JP2015112631A - Monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem of being unable to easily display high speed periodic data corresponding to an abnormal place in low speed periodic data of a welding robot.SOLUTION: A monitoring device 2 comprises a first data acquiring part 21 for acquiring the high speed periodic data of the welding robot, a second data acquiring part 24 for acquiring the low speed periodic data of the welding robot, an abnormality detection part 27 for detecting abnormality by using at least one of both data, a correlating part 28 for correlating respective times of both data corresponding to the detected abnormality, a display part 30 for displaying the low speed periodic data so as to understand time of the detected abnormality and an acceptance part 31 for accepting selection of abnormality time in the displayed low speed periodic data, and the display part 30 displays the high speed periodic data corresponding to abnormality time of accepting the selection. As a result of it, the high speed periodic data corresponding to an abnormal place in the low speed periodic data can be easily displayed, and is useful for investigating a factor of abnormality such as welding failure.

Description

  The present invention relates to a monitor device that displays data acquired in a welding robot.

  2. Description of the Related Art Conventionally, an apparatus that stores a welding current, a welding voltage, and the like acquired by a welding robot is known. For example, Patent Document 1 describes that in an arc welding robot system, measurement data such as an average value of welding current output during arc welding and an average value of welding voltage output is stored as history information together with a program name and a welding location. ing. The history storage timing can be selected from when all welding conditions are changed or when an abnormality occurs.

  Further, for example, in Patent Document 2, in an arc welding robot system, welding current and welding voltage sampled at high speed when a welding abnormality occurs, waveform data of various sensors are automatically saved, and the cause of the welding abnormality is investigated. It describes an inexpensive system that can help.

JP 2006-26655 A JP2013-10119A

  However, as described in Patent Document 1, when the average value between the teaching steps of the welding current and the welding voltage is stored as a history, there is a merit that the storage capacity is reduced, but when a welding failure occurs. In addition, there is a problem that information useful for investigating the cause is not left. Moreover, since the timing at which the history is stored is a timing for instructing welding conditions or a timing at which welding abnormality occurs, there is a problem that only data for a limited period can be stored.

  In Patent Document 2, it is proposed to store data sampled at a low speed cycle and data sampled at a high speed cycle. However, there is a problem that it is difficult to investigate the cause of the welding abnormality.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a monitor device capable of presenting information useful for investigating the cause of abnormality such as poor welding.

In order to achieve the above object, a monitoring device according to the present invention is a data acquired by a welding robot, and a first data acquisition unit that acquires first data that is sampled every first period; A second data acquisition unit for acquiring second data which is data acquired in the welding robot and is data for each second period which is longer than the first period; and first and second Detected by an abnormality detection unit that detects an abnormality using at least one of the data, an association unit that associates each time point of the first and second data corresponding to the abnormality detected by the abnormality detection unit, and an abnormality detection unit A display unit for displaying the second data so that the time point of the abnormality that has been performed, and a reception unit that receives selection of the time point of the abnormality in the second data displayed by the display unit, Radical 113 displays the first data associated with the time of abnormality accepting unit accepts a selection, those.
With such a configuration, since the second data is displayed so that the time of abnormality can be understood, there is an advantage that the location of the abnormality can be easily identified. Further, since the first data associated with the time of the abnormality is displayed according to the selection of the time of the abnormality, more detailed data at the time of the occurrence of the abnormality can be easily presented, such as welding failure It will be useful for investigating the cause of the abnormality.

In the monitoring apparatus according to the present invention, the first data storage unit that stores the first data acquired by the first data acquisition unit and the second data that is stored by the second data acquisition unit. The first data storage unit may store the first data corresponding to the time of the abnormality when the abnormality detection unit detects the abnormality.
With such a configuration, for example, when the first data storage unit stores only the first data corresponding to the time of abnormality for long-term storage, the storage capacity of the first data can be saved. In addition, information necessary for investigating the cause of the abnormality can be stored for a long time. Further, since the second data is also accumulated for periods other than when an abnormality occurs, for example, it becomes possible to know an outline of a welding current or the like other than when an abnormality occurs.

In the monitor device according to the present invention, the abnormality detection unit also detects the type of abnormality, and the association unit includes each time point of the first and second data corresponding to the abnormality detected by the abnormality detection unit, In association with the abnormality type identification information for identifying the type of abnormality, and the display unit displays the second data so that the time of abnormality is known, the abnormality associated with the time of abnormality of the second data The second data may be displayed using the type identification information so as to be visually distinguishable for each type of abnormality.
With such a configuration, by looking at the second data, it becomes possible to easily specify the time of occurrence of the abnormality and the type of the abnormality, and the convenience of the user viewing the second data is improved. .

The monitor device according to the present invention further includes an abnormality explanation information storage unit that stores one or more abnormality explanation information that associates the abnormality type identification information with the explanation information that is an explanation of the abnormality identified by the abnormality type identification information. The display unit may also display the description information corresponding to the abnormality type identification information associated with the time of the abnormality at which the reception unit has received the selection using the abnormality description information.
With such a configuration, explanatory information corresponding to the detected abnormality is also displayed. For example, even a novice user can appropriately cope with the abnormality.

In the monitoring apparatus according to the present invention, the first and second data are each independently one or more types selected from welding current, welding voltage, welding gas flow rate, wire feeding speed, and feeding motor current. It may be the data.
With such a configuration, for example, data such as a welding current can be accumulated, and an abnormality such as a welding current can be detected.
In the monitor device according to the present invention, the first and second data may be the same type of data or different types of data.

  According to the monitoring device of the present invention, the location of the abnormality can be easily identified, and more detailed data at the time of the abnormality can be easily viewed according to the selection of the time of the abnormality, and the welding failure It will be useful for investigating the cause of abnormalities.

The figure which shows the structure of the welding robot system which has a monitor apparatus by Embodiment 1 of this invention. The flowchart which shows operation | movement of the monitor apparatus by the embodiment The figure which shows an example of the abnormality description information in the embodiment The figure which shows an example of the display of the 2nd data in the embodiment The figure which shows an example of the display of the 2nd data in the embodiment The figure which shows an example of the display of the 2nd data in the embodiment The figure which shows an example of the display of the 1st data in the embodiment

  Hereinafter, a monitor device according to the present invention will be described using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and repetitive description may be omitted.

(Embodiment 1)
A monitor device according to Embodiment 1 of the present invention will be described with reference to the drawings. The monitor device according to the present embodiment displays the second data, which is the low-speed cycle data, so that the time of occurrence of the abnormality can be known, and when the time of occurrence of the abnormality is selected, the high-speed cycle data corresponding to the selection. The first data is displayed.

  FIG. 1 is a block diagram showing a configuration of a welding robot system having a monitor device 2 according to the present embodiment. The welding robot system according to the present embodiment includes a control device 1, a manipulator 3, a welder 4, and a teaching pendant 5.

The control device 1 includes a communication unit 11 that communicates with the welding machine 4, a control unit 12 that controls the manipulator 3 and the welding machine 4, and a monitor device 2.
The communication unit 11 transmits instructions such as welding start, welding end, welding wire feeding start, feeding end, and the like to the welding machine 4 in accordance with instructions from the control unit 12. Moreover, the communication part 11 may receive the data acquired in a welding robot. The data acquired by the welding robot may be information acquired by the manipulator 3, may be information acquired by the welding machine 4, and is information acquired by other devices related to the welding robot. There may be. The information includes, for example, welding current, welding voltage, welding gas flow rate, wire feeding speed, feeding motor current indicating the load of the feeding system, temperature inside the arc welding power source, and rotation speed of the cooling fan inside the arc welding power source. It may be one or more types of data selected from the temperature outside the welding robot, the humidity outside the welding robot, the position of each drive motor of the manipulator 3, and other data acquired by the welding robot. May be. The data may be transmitted from, for example, the welder 4, may be transmitted from the manipulator 3, or may be transmitted from another device or the like. In the present embodiment, a case where the data is transmitted from the welding machine 4 will be mainly described. Such data is usually acquired by using various sensors such as an ammeter and a voltmeter in the welding machine 4 and the like.

  The control unit 12 controls each drive motor of the manipulator 3 according to teaching information stored in a recording medium (not shown), an operation signal input from the teaching pendant 5, a current position of the drive motor received from the encoder of the manipulator 3, and the like. Control the position of the. With this control, the welding torch is moved to a desired position. In the control, the control unit 12 may control the manipulator 3 via a servo controller. In addition, the control unit 12 starts and ends welding by the welding machine 4, an output voltage, a welding wire in accordance with a welding operation program stored in a recording medium (not shown), welding conditions, and the like via the communication unit 11. Controls the start and end of feeding.

  The monitor device 2 includes a first data acquisition unit 21, a first data storage unit 22, a first storage unit 23, a second data acquisition unit 24, a second data storage unit 25, 2 storage unit 26, abnormality detection unit 27, association unit 28, abnormality explanation information storage unit 29, display unit 30, and reception unit 31.

  The 1st data acquisition part 21 is the data acquired in a welding robot, and acquires the 1st data which is the data sampled for every 1st period. Since the first data is data sampled at a cycle shorter than the second data described later, the first data may be referred to as high-speed cycle data. The first period is not particularly limited, but may be, for example, a range of 0.1 ms to 100 ms. The first data may be, for example, data itself received from the welding machine 4 or the like by the communication unit 11 or may be data obtained by resampling the data. In the former case, the first data acquisition unit 21 may receive the first data. In the case of resampling, for example, resampling may be performed with a period longer than the sampling period of the data received by the communication unit 11. For example, the first data acquisition unit 21 may perform the resampling. In addition, the first data may be one type of data or may include two or more types of data. In the latter case, for example, the first data may be a set of welding current and welding voltage.

  The first data storage unit 22 stores the first data acquired by the first data acquisition unit 21 in the first storage unit 23. In addition, when the abnormality detection unit 27 detects an abnormality, the first data storage unit 22 reads the first data corresponding to the time of abnormality from the first storage unit 23 and stores the first data. For example, the first data corresponding to the time of the abnormality may be stored in a non-volatile recording medium. In the present embodiment, the case where the first data corresponding to the time of abnormality is accumulated in the second storage unit 26 will be mainly described. The first data corresponding to the time of abnormality may be data for a period from a time before A1 (ms) before the occurrence of abnormality to a time after A2 (ms) after the occurrence of abnormality. . In this case, the first data corresponding to the time of abnormality is A1 + A2 (ms) data. A1 and A2 are usually larger than 0, but one of them may be 0. When the first data after the occurrence of the abnormality is also accumulated in the second storage unit 26, the first data accumulation unit 22 is acquired, for example, after the occurrence of the abnormality is detected. These data may also be stored in the second storage unit 26.

  The first storage unit 23 stores first data. The first storage unit 23 can be realized by a predetermined recording medium (for example, a semiconductor memory). Although the 1st memory | storage part 23 is not specifically limited, For example, you may implement | achieve by volatile recording media, such as RAM. The first storage unit 23 may store data by a ring buffer method, for example. In that case, the first data of the latest fixed period is stored in the first storage unit 23, and when the first data of the fixed period or longer is stored, the oldest data is overwritten and deleted in order. It will be. When the first data includes a plurality of types of data, it is preferable that a ring buffer type storage area is provided for each type of data.

  The 2nd data acquisition part 24 is the data acquired in a welding robot, and acquires the 2nd data which is the data for every 2nd period which is a period longer than a 1st period. Since the second data is data with a period longer than that of the first data, the second data may be referred to as low-speed period data. Although it will not specifically limit if a 2nd period is longer than a 1st period, For example, the range of 10 ms-1s etc. may be sufficient. Although the relationship between the second period and the first period is not particularly limited, the second period may be, for example, two times or more of the first period, or ten times or more. The second data may be data sampled at the second period in the welding robot, or may be data generated from the first data. In the former case, the second data acquisition unit 24 may receive the second data. In the latter case, the data obtained by re-sampling the first data in the second period may be the second data, and the representative value for each second period in the first data is the second data. It may be. The representative value is not particularly limited, but may be an average value or an intermediate value, for example. When the second data is data sampled at the second period in the welding robot, the second data acquisition unit 24 may receive the second data via the communication unit 11. In addition, when the second data is data generated from the first data, the second data acquisition unit 24 uses the first data stored in the first storage unit 23, Second data may be generated. Further, the second data may be one type of data as well as the first data, and may include two or more types of data. Further, the first data and the second data may or may not be the same type of data. In the former case, for example, both the first and second data may be a welding current and a welding voltage. In the latter case, for example, the first data is welding current, welding voltage, welding gas flow rate, wire feeding speed, and feeding motor current, and the second data is welding current and welding voltage. May be. Thus, the second data type may or may not be less than the first data type.

The second data accumulation unit 25 accumulates the second data acquired by the second data acquisition unit 24 in the second storage unit 26. Note that the second data storage unit 25 normally stores the second data of the entire period during which the welding robot is performing welding in the second storage unit 26, but this need not be the case.
The second storage unit 26 stores first data and second data. The storage in the second storage unit 26 is not particularly limited, but may be long-term storage in a nonvolatile recording medium such as a flash memory or a hard disk. The second storage unit 26 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  Here, the storage of the first and second data in the first and second storage units 23 and 26 will be described. As described above, the first data that is the high-speed cycle data is temporarily stored in the first storage unit 23. As described above, the first storage unit 23 may be realized by a volatile recording medium that stores data by a ring buffer method. Of the first data stored in the first storage unit 23, data at the time when an abnormality is detected is accumulated in the second storage unit 26. Therefore, the data at the time when the abnormality is detected is stored for a long period of time. On the other hand, the second data that is the low-speed cycle data is stored in the second storage unit 26 for a long period of time. The second data and the first data at the time when the abnormality is detected are stored in the second storage unit 26 for a long period because the data capacity is smaller than the first data over the entire period. Data capacity can be reduced. In general, the first storage unit 23 capable of high-speed writing is more expensive than the second storage unit 26 that may not be. Therefore, by reducing the capacity of the first storage unit 23, the cost of the storage unit can be reduced as a whole. As described above, the first data holding period in the first storage unit 23 is abnormal so that the first data at the time when the abnormality is detected can be accumulated in the second storage unit 26. It is preferable that the length is set to be equal to or longer than the period of the first data accumulated in the second storage unit 26 when the is detected. Also, when generating the second data from the first data, the first data in the period necessary for the generation of the second data is stored in the first storage unit 23. Is preferred. In addition, when the first and second data are stored, they may be stored in association with the time code, or not. When the first and second data are stored in association with the time code, the time code of the first data and the time code of the second data may or may not correspond to each other. It does not have to be. In the former case, for example, the time code corresponding to the first data at a certain time point may be the same as or not the same as the time code corresponding to the second data at the same time point. May have a predetermined relationship.

  The abnormality detection unit 27 detects an abnormality using at least one of the first and second data. That is, the abnormality detection unit 27 may detect an abnormality using only the first data, may detect an abnormality using only the second data, and the first data and the second data An abnormality may be detected using both. Further, when detecting an abnormality using the first data, the abnormality detection unit 27 may detect the abnormality using all types of data included in the first data, and some types of data may be detected. Anomalies may be detected using data. The same applies when an abnormality is detected using the second data. When the first data used for abnormality detection includes a plurality of types of data, it is stored in the second storage unit 26 according to the type of data used for abnormality detection and the detection of abnormality. The data type may or may not be the same. In the present embodiment, a case where the abnormality detection unit 27 detects an abnormality using the first data will be mainly described. For example, the abnormality detection unit 27 may detect an abnormality when at least one of the first and second data matches a data pattern or condition according to the abnormality. The abnormality detection unit 27 may also detect the type of abnormality. In that case, data patterns and conditions are stored for each type of abnormality, and when detecting an abnormality, the abnormality detection unit 27 identifies the type of abnormality according to the pattern or condition that matches the data. May be. The type of abnormality may be a type related to an abnormality target such as a welding abnormality or a welding wire feeding abnormality, for example, a type relating to details of the abnormality such as a welding voltage abnormality or a welding current abnormality. For example, it may be of a type related to the degree of abnormality, such as an abnormality in which the robot must be stopped or an abnormality in which the robot does not need to be stopped.

  An example of a pattern and conditions for detecting an abnormality by the abnormality detection unit 27 will be briefly described. The abnormality detection unit 27 may detect an abnormality when, for example, the welding current is not energized for a certain time or longer. Further, the abnormality detection unit 27 detects an abnormality when, for example, the welding voltage is equal to or greater than a predetermined first threshold for a certain time or less, or is equal to or less than a predetermined second threshold. Also good. Further, the abnormality detection unit 27 may detect an abnormality when, for example, the wire feeding speed is 0 for a certain time or more. In addition, the abnormality detection unit 27 may detect an abnormality when the welding gas flow rate (shield gas flow rate) measured with a gas flow meter is 0 for a certain time or more, for example. Needless to say, the patterns, conditions, and the like that the abnormality detection unit 27 detects an abnormality are not limited to those described above.

  The associating unit associates each time point of the first and second data corresponding to the abnormality detected by the abnormality detecting unit 27. That is, the association unit 28 associates the time point of the first data and the time point of the second data corresponding to the detected abnormality. As a result of this association processing, any method can be used as long as the correspondence between the time of abnormality of the first data and the time of abnormality of the second data can be known. . When the abnormality detection unit 27 also detects the type of abnormality, the associating unit 28 determines each time point of the first and second data corresponding to the abnormality detected by the abnormality detection unit 27 and the abnormality You may match with the abnormal kind identification information which identifies a kind. An example of the association will be described. For example, when an abnormality is detected, the associating unit 28 includes abnormality type identification information for identifying the type of abnormality, a time code of the first data at the time of occurrence of the abnormality, and a time of the second data. Codes may be stored in association with each other. The stored information is, for example, (abnormality type identification information, first data time code, second data time code) = (E1, 0: 10: 47.021, 0: 10: 47.02). Or the like. The time code is shown in hours: minutes: seconds. Further, if the time codes of the first and second data are associated with each other, for example, the abnormality detection unit 27 may detect the first or second data corresponding to the abnormality when the abnormality is detected. The first and second data may be associated by specifying the time code. The specification may be, for example, accumulating the time code of the first or second data, or setting a flag or the like in association with the time code. The accumulated information may be, for example, (abnormality type identification information, first data time code) = (E1, 0: 10: 47.021). In this case, for example, the time code “0: 10: 47.021” of the second data may correspond to the time code “0: 10: 47.021” of the first data. If a different file name is given each time the first data storage unit 22 stores the first data in the second storage unit 26, the associating unit 28 detects, for example, an abnormality. The time code of the second data at the time of occurrence of the abnormality, and the file name of the first data stored in the second storage unit 26 by the first data storage unit 22 in response to the detection of the abnormality May be stored in association with each other. The accumulated information is, for example, (abnormality type identification information, second data time code, first data file name) = (E1, 0: 10: 47.02, first001.dat). May be. In addition, when the time codes of the first and second data are associated with each other, the first data corresponding to the time point when the abnormality is detected is accumulated in the second storage unit 26 together with the time code. Thus, it can be understood that an abnormality has occurred at the time corresponding to the time code corresponding to the first data. Therefore, such accumulation may be performed. In that case, for example, it may be considered that the first data is accumulated by the first data accumulation unit 22 and the time code corresponding to the first data is accumulated by the association unit 28. Needless to say, associations other than those described above may be performed. In addition, the time point corresponding to the abnormality detected by the abnormality detection unit 27 may be a pinpoint time point (for example, “0: 10: 47.021” or the like), or a period having a length (for example, “ 0: 10: 47.021 to 0: 10: 47.080 "). Further, the associating unit 28 may provide abnormality identification information (for example, EID 101) for each detected abnormality. It should be noted that the time of occurrence of the abnormality may or may not be the time when the abnormality has been detected.

  The abnormality explanation information storage unit 29 stores one or more pieces of abnormality explanation information. The abnormality explanation information is information that associates the abnormality type identification information with the explanation information that is an explanation about the abnormality identified by the abnormality type identification information. The explanation information may be information that describes the content of the abnormality, information that describes how to deal with the abnormality, or other information relating to the abnormality.

  The process in which one or more abnormality description information is memorize | stored in the abnormality description information storage part 29 is not ask | required. For example, one or more abnormality explanation information may be stored in the abnormality explanation information storage unit 29 via a recording medium, and one or more abnormality explanation information transmitted via a communication line or the like is abnormality explanation information. It may be stored in the storage unit 29, or one or more abnormality explanation information input via an input device may be stored in the abnormality explanation information storage unit 29. The storage in the abnormality explanation information storage unit 29 may be a temporary storage in a RAM or the like, or may be a long-term storage. The abnormality explanation information storage unit 29 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  Here, “associating abnormality type identification information and explanation information” means that it is only necessary to obtain explanation information from the abnormality type identification information. Therefore, the abnormality explanation information may include information including the abnormality type identification information and the explanation information as a set, or may be information that links the abnormality type identification information and the explanation information. In the present embodiment, the former case will be mainly described.

  The display unit 30 displays the second data so that the time point of the abnormality detected by the abnormality detection unit 27 can be known. Displaying the second data so that the time of abnormality can be understood is to display the second data so that the occurrence timing of abnormality can be understood. There is no limitation on the method of displaying the second data so that the time of abnormality is known. For example, a figure (for example, “X” in FIG. 4A, an arrow in FIG. 4B, a square frame in FIG. 4C, etc.) indicating that an abnormality has been detected at the position of the second data corresponding to the detected abnormality point. Only the second data corresponding to the detected abnormality time point may be displayed in a method different from other periods (for example, color difference, line thickness difference, line type (for example, solid line, The second data is displayed in association with the time code, and the second data is displayed at the time of the detected abnormality. The corresponding time code may be displayed, or the second data may be displayed so that the time of abnormality can be known by other methods. When the abnormality detection unit 27 also detects the type of abnormality, the display unit 30 responds to the time of abnormality of the second data when displaying the second data so that the time of abnormality is known. By using the attached abnormality type identification information, the second data may be displayed so that each abnormality type can be visually distinguished. The visual distinction may be, for example, a difference related to a figure (for example, a difference in shape or pattern of a figure, a difference in color of a figure, a difference in size of a figure, a difference in blinking pattern of a figure, etc.) It may be a difference in the display method of the second data (for example, a difference in color, a difference in line thickness, a difference in line type, etc.), or other differences. When the detected abnormality is a pinpoint time point, the display unit 30 may display the second data so that the pinpoint time point is known (for example, FIG. 4A, FIG. 4B, etc.). ). In addition, when the detected abnormality is a point in time corresponding to a period having a length, for example, the display unit 30 may display the second data so that the period can be understood (for example, FIG. 4C Such). For example, when the display of FIG. 4C is performed, the center time point of the rectangle shown in FIG. 4C may be the detected abnormality occurrence time point. Further, when a graphic indicating the abnormal time point is displayed, the graphic may be associated with the abnormal time point by the associating unit 28. This is because when a figure is selected, it is possible to know at which point an abnormality has been selected.

  In addition, the display unit 30 displays first data associated with an abnormal time point when the reception unit 31 has received a selection. When a certain abnormality time point is selected in the second data, the display unit 30 displays, for example, the first data associated by the associating unit 28 with the abnormality time point of the second data. The data may be read from the two storage units 26 and displayed. Specifically, when information for identifying the time of abnormality (for example, a graphic indicating the time of abnormality) is selected in the reception unit 31, the first data at the time corresponding to the information is displayed. Also good. In addition, when the reception unit 31 receives a time point corresponding to the abnormality, the first data corresponding to the time point that is in an inclusive relationship with the received time point, or the first data point corresponding to the time point closest to that time point One data may be displayed. Further, the display unit 30 uses the abnormality explanation information stored in the abnormality explanation information storage unit 29, and the explanation information corresponding to the abnormality type identification information associated with the time of the abnormality accepted by the accepting unit 31. May also be displayed. In addition, when the display part 30 displays 1st data, you may display so that the time of abnormality may be known, or it may not be so. For example, when the first data to be displayed corresponds only to the time of abnormality, it is considered that there is no problem even if the display is the latter. When the display is performed so that the time of abnormality is known, the display unit 30 is, for example, first data other than the first data corresponding to the time of abnormality, that is, the first data not corresponding to the time of abnormality. One data may also be displayed. Note that the method of displaying the first data so that the time of abnormality is known is the same as the method of displaying the second data so that the time of abnormality is known, and the description thereof is omitted. The display unit 30 displays the second data again in response to the reception unit 31 receiving an instruction to display the second data while displaying the first data. May be. Even in that case, it is preferable that the display unit 30 displays the second data so that the time of abnormality can be known.

  Thus, the display of the second data on the display unit 30 allows the user to monitor or confirm the state of the welding robot in a macro manner. In addition, the first data is displayed according to the selection at the time of abnormality, so that the user can check micro waveform data corresponding to the abnormality. Therefore, it becomes possible to investigate the cause of the abnormality from both macro and micro viewpoints, which is useful for pursuing the cause. For example, if a welding failure such as arc breakage or welding, or a construction failure such as poor penetration or poor weld bead formation occurs, it may be necessary to analyze the welding phenomenon in a minute time domain in order to investigate the cause. Many. In such a case, when such a phenomenon occurs (abnormal time), the first data sampled at a high-speed cycle can be displayed, which contributes to investigation of the cause of the abnormality. In addition, since the location where the abnormality has occurred in the second data can be confirmed, it is also possible to easily confirm in what situation the abnormality has occurred. That is, the second data can be used to grasp the situation where the abnormality has occurred macroscopically, and the first data can be used to grasp what has occurred at the time of abnormality microscopically. Become.

  Note that the display unit 30 may or may not include a display device (for example, a liquid crystal display) that performs such display. The display target may be displayed on another device. In that case, the display unit 30 may transmit information to be displayed to the outside of the apparatus. In the present embodiment, a case where the display unit 30 transmits information to be displayed to the teaching pendant 5 will be mainly described. The display unit 30 may be realized by hardware, or may be realized by software such as a driver that drives a display device.

  The accepting unit 31 accepts selection at the time of abnormality in the second data displayed by the display unit 30. The selection may be received, for example, at a time point corresponding to the abnormality (for example, a time code), or information for identifying the time point of the abnormality (for example, selection of a graphic indicating the time point of the abnormality). It may also be other receptions. Moreover, the reception part 31 may perform reception other than selection at the time of abnormality. For example, an instruction to display the second data, an instruction to end the display of the second data, or the like may be received. For example, the reception unit 31 may receive a selection input from an input device (for example, a keyboard, a mouse, a touch panel, etc.), or may receive a selection transmitted via a wired or wireless communication line. Good. The accepting unit 31 may or may not include a device for accepting (for example, a modem or a network card). In addition, the reception unit 31 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  In addition, although this Embodiment mainly demonstrates the case where the control apparatus 1 has the monitor apparatus 2, it may not be so. For example, the welding robot may have the monitor device 2. Specifically, the manipulator 3 and the welding machine 4 may have the monitor device 2. Further, the teaching pendant 5 may have the monitor device 2. The monitor device 2 may exist separately from the control device 1, the manipulator 3, the welding machine 4, and the teaching pendant 5. In addition, when the welding machine 4 has the monitor apparatus 2, etc., the 1st data acquisition part 21 may acquire 1st data by sampling 1st data, and 2nd data acquisition part 24 may acquire the second data by sampling the second data.

  The manipulator 3 has a plurality of arms connected by joints driven by a drive motor via a speed reducer. The drive motor may include an encoder, and the current position of the drive motor may be detected by the encoder. A welding torch 3 a that performs arc welding on the base material (workpiece) 8 is attached to the tip of the manipulator 3. Then, the welding wire is fed from the wire feeding unit 3b, and an arc is generated by applying a high voltage between the welding wire at the tip of the welding torch 3a and the base material 8 by the welding machine 4, and the arc is generated. When the welding wire and the base material 8 are melted by the heat of the arc, welding to the base material 8 is performed. In addition, the structure of the manipulator 3 is already well-known, The detailed description is abbreviate | omitted. In arc welding, shield gas is generally ejected from the welding torch 3a, but the description of the configuration is omitted.

  The welding machine 4 includes a welding power source that supplies a high voltage used in welding to the welding torch 3a and the base material 8, a wire feeding control unit that controls feeding of the welding wire by the wire feeding unit 3b, and the control device 1. According to the welding conditions transmitted, the welding control part etc. which control a welding power supply are provided. In addition, the welding machine 4 includes a welding current, a welding voltage, a welding gas flow rate, a wire feeding speed, a feeding motor current, a temperature inside the arc welding power source, a rotation speed of a cooling fan inside the arc welding power source, and an outside of the welding robot. One or more types of data selected from temperature, humidity outside the welding robot, and the like may be acquired, and the data may be transmitted to the control device 1. The welding machine 4 may be, for example, a digital welding machine including a digital inverter control circuit, or a welding machine using an analog type welding power source. In the former case, a welding current and a welding voltage can be acquired using a current detection unit and a voltage detection unit built in the digital welding machine. In the latter case, the welding current and the welding voltage may be acquired by separately providing a sensor for detecting the welding current and a sensor for detecting the welding voltage. In addition, the structure of the welding machine 4 is already well-known, The detailed description is abbreviate | omitted.

  The teaching pendant 5 is a terminal used for teaching the welding robot, and may pass an operation signal or the like according to the operation of the operator to the control device 1. Further, display data may be received from the control device 1 and displayed on the display, and selection contents received from the operator in displaying the display data may be passed to the control device 1. Note that an operation instruction or the like input from the teaching pendant 5 to the control device 1 may be passed to the control unit 12 via a route (not shown).

  Of the first storage unit 23, the second storage unit 26, and the abnormality explanation information storage unit 29, any two or more storage units may be realized by the same recording medium, or separate recordings. It may be realized by a medium. As described above, when the first storage unit 23 is realized by a volatile recording medium and the second storage unit 26 is realized by a non-volatile recording medium, the first storage unit 23 and The second storage unit 26 is realized by a separate recording medium.

  Moreover, although this Embodiment demonstrated the case where the control apparatus 1 controlled the one manipulator 3 and the one welding machine 4, it may not be so. The control device 1 may control a plurality of manipulators 3 and a plurality of welding machines 4. Therefore, the monitor device 2 may acquire the first and second data regarding a plurality of welding robots. In such a case, the first and second data may be provided with identification information indicating which welding robot data.

Next, the operation of the monitor device 2 will be described using the flowchart of FIG.
(Step S101) The first data acquisition unit 21 determines whether or not the first data has been acquired. If the first data is acquired, the process proceeds to step S102. If not, the process proceeds to step S109. The first data acquisition unit 21 may determine, for example, that the first data is acquired every first cycle, and may acquire the first data according to the determination, or the first data You may receive the 1st data passed from the communication part 11 for every period.

  (Step S <b> 102) The first data accumulation unit 22 accumulates the first data acquired by the first data acquisition unit 21 in the first storage unit 23.

  (Step S103) The second data acquisition unit 24 determines whether it is time to acquire the second data. If it is time to acquire the second data, the process proceeds to step S104. If not, the process proceeds to step S106. Note that the second data acquisition unit 24 may determine, for example, that it is time to acquire the second data every second period.

  (Step S <b> 104) The second data acquisition unit 24 acquires the second data using the first data stored in the first storage unit 23. The acquisition method may be, for example, calculating a representative value of the first data for each second period.

  (Step S <b> 105) The second data accumulation unit 25 accumulates the second data acquired by the second data acquisition unit 24 in the second storage unit 26.

  (Step S106) The abnormality detection unit 27 determines whether an abnormality is detected. And when abnormality is detected, it progresses to step S107, and when that is not right, it returns to step S101.

  (Step S107) The first data storage unit 22 reads the first data at the time when the abnormality is detected from the first storage unit 23, and stores the first data in the second storage unit 26. The first data storage unit 22 reads, for example, first data for a predetermined period according to a time point when an abnormality is detected from the first storage unit 23 and stores the first data in the second storage unit 26. Also good.

  (Step S108) The association unit 28 associates each time point of the first and second data corresponding to the detected abnormality. Then, the process returns to step S101.

  (Step S109) The display unit 30 determines whether to display the second data. For example, the display unit 30 may determine to display the second data when an instruction to display the second data is received by the receiving unit 31.

  (Step S110) The display unit 30 displays the second data so that the time of abnormality can be known.

  (Step S <b> 111) The receiving unit 31 determines whether a selection at the time of abnormality has been received. And when selection of the time of abnormality is received, it progresses to step S112, and when that is not right, it progresses to step S115.

  (Step S112) The display unit 30 reads from the abnormality explanation information storage unit 29 the explanation information associated with the abnormality type identification information corresponding to the abnormality point at which the selection is accepted.

  (Step S113) The display unit 30 reads from the second storage unit 26 the first data corresponding to the point of time when the selection is accepted.

  (Step S114) The display unit 30 displays the explanation information read in step S112 and the first data read in step S113. Then, the process returns to step S101.

  (Step S115) The reception unit 31 determines whether an instruction to end the display of the second data has been received. If the end instruction is received, the display unit 30 ends the display of the second data and returns to step S101. If not, the display unit 30 returns to step S111.

  Note that the order of processing in the flowchart of FIG. 2 is an example, and the order of each step may be changed as long as similar results can be obtained. In the flowchart of FIG. 2, the process of accumulating data or detecting an abnormality (steps S101 to S108) and the process of displaying data (steps S109 to S115) may be executed in parallel. . That is, even when data is displayed, the data accumulation process may be executed sequentially. Further, when the storage capacity of the second storage unit 26 is full, the process of accumulating data or detecting an abnormality (steps S101 to S108) may be terminated. Further, in the flowchart of FIG. 2, when the first data is being displayed and an instruction to end the display is received, the display of the first data is ended according to the instruction. Also good. In the flowchart of FIG. 2, the process is ended by power-off or a process end interrupt.

Next, the operation of the monitor device 2 according to the present embodiment will be described using a specific example.
In this specific example, it is assumed that one or more abnormality explanation information stored in the abnormality explanation information storage unit 29 is as shown in FIG. The abnormality explanation information shown in FIG. 3 includes abnormality type identification information and explanation information. For example, the abnormality type identification information “E1” is associated with the description “A welding error is AAA abnormality ...” regarding the abnormality identified by the abnormality type identification information. In this specific example, both the first and second data include a welding current and a welding voltage. In this specific example, it is assumed that the first period is 1 ms and the second period is 100 ms. That is, the first data is data sampled every 1 ms, and the second data is data obtained by averaging the first data every 100 ms.

  When welding in the welding robot system is started, the first data acquisition unit 21 acquires the welding current and the welding voltage every 1 ms that is the first period, and the first data including them is the first data. The data is transferred to the data storage unit 22 (step S101). Then, the 1st data storage part 22 accumulate | stores the 1st data received from the 1st data acquisition part 21 in the 1st memory | storage part 23 which is a ring buffer (step S102). In addition, the second data acquisition unit 24 acquires the second data by averaging the welding current and the like included in the first data for 100 ms every 100 ms that is the second period, and the second data To the data storage unit 25 (steps S103 and S104). Then, the second data storage unit 25 stores the second data received from the second data acquisition unit 24 in the second storage unit 26 (step S105). In this way, the accumulation of the first and second data is continued. It is assumed that the first and second data are stored in association with each time code.

  Further, at a certain point in time, the abnormality detection unit 27 detects an abnormality in response to the fact that the welding current included in the first data matches the pattern corresponding to the abnormality type identification information “E5” (step) S106). Then, the first data storage unit 22 reads the first data for a certain period including the time point when the abnormality is detected from the first storage unit 23 and stores it in the second storage unit 26 (step S107). Further, the abnormality detection unit 27 includes a time code T101 of the first data indicating a location of abnormality in the welding current that matches the pattern corresponding to the abnormality type identification information “E5”, and a time code T201 of the second data. The abnormality type identification information “E5” corresponding to the detected abnormality is passed to the associating unit 28. Then, the associating unit 28 associates the abnormality type identification information “E5”, the time code T101 of the first data, and the time code T201 of the second data and stores them in the second storage unit 26 ( Step S108). In this way, the abnormality detection and association are performed along with the accumulation of the first and second data (steps S101 to S108).

  Assume that an operator operating the teaching pendant 5 inputs an instruction to display second data to the teaching pendant 5 after a series of welding processes in the welding robot system is completed. Then, the instruction is transmitted to the control device 1, received by the receiving unit 31 of the monitor device 2, and passed to the display unit 30. Then, the display unit 30 determines to display the second data (step S109), and the welding current and welding voltage, which are the second data from the second storage unit 26, and the abnormality type accumulated by the association unit 28 are displayed. The identification information and the time code of the second data are read, and an image of the graph indicating the second data and the location and type of the abnormality is transmitted to the teaching pendant 5 (step S110). As a result, the display shown in FIG. 4A is performed on the display of the teaching pendant 5. In addition, the location shown by x of the welding current in the display of FIG. 4A is a location where an abnormality corresponding to the time code T201 is detected. Further, E5 and E2 displayed thereon are abnormal type identification information. In the display shown in FIG. 4A, it is assumed that the operator of the teaching pendant 5 taps the E5 abnormality with a finger. Then, the information of the period according to the welding current tapped with the finger is transmitted from the teaching pendant 5 to the control device 1, received by the receiving unit 31 of the monitor device 2, and passed to the display unit 30 (step S111). When receiving the period of the welding current corresponding to the tap, the display unit 30 searches for the time code of the second data included in the period. As a result of the search, if the time code T201 is hit, the display unit 30 acquires the abnormality type identification information “E5” corresponding to the time code T201, and stores the abnormality description information using the abnormality type identification information as a search key. The abnormal storage information stored in the unit 29 is searched, and the explanation information is read from the hit record (abnormality explanation information) (step S112). In addition, the display unit 30 reads the welding current and the welding voltage that are the first data corresponding to the time code T101 of the first data corresponding to the time code T201 from the second storage unit 26 (step S113). And the image of the 1st data, the graph which shows the location and kind of abnormality, and explanatory information is transmitted to the teaching pendant 5 (step S114). As a result, the display shown in FIG. 5 is performed on the display of the teaching pendant 5. In FIG. 5, a location indicated by x in the welding current is a location where an abnormality corresponding to the time code T101 is detected.

  In this specific example, the case where the display of the second data and the like is performed after the series of welding processes is completed is described, but this need not be the case. The accumulation of the first and second data and the display of the data may be performed in parallel.

  When the operator taps the “return” button in the display of FIG. 5, an instruction to display the second data is transmitted from the teaching pendant 5 to the monitor device 2. Is displayed (steps S109 and S110). Therefore, the operator can easily switch between the display of the high-speed cycle data and the display of the low-speed cycle data at the abnormal location, and can investigate the cause of the abnormality. In the display of FIG. 4A, when the operator taps the “end” button, an instruction to end the display of the second data is transmitted from the teaching pendant 5 to the monitor device 2 and received by the receiving unit 31. Then, the display of the second data is ended (step S115).

  The display of the second data is not limited to FIG. 4A. For example, as shown in FIG. 4B, an abnormal location may be indicated by an arrow. In FIG. 4B, the type of abnormality can be identified by the type of arrow (for example, solid painting, shading, etc.). Further, for example, as shown in FIG. 4C, the abnormal part may be indicated by a rectangular frame. In FIG. 4C, the type of abnormality can be identified by the type of rectangular line (for example, solid line, broken line, etc.).

  As described above, according to the monitor device 2 according to the present embodiment, it is possible to easily identify the location of the abnormality by displaying the second data so that the time of abnormality can be understood. Further, according to the selection of the abnormal part, the first data corresponding to the abnormal part is displayed. As described above, by displaying more detailed data (high-speed sampled data) at the time of occurrence of an abnormality, the welding phenomenon can be analyzed, which is useful for investigating the cause of the abnormality. In addition, when an abnormality is detected, the first data storage unit 22 stores the first data corresponding to the time of the abnormality in the second storage unit 26, so that the second storage unit 26 The first data corresponding to the abnormality is stored, so that the storage capacity of the second storage unit 26 can be saved, and information necessary for investigating the cause of the abnormality can be appropriately stored. become. In addition, the first storage unit 23 can be realized by a small-capacity volatile recording medium, and it is not always necessary to use a large-capacity high-speed accessible storage, thereby reducing the cost.

  In the present embodiment, a case has been described in which the description information is displayed according to the selection of the time of abnormality received by the reception unit 31, but this need not be the case. When the explanation information is not displayed, the monitor device 2 may not include the abnormality explanation information storage unit 29.

  In the present embodiment, the abnormality detection unit 27 also detects the type of abnormality, the association unit 28 also associates abnormality type identification information for identifying the detected abnormality type, and the display unit 30 However, although the case where the second data is displayed so as to be visually distinguishable for each type of abnormality has been described, this need not be the case. Processing such as detection of the type of abnormality may not be performed.

  In the present embodiment, the first data is temporarily stored in the first storage unit 23 that is a volatile recording medium, and when an abnormality is detected, the first data is temporarily stored. Although the processing in which the data 1 is accumulated in the second storage unit 26 that is a non-volatile recording medium has been mainly described, this need not be the case. All of the first data may be stored. The storage may be performed by the first storage unit 23 or the second storage unit 26. As described above, even when all the first data is stored, the association by the association unit 28 causes the first corresponding to the time point of the abnormality selected in the display of the second data. 1 data can be displayed.

  In the above embodiment, each process or each function may be realized by centralized processing by a single device or a single system, or may be distributedly processed by a plurality of devices or a plurality of systems. It may be realized by doing.

  In the above embodiment, the information exchange between the components is performed by one component when, for example, the two components that exchange the information are physically different from each other. It may be performed by outputting information and receiving information by the other component, or when two components that exchange information are physically the same, one component May be performed by moving from the phase of the process corresponding to to the phase of the process corresponding to the other component.

  In the above embodiment, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component In addition, information such as threshold values, mathematical formulas, addresses, patterns, conditions, etc. used by each component for processing is temporarily or for a long time retained in a recording medium (not shown) even if not specified in the above description. May be. Further, the storage of information in the recording medium (not shown) may be performed by each component or a storage unit (not shown). Further, reading of information from the recording medium (not shown) may be performed by each component or a reading unit (not shown).

  Further, in the above embodiment, even if information used by each component, for example, information such as threshold value, address, pattern, condition, various set values used by each component is changed by the user, If it is good, even if it is not specified in the above description, the user may be able to change the information as appropriate, or it may not be. If the information can be changed by the user, the change is realized by, for example, a not-shown receiving unit that receives a change instruction from the user and a changing unit (not shown) that changes the information in accordance with the change instruction. May be. The change instruction received by the receiving unit (not shown) may be received from an input device, information received via a communication line, or information read from a predetermined recording medium, for example. .

  In the above embodiment, when two or more components included in the control device 1 or the monitor device 2 have communication devices, input devices, etc., the two or more components have a physically single device. Or you may have separate devices.

  In the above embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of execution, the program execution unit may execute the program while accessing the storage unit or the recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, or the like). Good. Further, this program may be used as a program constituting a program product. Further, the computer that executes the program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  Further, the present invention is not limited to the above-described embodiment, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, according to the monitor device according to the present invention, the first data associated with the abnormality time point is displayed in accordance with the selection of the abnormality time point in the display of the second data. For example, it is useful as a device incorporated in a control device of a welding robot.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Monitor apparatus 3 Manipulator 4 Welding machine 11 Communication part 12 Control part 21 1st data acquisition part 22 1st data storage part 23 1st memory | storage part 24 2nd data acquisition part 25 2nd data storage Unit 26 second storage unit 27 abnormality detection unit 28 association unit 29 abnormality explanation information storage unit 30 display unit 31 reception unit

Claims (6)

A first data acquisition unit for acquiring first data which is data acquired in the welding robot and sampled for each first period;
A second data acquisition unit for acquiring second data which is data acquired in the welding robot and is data for each second period which is longer than the first period;
An abnormality detector that detects an abnormality using at least one of the first and second data;
An association unit for associating each time point of the first and second data corresponding to the abnormality detected by the abnormality detection unit;
A display unit for displaying the second data so that the time point of the abnormality detected by the abnormality detection unit is known;
In the second data displayed by the display unit, a reception unit that receives selection of an abnormal time point,
The said display part is a monitoring apparatus which displays the 1st data matched with the time of the abnormality which the said reception part received selection. A first data storage unit for storing the first data acquired by the first data acquisition unit;
A second data storage unit that stores the second data acquired by the second data acquisition unit,
The monitor device according to claim 1, wherein when the abnormality detection unit detects an abnormality, the first data accumulation unit accumulates first data corresponding to the time of the abnormality. The abnormality detection unit also detects the type of abnormality,
The association unit associates each time point of the first and second data corresponding to the abnormality detected by the abnormality detection unit with abnormality type identification information for identifying the type of abnormality,
When displaying the second data so that the time of abnormality is known, the display unit uses the abnormality type identification information associated with the time of abnormality of the second data for each abnormality type. The monitor device according to claim 1, wherein the second data is displayed so as to be visually distinguishable from each other. An abnormality description information storage unit that stores at least one abnormality explanation information that associates the abnormality type identification information with the explanation information that is an explanation of the abnormality identified by the abnormality type identification information;
The monitor device according to claim 3, wherein the display unit also displays explanatory information corresponding to abnormality type identification information associated with an abnormality time point at which the reception unit has received a selection using the abnormality explanation information. . The first and second data are each independently one or more types of data selected from a welding current, a welding voltage, a welding gas flow rate, a wire feed speed, and a feed motor current. The monitoring device according to claim 4. The monitor device according to claim 1, wherein the first and second data are the same type of data.

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