard disk 26 (the 2nd storing mechanism) stores welding wire association mean value.
Its result, except resolving the data (welding current or weldingvoltage) needed for the welding phenomena within the scope of tiny time when producing abnormal welding, can also automatically obtain for carrying out the additional data (welding wire feeding speed, feeding load etc.) of resolving in further detail.
(5) even if the arc welding monitoring device of present embodiment is connected in the system of multiple stage bonding machine 30 at 1 robot controller 20, also can automatically obtain in order to produce abnormal welding time tiny time within the scope of welding phenomena resolve needed for data.
(6) in the present embodiment, bonding machine 30 is the digital bonding machines possessing digital inverter control circuit, because make use of current detecting part 37, voltage detection department 38 built-in in the digital bonding machine popularized rapidly in recent years and come, so than the situation at robot controller 20 or bonding machine 30 outer setting current detecting part, voltage detection department, the price of system becomes cheap, 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 forms identical with the 1st embodiment, and only software sharing is different, so give same symbol to same formation below, and is described differently composed.
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 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 stores controlling organization.The hard disk 26 of robot controller 20 is equivalent to the 2nd storing mechanism.Further, the arc welding monitoring device of the 2nd embodiment is made up of the CPU31 of the RAM33 of bonding machine 30, hard disk 26 and 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 process that the CPU31 of bonding machine 30 carries out.
In s 200, CPU31 in a same manner as in the first embodiment, obtains the welding current and weldingvoltage of being sampled with the sampling period (such as, the cycle of more than 1KHz) of regulation respectively by the current detecting part 37 of bonding machine 30 and voltage detection department 38.In addition, CPU31 obtains the welding wire feeding speed of welding wire 13 and the current of electric of motor 43 of being sampled with the sampling period same with the above-mentioned sampling period by welding control part 34.Further, in S210, respective data are stored to RAM33 in the loop buffer mode illustrated in the 1st embodiment by CPU31.
In ensuing S220, CPU31 judges whether it is calculating regularly of mean value.Mean value to calculate timing be that the specific time interval preset carries out, and be set also longer than the described sampling period.In the present embodiment, because the sampling period is more than 1KHz, also carry out every 10ms so minimum.In addition, this numerical value is an illustration, does not limit.
In S220 CPU31 be judged to not become mean value calculate timing, temporarily terminate the flow chart of this process.
In S220 CPU31 be judged to become mean value calculate timing, in S230, CPU31 is for each described data class, from previous control cycle calculate the control cycle being timed to this calculate timing, calculate mean value respectively based on the data being stored in RAM33.
Further, in S240, these mean values are sent to robot controller 20 via communication control unit 35 by CPU31.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 welding wire association mean value.
As shown in Fig. 5 (b), the mean value of various data that the CPU21 of robot controller 20 will be received by communication control unit 25 in S300, is saved to hard disk 26 in a same manner as in the first embodiment.
At this, continue such as, when the situation that situation abnormal welding being detected, the data obtained or the above welding current of fixed duration be 0 by the CPU31 of bonding machine 30, be not energized to welding wire 13 is judged to be abnormal welding or by the welding wire feeding speed of welding wire 13 stipulated time more than be 0 situation be judged to be abnormal welding when, abnormal welding is informed to robot controller 20 via communication control unit 35 by CPU31, and stops the storage storing described various data in loop buffer mode to RAM33.In addition, the judgement of abnormal welding also can be the known method beyond described method.
Or when the CPU21 of robot controller 20 has carried out the judgement of abnormal welding with known method, abnormal welding has been informed to bonding machine 30 via communication control unit 25 by CPU21.In this case, the CPU31 of bonding machine 30, according to via the notice of communication control unit 35 from the abnormal welding of robot controller 20, stops the storage storing data in loop buffer mode to RAM33.
So, when having carried out the judgement of abnormal welding by robot controller 20 or bonding machine 30, stopped the storage (write) of the various data of RAM33, afterwards, CPU31 reads in the various data (RAM data) being stored to RAM33 in loop buffer mode, and via communication control unit 25, these RAM data is sent to robot controller 20.
The RAM data received by communication control unit 25, in the S400 of Fig. 5 (c), are saved to hard disk 26 by the CPU21 of robot controller 20.
Thus, when 1 robot controller 20 is connected to multiple stage bonding machine 30, even if the reasons such as the message capacity because of communication speed or communication cable is not enough cause high-frequency sampled data to be sent in real time robot controller 20, also these detailed datas when producing abnormal welding can be saved to the hard disk 26 of robot controller 20 as historical record, thus can be used in the reason 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 formed as the 1st storing mechanism, CPU31 is formed as mean value calculation mechanism and storage controlling organization, the hard disk 26 of robot controller 20 is formed as the 2nd storing mechanism.
Its result, by adopting this formation, when abnormal welding, the non-volatile hard disk 26 possessed to robot controller 20 stores welding current, weldingvoltage, the welding wire feeding speed of welding wire 13, the current of electric of motor 43 of the RAM33 being stored in the volatibility that bonding machine 30 possesses, and can obtain the data of welding current in the sampling period and weldingvoltage thus 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 change as follows.
In the 2nd embodiment, although even if also abnormal welding can be judged in robot controller 20 side, the abnormal welding judgement of robot controller 20 side also only can be carried out by bonding machine 30.
In described each embodiment, welding robot system has possessed multiple bonding machine 30 and multiple 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 with the data that obtain of sampling period of regulation be welding current, the welding wire feeding speed of weldingvoltage, welding wire 13, the current of electric of motor 43, but in order to resolve abnormal welding, as long as a wherein side of welding current and weldingvoltage can be resolved, so also can be configured to the wherein side obtained in welding current and weldingvoltage data, namely obtain welding current or obtain weldingvoltage, and be saved to the RAM23 etc. of the 1st storing mechanism as volatibility.Further, also when abnormal welding, these data can be saved to the hard disk 26 etc. as non-volatile 2nd storing mechanism.
In described each embodiment, although welding control part 34 obtains the welding wire feeding speed of (sampling) welding wire 13, the current of electric both sides of motor 43, also can only sample a wherein side.
In described each embodiment, although CPU31 have employed storage controlling organization, but also can operate not shown teach box or not shown operation board when there is abnormal welding by operating personnel, the welding current and weldingvoltage that are stored in RAM33 are stored to hard disk 26.
In described each embodiment, although have employed hard disk 26 as non-volatile 2nd storing mechanism, non-volatile 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 using and possessed the source of welding current 36 of digital inverter control circuit, directly can utilize current detecting part 37, voltage detection department 38 that digital inverter control circuit is incidentally arranged.Replace, also can use do not possess digital inverter control circuit, the source of welding current of analog form.In this case, the welding current detecting sensor needing the outlet side being set in power circuit further to detect welding current is welding current testing agency, the weldingvoltage detecting sensor detecting weldingvoltage is weldingvoltage testing agency, but forms also passable like this.
In described each embodiment, owing to generally protective gas being sprayed, so omit the description from welding torch 14 in arc welding.The measuring gas flow rate device detected the gas flow of this protective gas in welding also can be set; in welding, make this measuring gas flow rate device measure with the sampling period of described regulation; in loop buffer mode, this value (additional information) is saved to the 1st storing mechanism of each embodiment, is saved to the 2nd storing mechanism of each embodiment when abnormal welding.
[symbol description]
10... manipulator, 14... welding torch, 20... robot controller,
21...CPU (store 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. an arc welding monitoring device, it is arranged at welding robot system, described welding robot system possesses: with the manipulator of more than 1 or 2 of welding torch, making to be fed to the wire melting of described welding torch to welding the bonding machine of more than 1 or 2 that object welds and the robot controller being connected to the manipulator of described more than 1 or 2 and the bonding machine of described more than 1 or 2, and the welding action of the welding robot of more than 1 or 2 be made up of described manipulator and described bonding machine is controlled by described robot controller
The feature of described arc welding monitoring device is to possess:
1st storing mechanism of volatibility, it stores data among the welding current and weldingvoltage that the welding current testing agency that possessed by described bonding machine and weldingvoltage testing agency obtain with the sampling period of regulation, one of them side in loop buffer mode;
Mean value calculation mechanism, it calculates the mean value of described data at specific time interval; With
Non-volatile 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 storage controlling organization, and this storage controlling organization stores the data of the welding current that has been stored in described 1st storing mechanism and one of them side among weldingvoltage to described 2nd storing mechanism when abnormal welding.
3. arc welding monitoring device according to claim 2, is characterized in that,
Described robot controller possesses described 1st storing mechanism, the 2nd storing mechanism, mean value calculation mechanism and stores controlling organization.
4. arc welding monitoring device according to claim 2, is characterized in that,
Described bonding machine possesses described 1st storing mechanism, mean value calculation mechanism and described storage controlling organization,
Described robot controller possesses described 2nd storing mechanism.
5. the arc welding monitoring device according to Claims 1-4 any one, is characterized in that,
Described bonding machine possesses the wire feed unit to welding torch feeding welding wire and possesses the testing agency detected the welding wire feeding speed of the welding wire of described wire feed unit and the load of feed system,
Described 1st storing mechanism stores one of them side in the welding wire feeding speed of the described welding wire in welding and the load of feed system in loop buffer mode,
Described mean value calculation mechanism calculates the welding wire feeding speed of described welding wire in the welding of described 1st storing mechanism storage and one of them side in the load of feed system associates mean value at the welding wire of described specific time interval,
Described 2nd storing mechanism stores described welding wire association mean value.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2011144261A JP6211243B2 (en) | 2011-06-29 | 2011-06-29 | Arc welding monitor |
| JP2011-144261 | 2011-06-29 |
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| CN102848050B true CN102848050B (en) | 2016-01-20 |
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| JPH0843165A (en) * | 1994-08-02 | 1996-02-16 | Tlv Co Ltd | Flow rate indicator |
| US9566192B2 (en) | 2012-05-04 | 2017-02-14 | Illinois Tool Works Inc. | Welding helmet for detecting arc data |
| JP6200794B2 (en) * | 2013-12-13 | 2017-09-20 | 株式会社ダイヘン | Monitor device |
| JP6168701B2 (en) * | 2014-03-04 | 2017-07-26 | 株式会社神戸製鋼所 | TIG welding system, program, and TIG welding method |
| JP2016022519A (en) * | 2014-07-23 | 2016-02-08 | 株式会社ダイヘン | Power supply device for processing, processing system and storage method |
| CN104571945B (en) * | 2014-11-27 | 2017-12-01 | 江西洪都航空工业集团有限责任公司 | A kind of method that high capacity data record is realized in gondola |
| CN104439645A (en) * | 2014-12-08 | 2015-03-25 | 重庆瑞阳科技开发有限公司 | Welding device and welding method |
| CN104907746A (en) * | 2015-06-11 | 2015-09-16 | 唐山松下产业机器有限公司 | Robot welding system and welding quality detecting method thereof |
| JP6756072B2 (en) * | 2016-03-23 | 2020-09-16 | 株式会社神戸製鋼所 | Welding robot mechanism |
| JP7365544B2 (en) | 2019-09-04 | 2023-10-20 | パナソニックＩｐマネジメント株式会社 | Welding machine and welding system equipped with it |
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| JP6211243B2 (en) | 2017-10-11 |
| JP2013010119A (en) | 2013-01-17 |
| CN102848050A (en) | 2013-01-02 |
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