JP2020059181A - Joint process monitoring system - Google Patents

Abstract

To provide a joint process monitoring system capable of managing a history of the joint process for each rotation angle even if a joint member is rotated, and reducing variations in each joined product.SOLUTION: A joint process monitoring system that monitors joint work of rod-shaped resin members has a joint process monitoring device for calculating a joint progress of the resin member based on an outputs of an optical camera, thermo camera, and myoelectric sensor. The joint process monitoring device has: a circumferential movement evaluation unit for evaluating a circumferential rotation of the resin member; a joint boundary joint degree evaluation unit for evaluating a joint degree of a joint boundary; a supply heat energy evaluation unit for evaluating supply heat energy to the joint boundary; and a joint progress evaluation unit that evaluates the joint progress based on an evaluation results of the joint boundary joint degree evaluation unit and the supply heat energy evaluation unit for each rotation angle of the resin member obtained by the circumferential movement evaluation unit.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a joining process monitoring system that heats a joining boundary between resin members to monitor a joining progress degree when joining a plurality of resin members.

  BACKGROUND ART In various manufacturing fields, joining of resin members is an important step in assembling parts and products having complicated shapes. However, because the joints between resin members are discontinuous points in terms of material, stress concentrates during use as parts and products, leading to damage, and resin containers and transportation resins that require confidentiality. In the pipe, a part between the inside and the outside of the joint portion may penetrate, which may cause leakage of an object to be transported or mixing of foreign matter from the outside.

  In order to solve such problems, generally, destructive inspection by sampling, non-destructive inspection by X-ray image and ultrasonic flaw detection detect defects in the joint and control the quality. Therefore, it can be said that the quality control during the bonding work is the most useful management method.

  There are various items to be monitored when the quality is detected during the joining work. For example, multi-faceted quality control is performed by taking into consideration the temperature received by the welding target members and the distribution / history of the welding in addition to the judgment of the completion or incompleteness of the welding based on the positional relationship of the welding target members and the degree of contact. There is a need.

  Among these, as a conventional technique for determining the completion or incompletion of joining, there is a method of monitoring a joining portion with an optical camera and supplying a joining material (a brazing material) to an unfinished portion (Patent Document 1). ).

JP 10-137929 A

  However, in the technique described in Patent Document 1, when the joining target members are rod-shaped and the circumferential movement (rotation) is performed during the joining work, the position (rotation) during the joining work is determined from the image captured by the optical camera. It is difficult to correctly monitor the history of joining work because the angle) is not known. As a result, there is a problem that the monitoring item is determined based on the experience of the worker, and the welding work result varies depending on the skill level of the worker.

  The present invention has been made in view of the above, and even if there is circumferential movement (rotation) of the joining member, the history of the joining process can be managed for each rotation angle, and the joining progress degree for each rotation angle of the joining member. It is an object of the present invention to provide a joining process monitoring system capable of reducing the variation in each joined product by notifying the worker of the joining.

  In order to achieve the above object, a joining process monitoring system of the present invention monitors joining work of a rod-shaped resin member, and an optical camera for photographing a joining boundary of the resin member with visible light, and the resin. A thermo camera for photographing the temperature distribution of the joining boundary of the members, a myoelectric sensor attached to the arm of the worker, and based on the outputs of the optical camera, the thermo camera, and the myoelectric sensor, the degree of joining progress of the resin member. A joining process monitoring device for calculating the above, wherein the joining process monitoring device evaluates the circumferential rotation of the resin member based on the output of the myoelectric sensor, and the optical camera. Based on the output of the joint boundary, the joint boundary joint evaluation unit for evaluating the joint degree, and the supplied heat energy evaluation for evaluating the heat energy supplied to the joint boundary based on the output of the thermo camera. Section, for each rotation angle of the resin member obtained by the circumferential movement evaluation section, based on the evaluation results of the bonding boundary bonding degree evaluation section and the supplied heat energy evaluation section, the bonding progress for evaluating the bonding progress And a degree evaluation section.

  According to the present invention, even if the worker moves (rotates) in the circumferential direction of the joined component, the condition of the target component monitored in the joining process can be evaluated by a numerical value (joining progress) for each rotation angle. By notifying the operator of the (bonding progress), it is possible to realize a bonding process monitoring system that assists in keeping the individual variation of the bonded products within a certain range.

1 is a schematic diagram showing an overall configuration of a joining process monitoring system of Example 1. FIG. 3 is a functional block diagram for explaining the joining process monitoring device according to the first embodiment. FIG. 3 is a functional block diagram illustrating a joint boundary joint degree evaluation unit according to the first embodiment. FIG. 6A and 6B are diagrams illustrating processing performed by a bonding boundary bonding degree evaluation unit according to the first embodiment. 3 is a functional block diagram illustrating a heat supply energy evaluation unit according to the first embodiment. FIG. FIG. 6 is a diagram illustrating a process performed by the supplied heat energy evaluation unit according to the first embodiment. 3 is a functional block diagram illustrating a circumferential movement evaluation unit according to the first embodiment. FIG. The figure explaining the joining progress degree evaluation table of Example 1. 6A and 6B are diagrams illustrating a display device of Example 1. FIGS. 3 is a schematic diagram showing the overall configuration of a joining process monitoring system of Example 2. FIG. 6A and 6B are diagrams illustrating a method of generating worker data according to the second embodiment. 7 is a schematic diagram showing the overall configuration of a joining process monitoring system of Example 3. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a joining process monitoring system 100 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 9.

  FIG. 1 is a schematic diagram showing the overall configuration of a joining process monitoring system 100 of this embodiment. The system heats the joining boundary 1c of the joining target members 1a and 1b (hereinafter, referred to as "joining target member 1" when both are referred to) by hot air 2a from the heating device 2 to join the both joining target members. This is a system that evaluates the progress of the joining work (hereinafter referred to as "joining progress") and informs the worker, and mainly the myoelectric sensors 3R and 3L attached to the right arm and the left arm of the worker, respectively. , An optical camera 4a for photographing the joint portion with visible light, a thermo camera 4b for photographing the temperature of the joint portion, a joint process monitoring device 5 for monitoring the joint process, a joint progress degree and a predetermined warning are displayed. The display device 6 is provided.

  In the following description, the joining target member 1 is a resin rod or pipe, and the operator who holds the joining target member 1a in the right hand and the joining target member 1b in the left hand uses the hot air 2a of high temperature on a part of the joining boundary 1c. After the melting process is performed, the melting process is performed around the entire circumference of the bonding boundary 1c by rotating the melting part around the long axis so as to be away from the hot air 2a, and cooling is performed, thereby completing the bonding process. Proceed with the explanation. Note that θ in FIG. 1 is a rotation angle of the joining target member, and indicates that the joining process is performed while the joining target member 1 is rotated.

Next, the details of the joining process monitoring device 5 will be described with reference to the functional block diagram of FIG. As shown here, the joining process monitoring device 5 receives signals from the myoelectric sensors 3R, 3L, the optical camera 4a, and the thermo camera 4b, and sends signals including the joining progress degree to the display device 6. Yes, the bonding boundary bonding degree evaluation unit 51 that evaluates the bonding degree of the bonding boundary 1c based on the optical image near the bonding boundary 1c captured by the optical camera 4a, and the heating based on the temperature distribution near the bonding boundary 1c captured by the thermo camera 4b. A supply heat energy evaluation unit 52 that evaluates the amount of heat energy supplied from the device 2 to the bonding boundary 1c and its cumulative value, a circumferential movement evaluation unit 53 that captures the circumferential rotation of the bonding boundary 1c, and a wide variety of bonding target members. The joining condition range database 54a that holds the joining condition set in advance for each combination of 1, the myoelectric pattern database 54b described later, and the output of each evaluation unit. And a joint progress evaluation unit 55 the rotation angle θ and time and in association cord assessing around the long axis of the joining target members 1 a joint progress of the joining boundary 1c Hazuki. The joining process monitoring device 5 is actually a computer including an arithmetic device such as a CPU, a main storage device such as a semiconductor memory, an auxiliary storage device such as a hard disk, and hardware such as a communication device. Then, while referring to the database recorded in the auxiliary storage device, the arithmetic unit executes the program loaded in the main storage device to realize each function of the bonding boundary bonding degree evaluation unit 51 and the like. Description will be made while omitting such well-known techniques as appropriate.
<Joining process monitoring device 5>
Hereinafter, the details of each configuration incorporated in the joining process monitoring device 5 will be sequentially described with reference to FIGS. 3 to 8.
<Joining boundary joining degree evaluation unit 51>
First, the joint boundary joint degree evaluation unit 51 will be described with reference to FIGS. 3 and 4.

  As shown in the block diagram of FIG. 3, the joint boundary joint degree evaluation unit 51 includes a joint boundary extraction unit 51a and a joint degree calculation unit 51b. The joining boundary extracting unit 51a can emphasize the joining boundary 1c by performing a differential operation on the image data of the joining portion captured by the optical camera 4a in the long axis direction of the joining target member 1. In general, when the joining of the joining target members 1 progresses, the joining boundary 1c becomes difficult to be visually recognized. Therefore, when the joining progresses, the amplitude J of the differential calculation result decreases. The bonding degree calculation unit 51b uses this principle to monitor the amplitude J as the bonding degree of the bonding boundary 1c.

FIG. 4 is a diagram for specifically explaining the processing content of the joining boundary joining degree evaluation unit 51. FIG. 4A is an example of an image taken by the optical camera 4a when the worker holds the joining target member 1 in the posture of the rotation angle θx. The joining boundary extracting unit 51a obtains the amplitude J at each point on the central axis Lθx as illustrated in FIG. 4B by differentiating the image along the central axis Lθx of the joining target member 1. You can As shown here, the amplitude J is larger in a part on the central axis Lθx than in the other part, and therefore the bonding boundary extracting unit 51a can specify this part as the bonding boundary 1c. As the joining process of the joining target member 1 progresses, the amplitude J of the differential signal at the joining boundary 1c is attenuated. Therefore, when the amplitude J becomes equal to or less than the predetermined value registered in the joining condition range database 54a, a certain joining degree is obtained. It can be determined. FIG. 4C is an example of a graph showing the correspondence between the amplitude J and the degree of bonding held by the bonding condition range database 54a, and shows that the bonding degree approaches 100% as the amplitude J decreases. By using such a graph, the joining degree calculator 51b can calculate the joining degree at the joining boundary 1c from the magnitude of the amplitude J.
<Supply heat energy evaluation unit 52>
Next, the supplied heat energy evaluation unit 52 will be described with reference to FIGS. 5 and 6.

  As shown in FIG. 5, the supplied heat energy evaluation unit 52 includes a monitoring range extraction unit 52a, a maximum temperature detection unit 52b, and a heat energy calculation unit 52c. The monitoring range extraction unit 52a acquires the temperature distribution data of the joint portion taken by the thermo camera 4b. Since the temperature is high in the vicinity of the junction boundary 1c, the maximum temperature detection unit 52b detects the maximum temperature part 7a by the temperature peak position search, and the thermal energy calculation unit 52c changes the maximum temperature part 7a with time (hereinafter, referred to as "temperature"). (Also referred to as “history”), the thermal energy supplied to the joining target member 1 is calculated for each rotation angle.

FIG. 6 is a diagram for specifically explaining the processing content of the supplied heat energy evaluation unit 52. FIG. 6A is an example of the temperature distribution data of the joint portion taken by the thermo camera 4b. In the joining target member 1, the portion directly contacted by the hot air 2a is the highest temperature portion 7a, and the vicinity thereof is the high temperature portion 7b. The other portion is the low temperature portion 7c. The low temperature portion 7c is at a temperature that can be gripped by an operator with bare hands. FIG. 6B is a diagram exemplifying how the maximum temperature detecting unit 52b searches for the temperature peak position, and illustrates how the highest temperature part 7a is extracted from the monitoring range 7d that is substantially equal to the range of the high temperature part 7b. ing. FIG. 6C is a diagram exemplifying the temperature history and the integrated heat energy at the rotation angle θx. This figure is an example of the history of the maximum temperature observed when joining was performed at the rotation angle θx, divided into three times of times t1 to t2, t3 to t4, and t5 to t6. By storing such data in the unit 52c, the integrated heat energy and the integrated heating time in a predetermined posture can be calculated. In addition, during the period of time t2 to t3 and t4 to t5, the joining process is not performed at the rotation angle θx, such as joining at another rotation angle or moving the joining target member 1 away from the hot air 2a. Is shown.
<Circumferential movement evaluation unit 53>
Here, if there is no rotation of the joining target member 1 during the joining process, the outputs of the joining boundary joining degree evaluation unit 51 and the supplied heat energy evaluation unit 52 may be used as a monitoring index as they are, but as in the example of FIG. When performing the joining process while rotating the joining target member 1 in the circumferential direction, it is difficult to detect the circumferential direction rotation from the images taken by the optical camera 4a and the thermo camera 4b, and therefore, the joining target member 1 is changed in each posture. It is difficult to obtain the joining progress.

  Therefore, in this embodiment, a circumferential movement evaluation unit 53 that evaluates the circumferential movement of the joining target member 1 is provided, and the joining boundary joining degree evaluating unit 51 is provided for each circumferential position (rotation angle θ) of the joining target member 1. The degree of joining, which is the output of the above, and the temperature history, which is the output of the supplied heat energy evaluation unit 52, are linked and monitored, and the degree of joining progress, which is the data obtained by comprehensively evaluating them, can be calculated for each rotation angle θ. In addition, by sequentially presenting the welding progress degree for each rotation angle θ that is updated with time to the worker, the worker can grasp the rotation angle θ with a low welding progress degree, and the welding progress degree for each rotation angle θ can be obtained. The variation can be reduced.

  FIG. 7 is a block diagram illustrating details of the circumferential movement evaluation unit 53. When the myoelectric sensors 3R and 3L that detect myoelectricity at a plurality of places (for example, 8 places) are attached to both arms, the contraction points of the arm muscles from the time series changes of individual myoelectricity (for example, 16 myoelectric data). Can be specified to estimate the movements of both arms. Utilizing this, the circumferential movement evaluation unit 53 calculates the movement direction (rotation direction) and the movement amount (rotation amount) of the joining target member 1 by using a correlation calculation or the like.

As shown in FIG. 7, the circumferential movement evaluation unit 53, based on inputs from the myoelectric sensors 3R and 3L and the myoelectric pattern database 54b, the movement direction (rotational direction) of the joining target member 1 and the movement amount ( It outputs a rotation amount) and includes a movement direction determination unit 53a and a movement amount determination unit 53b. The myoelectric pattern database 54b is a database that stores typical myoelectric patterns observed when the joining target member 1 is rotated by a predetermined amount in a predetermined direction. The moving direction determination unit 53a calculates the moving direction (rotational direction) of the joining target member 1 by performing a correlation operation between the input signals from the myoelectric sensors 3R and 3L and the registered data in the myoelectric pattern database 54b. Similarly, the movement amount determination unit 53b performs a correlation calculation between the input signals from the myoelectric sensors 3R and 3L and the registered data in the myoelectric pattern database 54b to determine the rotation direction, rotation amount, rotation speed, etc. of the joining target member 1. Ask.
<Joining progress evaluation unit 55>
Next, the joint progress evaluation unit 55 will be described with reference to FIG. The joining progress degree evaluation unit 55 associates the outputs of the joining boundary joining degree evaluation unit 51, the supplied heat energy evaluation unit 52, and the circumferential movement evaluation unit 53 described above, and for example, the rotation angle of the joining target member 1. A joining progress degree evaluation table 8 in which the joining degree, the maximum temperature, the cumulative heating time, the cumulative thermal energy, and the like are associated with each θ is created.

FIG. 8 is an example of the joining progress evaluation table 8, and FIG. 8A is a joining progress evaluation table 8a at time (t), in which various data at the rotation angle θ1 of the joining object 1 is updated. It has been done. Similarly, FIG. 8B is a joining progress degree evaluation table 8b at time (t + 1) and shows that various data at the rotation angle θ2 of the joining object 1 have been updated. In this way, the joining progress evaluation table 8 is updated every predetermined time, and also every time the rotation angle θ changes. Then, the joining progress evaluation unit 55 compares the data of the joining progress evaluation table 8 with the joining conditions registered in advance in the joining condition range database 54, and when the data in the table exceeds a predetermined range, It is possible to detect abnormal joining.
<Display device 6>
Next, with reference to FIG. 9, an example of a display screen of the display device 6 that notifies the operator of the evaluation result by the joining progress evaluation unit 55 and the abnormality detection will be described. The display screen of the display device 6 mainly includes a radar chart display unit 61 and a joining progress degree display unit 62. The radar chart display unit 61 displays the target value 61t, the upper limit value 61h, the lower limit value 61l, and the actual evaluation value 61θ of each evaluation item read from the joining condition range database 54, so that the worker can From the difference between the evaluation value 61θ of the evaluation item and the target value 61t, the progress of the joining process can be grasped. Further, since the joining progress degree and the necessity of continuation of the joining work are displayed for each rotation angle θ on the joining progress degree display unit 62, the worker indicates whether the joining work is required to be continued for each rotation angle θ. You can check easily.

  It should be noted that this figure shows an example in which the joining progress is displayed on a radar chart when the evaluation items evaluated by the joining progress evaluation unit 55 are five items. It is indicated that the current posture is the rotation angle θ1 and that the difference between the evaluation value 61θ of each evaluation item and the target value 61t is large. Further, in the joining progress degree display portion 62, the joining progress degree of the rotation angle θ4 is “95%”, and no further joining work is required, while other rotation angles (θ1 to θ3, θ5) It has been shown that further joining work is required due to insufficient joining progress.

  By the welding process monitoring system of the present embodiment described above, the worker confirms the welding progress for each rotation angle of the welding target member 1, while the welding progress is substantially uniform over the entire circumference of the welding portion. Since the joining process can be performed as described above, even if the combination of the materials of the joining target member 1 is different or the work skill of the worker is different, the joining progress of each joined part or product is performed. It is possible to reduce variations in frequency.

  Next, a joining process monitoring system 100 according to a second embodiment of the present invention will be described with reference to FIGS. 10 and 11. It should be noted that duplicated description will be omitted for common points with the first embodiment.

  In the first embodiment, since the myoelectric pattern database 54b in which typical myoelectric patterns observed when the typical joining target member 1 is rotated is used, the shape of the joining target member 1 is large as expected. In the case where it is dislocated, or when a worker whose electromyographic pattern is largely deviated from the typical example performs the joining work, the circumferential movement evaluation unit 53 cannot accurately detect the rotation angle θ of the joining target member 1. It was

On the other hand, in the joining process monitoring system 100 of the present embodiment, as shown in FIG. 10, the joining process of the server 9 including the worker data generating unit 9a, the manufacturing record data generating unit 9b, and the additional data database 9c is performed. By connecting to the monitoring device 5 and using new joining condition range data and worker data registered in the additional data database 9c, the joining progress degree and the rotation angle θ can be detected more accurately. Although the joining process monitoring device 5 and the server 9 are shown as different configurations in FIG. 10, they may be configured so that the functions of both are integrated.
<How to register worker data>
FIG. 11 is a diagram illustrating a method of registering worker data in the additional data database 9c of the server 9. Even when the joining target members 1 having the same shape are rotated in the same direction by the same amount at the same speed, the myoelectric pattern detected by the myoelectric sensor is slightly different for each worker, and thus is prepared for each worker. If the myoelectric pattern data (hereinafter referred to as “worker data”) can be used, the circumferential movement evaluation unit 53 can more accurately obtain the rotation angle θ of the joining target member 1.

FIG. 11 is an example of an apparatus used when creating the worker data, and includes a holding jig 10 having holding portions 10a that rotatably hold the joining target member 1 at both ends, a rotation direction of the joining target member 1, and a rotation direction. An encoder 12 for detecting the amount and the rotation speed, and a shaft 11 connecting the joining target member 1 and the encoder 12 are provided. By using this device, the output data of the myoelectric sensors 3R and 3L and the encoder 12 when the worker freely rotates the joining target member 1 can be measured in synchronization, so that the worker data generation unit 9a Based on the measured data, the worker data unique to the worker in which the myoelectric pattern, the rotation direction, the rotation amount, and the rotation speed are associated with each other is generated and registered in the additional data database 9c. Then, the circumferential movement evaluation unit 53 obtains the rotation angle θ of the joining target member 1 using the worker data registered in the additional data database 9c.
<How to register manufacturing record data>
If the worker data described above is generated, it is possible to specify the worker based on the behavior of the outputs of the myoelectric sensors 3R and 3L. Therefore, in the manufacturing record data generation unit 9b, for each worker identified based on the outputs of the myoelectric sensors 3R and 3L, the work image of the worker, various evaluation values such as the joint progress degree, and the product ID are displayed. The integrated manufacturing record data is generated and registered in the additional data database 9c.

  As described above, according to the present embodiment, the myoelectric pattern (worker data) for each worker is created in advance, and when actually performing the joining process, the rotation angle θ of the joining target member 1 is obtained. Since the myoelectric pattern (worker data) used at that time is switched for each worker, the detection accuracy of the rotation direction and rotation amount of the joining target member 1 is further improved, and the relationship between the finished product and the worker is recorded. Therefore, when a defective product is discovered after the fact, it is possible to appropriately identify the operator who created it and review the joining work.

  Next, with reference to FIG. 12, a joining process monitoring system 100 according to the third embodiment which is supposed to cooperate with another system 17 will be described. It should be noted that duplicated description of the common points with the first or second embodiment will be omitted.

  As shown in FIG. 12, the joining process monitoring system 100 of this embodiment includes a manufacturing execution system (Manufacturing System) via a server 9, a communication device 13 such as a wireless LAN, and a programmable logic controller (PLC) 14a. It is connected to the Execution System (MES) 15 and the backbone system information system (Enterprise Resource Planning, ERP) 16. Similarly, another system 17 that controls the device 18 is connected to the MES 15 and the ERP 16 via the PLC 14b. The MES 15 is a system that manages the entire plant based on the input data, and the ERP 16 is a system that centrally manages various data in order to effectively use management resources (plant, funds, information, etc.). is there.

  With the configuration shown in FIG. 12, the MES 15 and the ERP 16 can send and receive data to and from both the joining process monitoring system 100 and the other system 17. For example, the MES 15 and the ERP 16 receive data on the joining progress degree from the joining process monitoring system 100. In addition, it is possible to receive data indicating the operation status of the device 18 from the other system 17, and to transmit process management data such as a work instruction to the joining process monitoring system 100 and the other system 17.

  Therefore, for example, the MES 15 refers to the manufacturing monitoring item data recorded in the server 9, and if the predetermined manufacturing index (for example, the maximum temperature) is not observed, the auxiliary work is performed as necessary. A signal indicating that is to be performed is transmitted to a mobile terminal of a worker (not shown). Whether or not transmission to the mobile terminal is necessary is determined by the MES 15 based on information indicating the operation / stop of the device 18 from another system 17, the production schedule, and the like. With this, when there is a defect in the product, it is possible to instruct the remake at an appropriate time.

  Further, when the device 18 is stopped, the MES 15 sends a predetermined signal to the mobile terminal to guide the worker to inspect the products other than the device 18.

  According to the configuration of the third embodiment described above, when the predetermined manufacturing index (for example, the maximum temperature) is not observed, the MES 15 performs the task of executing the management item at an appropriate time. Can inform staff. As a result, the worker can efficiently check the devices and the like and restart the production based on the production schedule and the like.

100 Joining process monitoring system,
1, 1a, 1b members to be joined,
1c junction boundary,
2 heating devices,
2a hot air,
3R, 3L myoelectric sensor,
4a optical camera,
4b thermo camera,
5 Joining process monitoring device,
51 joint boundary joint degree evaluation part,
51a junction boundary extraction unit,
51b Bonding degree calculation unit,
52 Heat supply energy evaluation unit,
52a monitoring range extraction unit,
52b Maximum temperature detector,
52c Integrated heat energy calculation unit,
53 Circumferential movement evaluation unit,
53a moving direction determining unit,
53b Moving amount determination unit,
54a Bonding condition range database,
54b myoelectric pattern database,
55 Joining progress evaluation section,
6 display device,
61 Radar chart display,
61t Bonding target value,
61h Upper limit of joining condition,
61l Lower limit of joining condition,
61θ evaluation value,
62 Join progress indicator,
7a Highest temperature part,
7b High temperature part,
7c low temperature part,
7d monitoring range,
8, 8a, 8b Joining progress evaluation table,
9 server 9a worker data generation unit,
9b Manufacturing record data generator,
9c Additional data database,
10 holding jig,
10a holding part,
11 shafts,
12 encoders,
13 communication devices,
14a, 14b PLC,
15 MES,
16 ERP,
17 Other systems,
18 equipment

Claims (9)

A joining process monitoring system for monitoring the joining operation of rod-shaped resin members,
An optical camera for photographing the bonding boundary of the resin member with visible light,
A thermo camera for photographing the temperature distribution of the bonding boundary of the resin member,
A myoelectric sensor attached to the worker's arm,
A bonding process monitoring device for calculating a bonding progress of the resin member based on the outputs of the optical camera, the thermo camera, and the myoelectric sensor,
The joining process monitoring device,
Based on the output of the myoelectric sensor, a circumferential movement evaluation unit that evaluates the circumferential rotation of the resin member,
Based on the output of the optical camera, a joint boundary joint degree evaluation unit for evaluating the joint degree of the joint boundary,
Based on the output of the thermo camera, a supply heat energy evaluation unit for evaluating the supply heat energy to the junction boundary,
For each rotation angle of the resin member obtained by the circumferential movement evaluation unit, a bonding progress evaluation unit that evaluates the bonding progress based on the evaluation results of the bonding boundary bonding degree evaluation unit and the supplied heat energy evaluation unit. When,
A joining process monitoring system comprising: The joining process monitoring system according to claim 1,
The circumferential movement evaluation unit evaluates the rotation direction and rotation amount of the resin member by performing a correlation calculation between the output of the myoelectric sensor and a myoelectric pattern that has been collected in advance. Monitoring system. The joining process monitoring system according to claim 2,
The myoelectric pattern collected in advance is generated by synchronizing the output of the myoelectric sensor observed when an operator rotates the resin member and the output of an encoder connected to the resin member. A joining process monitoring system characterized by learning data. The joining process monitoring system according to claim 3,
An operator is identified based on the output of the myoelectric sensor and the learning data,
With the specified worker, the output of the optical camera, the output of the bonding boundary bonding degree evaluation unit, the output of the thermo camera, the output of the supplied heat energy evaluation unit, the output of the bonding progress evaluation unit, or the resin member. A joining process monitoring system, wherein a manufacturing record is generated by linking at least one of the IDs. The joining process monitoring system according to claim 1,
The joint boundary joint degree evaluation unit,
A joint boundary extraction unit that extracts the joint boundary by performing a differential operation in the longitudinal direction of the resin member photographed by the optical camera,
A joining degree calculation unit that calculates the joining degree of the resin member based on the amplitude of the differential calculation result at the joining boundary,
A joining process monitoring system comprising: The joining process monitoring system according to claim 1,
The supply heat energy evaluation unit,
A maximum temperature detection unit that detects the maximum temperature of the bonding boundary portion of the resin member taken by the thermo camera,
A thermal energy calculation unit that stores a history of maximum temperatures detected by the maximum temperature detection unit and calculates integrated heating time or integrated heat energy,
A joining process monitoring system comprising: The joining process monitoring system according to claim 1,
The joining progress evaluation system updates the joining progress degree when an operator rotates the resin member or when a predetermined time elapses. The joining process monitoring system according to claim 1,
The joining process monitoring system further comprises a display device for displaying the joining progress degree evaluated by the joining progress degree evaluation unit for each rotation angle of the resin member. The joining process monitoring system according to claim 8,
The display device is
A first radar chart in which the joining progress is plotted,
A second radar chart that plots the upper limit of the preset joining progress,
A third radar chart plotting the lower limit of the preset degree of joining progress,
While displaying
A joining process monitoring system, which displays whether or not the first radar chart is within a range sandwiched by the second and third radar charts.

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