KR20080093683A - Digital Controller for Weld Torch Weaving - Google Patents

Abstract

The present invention relates to a digital control device for welding torch weaving, and in particular, a user operation switch unit for allowing a user to input various weaving parameters; A power supply unit which receives a single DC power supply and supplies different DC powers for driving each unit; A microcomputer that receives various weaving parameter values input from the user manipulation switch unit as a digital signal, controls the motion controller in response to the corresponding values, and displays them on the fluorescent display unit; A motion controller for controlling an H bridge motor driver in response to the output signals of the microcomputer and encoder; An H bridge motor driver for driving a DC motor in a predetermined direction and speed in response to an output signal of the motion controller; A fluorescent display unit displaying various types of information output from the microcomputer in letters or numbers; An encoder for detecting a driving speed and a position of a DC motor driven in response to an output signal of the H bridge motor driving unit and transmitting the detected speed to a motion controller; And a communication interface unit capable of transmitting or receiving the welding torch weaving related information output from the microcomputer to a remote site.

Therefore, the user of the welding torch can freely adjust the weaving parameters such as the weaving width and the weaving frequency, the left / right stop time, the weaving start and stop, and the weaving center movement through the operation switch unit. Not only can it be greatly improved, but also the reliability of the welding itself can be greatly increased.

Description

Digital Weaving Motion Controller for Welding Torches}

1 is a block diagram of an apparatus of the present invention.

Figure 2 is a detailed configuration diagram of the user operation switch unit of the present invention device.

Figure 3 is a photograph of the actual internal printed circuit board and the fluorescent display of the device of the present invention.

4 is a timing diagram for defining a weaving parameter applied in the present invention.

5 is a configuration diagram of a conventional general motor drive circuit.

6 is a timing diagram for defining weaving and stopping time.

Explanation of symbols on the main parts of the drawings

1: user operation switch unit

1a: Weaving width and weaving frequency and left / right stop time adjustment switch

1b: Weaving center shift control switch 1c: Weaving start and stop switch

2: power supply 3: microcomputer

4: Motion control part 5: H bridge motor drive part

6: DC motor # 7: fluorescent display

8: Encoder # 9: Communication Interface Unit

10: end limit switch 11: current transformer

12: nonvolatile memory

The present invention relates to a digital control device for welding torch weaving, and more specifically, a weaving width, a weaving frequency, a left / right stop time through a manipulation of switches installed in a user operation switch unit as necessary. In order to more precisely control the operation of the welding torch, we can freely adjust the weaving parameters such as weaving start and stop, weaving center movement, and the like.

In general, the welding device implements the weaving operation so that the welding can be completed by using the arc effectively. At this time, the weaving motion is one of the operation method of the welding rod, it refers to a method of operating the end of the electrode in a zigzag form with respect to the welding line direction.

The welding device robot that implements this weaving motion is configured by the impact sensor of the bracket installed at the arm end of the welding robot. It is a device that detects the load when the welding torch is affected by abnormal collision during welding. Follow-up operation enables welding weaving motion by this.

Meanwhile, in order to drive the motor of the welding robot, a motor, a motor drive, an encoder, and a controller for motion control are required, and the rotation speed of the motor is controlled by applying a pulse or an analog voltage to the motor drive.

There are two main types of control for driving a motor: pulse input and analog voltage. In the case of pulse input, the number of pulses applied and the number of encoders generated by motor rotation are compared. The motor is configured to stop at the desired position, and as the pulse frequency increases, the motor speed increases.

In other words, the pulse input method converts an encoder value according to the rotational speed of the motor into a position value to stop the motor at a desired position, and the analog voltage input method is for commanding the speed of the motor.

5 is a block diagram of a conventional general motor drive circuit.

Currently, various motor driving boards are sold in the market for motor driving, and are divided into position control and speed control. Speed control boards are generally simple to configure and manufactured by users rather than commercially available products. I'm using it.

In the case of the position control board, if the user sets the desired position and speed, the motor is configured to drive at the speed set at the desired position by modulating the number of pulses and the frequency.

In addition, boards with functions such as linear interpolation and circular interpolation are being developed or under development. The user simply configures the desired function in software to implement the function.

However, since the commercialized motion boards configured as described above have only general functions for various users, there are many problems in implementing the weaving and the stop function at the end of the weaving required for the robot motion and general welding equipment.

2 is a diagram showing the contents of the weaving and stopping function. In order to implement the tasks for stopping the motor operation at the end of the weaving at a set speed after moving the desired weaving width at the set speed, the desired software must be written. In addition, there is a problem in that the time to arrive at the end of the weaving always has a problem, and there is a problem that the addition of software for additional functions has a limitation because of the software for implementing the weaving and stop function.

Therefore, such a conventional welding weaving device uses an impact sensor and related devices to implement the weaving motion, and thus, since the position calculation of the robot for welding seam tracking is performed, it takes a lot of time for this operation. In particular, when attaching an additional device such as a vision sensor to the robot, the sensor is shaken from side to side due to the weaving motion, which causes a problem that frequently occurs in the processing of the sensor data.

In other words, most of the conventional welding torch weaving control device is an analog circuit, so the weaving is not accurate, so it cannot be used where precise weaving is required, such as narrow line welding. Since it is set by the present invention, there is a problem in that it is not possible to know exactly how much the current weaving width, exactly how much stop time and how much the weaving frequency.

The present invention has been made in order to solve such a conventional problem, the user of the welding torch by appropriately operating the various switches installed in the operation switch unit weaving width and weaving frequency, left / right stop time, weaving start and By controlling the weaving parameters such as stopping and moving the weaving center freely, it is possible to more precisely control the operation of the welding torch, thereby improving the precision according to the welding of the torch using the welding robot. It is an object of the present invention to provide a digital control device for welding torch weaving that can greatly increase the reliability.

The present invention device for achieving the above object, the user operation switch unit for allowing the user to input a variety of weaving parameters; A power supply unit which receives a single DC power supply and supplies different DC powers for driving each unit; A microcomputer that receives the output signal of the user manipulation switch unit as a digital signal and controls the motion control unit in response to various weaving parameter values and displays them on the fluorescent display unit; A motion controller for controlling a motor driver in response to output signals of the microcomputer and encoder; An H bridge motor driver for driving a DC motor in a predetermined direction and speed in response to an output signal of the motion controller; A fluorescent display unit displaying various types of information output from the microcomputer in letters or numbers; An encoder which detects a driving speed and a position of a DC motor driven in response to an output signal of the H bridge motor driver and transmits the detected speed to a motion controller; And a communication interface unit capable of transmitting or receiving the welding torch weaving related information output from the microcomputer to a remote site.

In this case, the user operation switch unit is provided with a weaving width and weaving frequency control switch, left / right stop time control switch, weaving start and stop switch, weaving center movement control switch, the user weaving width and weaving frequency, weaving frequency, left / Right stop time, weaving start and stop, weaving center characterized in that it can be adjusted freely.

In addition, the input terminal of the microcomputer is provided with an end limit switch that detects the stroke end position of the weaving slide as an electric signal, if necessary, so that the micom detects the stroke end position of the weaving slide at the end limit switch. Characterized in that the drive of the DC motor can be stopped.

In addition, the output terminal of the H-bridge motor driving unit is provided with a current transformer to detect the current of the motor in the microcomputer to cut off the operation of the DC motor when it is determined that the current flowing in the DC motor exceeds the predetermined current value. It is done.

The microcomputer senses heat generated from the motor through the H bridge motor driving unit while driving the DC motor, and if it is determined that the microcomputer is overheated above a predetermined temperature, the microcomputer displays an overheating state on the fluorescent display and at the same time through the motion controller. Characterized in that to block the drive of the DC motor.

In addition, if necessary, a non-volatile memory for storing various weaving parameters set by a user inside or outside the microcomputer and transferring them to the microcomputer when the power is turned on is additionally installed.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 shows a block diagram of the device of the present invention, Figure 2 shows a detailed block diagram of the user operation switch unit of the device of the present invention, Figure 3 is a photograph of the actual internal printed circuit board and the fluorescent display of the device of the present invention 4 shows a timing diagram for defining the weaving parameters applied in the present invention.

According to the present invention, there is provided an apparatus comprising: a user operation switch unit 1 for allowing a user to input various weaving parameters;

A power supply unit 2 which receives a single DC power and supplies different DC powers required for driving each unit;

The microcomputer 3 receives various weaving parameter values input from the user manipulation switch unit 1 as digital signals to control the motion control unit 4 in response to the corresponding values, and to display them on the fluorescent display unit 7. and;

A motion controller (4) for controlling the H-bridge motor driver (5) in response to the output signals of the microcomputer (3) and the encoder (8);

An H bridge motor driver 5 for driving the DC motor 6 at a predetermined direction and speed in response to the output signal of the motion controller 4;

A fluorescent display unit 7 for displaying various types of information output from the microcomputer 3 by letters or numbers;

An encoder (8) for detecting the driving speed and the position of the DC motor (6) which is driven in response to the output signal of the H bridge motor driving unit (5) and transmitting it to the motion control unit (4);

And a communication interface unit 9 capable of transmitting or receiving the welding torch weaving related information output from the microcomputer 3 to or from a remote location.

At this time, the user operation switch unit 1 is provided with a weaving width and weaving frequency and left / right stop time control switch (1a), weaving center movement control switch (1b), weaving start and stop switch (1c) It is characterized in that the weaving parameters, weaving width and weaving frequency, left / right stop time, weaving start and stop, weaving center movement can be adjusted freely.

In addition, an end limit switch 10 for detecting the stroke end position of the weaving slide as an electrical signal is provided at the input terminal of the microcomputer 3 to cause the microcomputer 3 to provide the end limit switch 10. When the stroke end position of the weaving slide is detected, the drive of the DC motor (6) can be stopped.

In addition, when the current flowing through the DC motor 6 is detected by the microcomputer 3 at the output terminal of the H bridge motor driving unit 5 and the current is determined to be an overload state exceeding a predetermined current value, the driving of the DC motor 6 is performed. It is characterized in that the current transformer 11 is installed to block the additional.

The microcomputer 3 detects heat generated during operation of the DC motor 6 through the H bridge motor driving unit 5 while driving the DC motor 6, and when the microcomputer 3 is overheated above a predetermined temperature. The overheating state is displayed on the fluorescent display unit 7 and the drive of the DC motor 6 is interrupted through the motion control unit 4.

In addition, if necessary, a non-volatile memory 12 which stores various weaving parameters set by the user inside or outside the microcomputer 3 and delivers them to the microcomputer 3 when the power is turned on is installed. It features.

Referring to the operation and effect of the device of the present invention configured as described above are as follows.

First, the apparatus of the present invention mainly includes a user operation switch unit 1, a power supply unit 2, a microcomputer 3, a motion control unit 4, an H bridge motor driving unit 5, a DC motor 6, a fluorescent display unit 7 ), The encoder 8 and the communication interface 9 are the main technical components.

At this time, the user operation switch unit 1 is provided with a weaving width and weaving frequency and left / right stop time adjustment switch (1a), weaving center movement control switch (1b), weaving start and stop switch (1c) As the user can freely adjust the weaving parameters, weaving width, weaving frequency, left / right stop time, weaving start and stop, weaving center movement, etc. as needed, the welding torch can be controlled more precisely. In addition to improving the precision of torch welding, the reliability of the welding itself can be greatly increased.

In addition, the power supply unit 2 receives a single DC power source through an external or internal rectifier (not shown) to different DC power sources for driving each part (for example, an encoder including a microcomputer and each part and a DC motor). It converts and supplies them to each of them, and at this time, a pull-up power is supplied to various switches mounted on the user operation switch unit 1, which is a user console.

In addition, the microcomputer 3 receives various weaving parameter values input from the nonvolatile memory 12 or the user manipulation switch unit 1 described later as digital signals and controls the motion controller 4 in response to the corresponding values. Of course, they are displayed on the fluorescent display unit 7.

In addition, the motion controller 4 controls the control signal output from the microcomputer 3 and the control signal corresponding to the speed and position detection signals of the DC motor 6 detected and fed back from the encoder 8 to the H bridge motor driver ( 5), and the H bridge motor driving unit 5 causes the DC motor 6 to be driven at a predetermined speed in either the forward direction or the reverse direction in response to the output signal of the motion control unit 4. do.

Meanwhile, the fluorescent display unit 7 displays various welding torch weaving related information, which can be recognized by the user visually through SPI digital communication with the microcomputer 3, in letters or numbers.

In addition, the encoder 8 detects the actual driving speed and position of the DC motor 6 which is driven in response to the output signal of the H bridge motor driver 5 and feeds it back to the motion controller 4 to provide the motion controller ( 4) to allow the drive speed or position of the DC motor 6 to be controlled to have the desired shape in the microcomputer (3).

In addition, the communication interface (9) is to be stored in the non-volatile memory (12) to be described later to receive a variety of information related to the welding torch weaving output from the microcomputer (3) as needed or transmitted from a remote location. .

On the other hand, if necessary, an end limit switch 10 for detecting the stroke end position of the weaving slide as an electrical signal is provided at the input terminal of the microcomputer 3, thereby providing an end limit switch ( It is also possible to stop the driving of the DC motor 6 by detecting the end position of the stroke of the weaving slide through 10).

In addition, by installing a current transformer 11 at the output terminal of the H-bridge motor driving unit 5 and outputting the output signal of the current transformer 11 to the input terminal of the microcomputer 3, the DC motor in the microcomputer 3 If the current flowing therein during the operation of (6) is detected and the current exceeds the predetermined current value stored therein, the current is recognized as an overload and the driving of the DC motor 6 is cut off, so that the DC motor 6 is overloaded. It is possible to prevent the damage in advance.

In addition, the microcomputer 3 continuously detects the heat generated during the operation of the DC motor 6 through the H bridge motor drive 5 during the operation of the DC motor 6, If the temperature of the DC motor 6 is higher than the predetermined temperature stored in the self, it is determined to be overheated and the overheated state is displayed on the fluorescent display unit 7 so that the user can recognize it and take necessary measures. By blocking the drive of the DC motor (6) through (4) it is possible to prevent the DC motor 6 from being burned out due to overheating.

In addition, if necessary, by installing the nonvolatile memory 12 inside or outside the microcomputer 3, various types of weaving parameters adjusted by the user as needed may be stored in the nonvolatile memory 12 and then supplied with power. Since the various weaving parameters adjusted by the user are transferred to the microcomputer 3, it is possible to solve the trouble of having to reset various weaving parameters every time the welding robot is driven.

On the other hand, weaving start to stop of the welding robot equipped with the present invention device is made in the following order.

First, when the user switches the weaving start and stop switches 1c installed in the user operation switch unit 1 to the start position, the microcomputer 3 is a previous weaving parameter stored in the nonvolatile memory 12. Read the weaving width, left stop time, right stop time, and weaving frequency to calculate the distance, speed and acceleration that the weaving DC motor (6) should move.

Thereafter, the microcomputer 3 transmits the distance value corresponding to half of the weaving width and the calculated speed value to the motion control unit 4 and transmits a motion start command. The received motion control unit 4 transmits the motion start command. The distance corresponding to half the weaving width is completed and the interrupt signal is transmitted to the microcomputer 3.

As described above, the microcomputer 3 receiving the interrupt signal from the motion controller 4 waits for the left stop time and then transmits the distance value and the speed value corresponding to the weaving width to the motion controller 4 in the opposite direction. The motion controller 4 causes the distance corresponding to the weaving width corresponding to the movement to be completed and transmits the interrupt signal to the microcomputer 3 again.

Therefore, the microcomputer 3 waits for the right stop time.

This completes one weaving cycle and repeats later.

When the user moves the weaving start and stop switch to the stop position, the movement is completed at the weaving center in the moving direction to end the weaving.

On the other hand, when a user inputs a weaving width change command during weaving, the microcomputer 3 increases or decreases the moving distance and transmits the changed moving distance to the motion controller 4 to continue the weaving with the changed weaving width.

In addition, when the weaving center shift command is input during the weaving from the weaving center shift control switch 1b, the microcomputer 3 increases the weaving distance in the corresponding direction and decreases the weaving distance in the opposite direction so that the motion controller 4 It transfers the center of gravity so that weaving continues at the changed weaving center.

In addition, when a weaving frequency change command is input during the weaving, the microcomputer 3 calculates the weaving speed corresponding to the changed frequency and transmits it to the motion control unit 4 to continue the weaving at the changed weaving frequency.

The microcomputer 3 monitors the overheat state of the DC motor 6 through the H bridge motor driver 5, and when it is determined that the microcomputer 3 is overheated above a predetermined temperature, the microcomputer 3 drives the H bridge motor driver through the motion controller 4. The driving signal output to (5) is cut off to protect the H-bridge motor driver 5 as well as the DC motor 6.

In addition, the microcomputer 3 receives the current flowing through the DC motor 6 through the current transformer 11 coupled to the output terminal of the H-bridge motor driving unit 5, and the current value flowing through the DC motor 6 If it is determined that the motor shaft is locked (Stall) for more than a predetermined time in a state larger than the rated current value of the corresponding DC motor (6) stored in itself, the output of the H-bridge motor drive unit 5 is cut off. As described above, the H-bridge motor driving unit 5 as well as the DC motor 6 can be protected.

In addition, the present invention device is provided with a communication interface unit 9, such as RS-232, it is possible to receive various weaving parameters from the external control device to the present invention device as well as to control the various weaving parameters to the remote control device. In addition, it is also possible to start and stop the weaving through the weaving start and stop signals transmitted from the remote control device.

On the other hand, Figure 4 shows a timing diagram for defining the weaving parameters applied in the present invention, the user is provided in the user operation switch unit 1 weaving width and weaving frequency and left / right stop time adjustment switch (1a) And, through the weaving center movement control switch (1b), weaving start and stop switch (1c) that you can adjust the weaving width and weaving frequency, left and right stop time, weaving start and stop, weaving center movement as desired Able to know.

Although the above-described embodiments have been described with respect to the most preferred embodiments of the present invention, it is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications can be made without departing from the technical spirit of the present invention.

As described above, according to the apparatus of the present invention, the user of the welding torch appropriately operates various switches installed in the operation switch unit so that the weaving width, the weaving frequency, the left / right stop time, the weaving start and stop, the weaving center movement, etc. By allowing the same control of the weaving parameters, the control of the welding torch can be more precisely controlled, which greatly improves the accuracy of torch welding using a welding robot and greatly increases the reliability of the welding itself. It can be very useful invention.

Claims (6)

A user operation switch unit for allowing a user to input various weaving parameters; A power supply unit which receives a single DC power supply and supplies different DC powers for driving each unit; A microcomputer that receives various weaving parameter values input from the user manipulation switch unit as a digital signal, controls the motion controller in response to the corresponding values, and displays them on the fluorescent display unit; A motion controller for controlling an H bridge motor driver in response to the output signals of the microcomputer and encoder; An H bridge motor driver for driving a DC motor in a predetermined direction and speed in response to an output signal of the motion controller; A fluorescent display unit displaying various types of information output from the microcomputer in letters or numbers; An encoder for detecting a driving speed and a position of a DC motor driven in response to an output signal of the H bridge motor driving unit and transmitting the detected speed to a motion controller; And a communication interface unit capable of transmitting or receiving the welding torch weaving related information output from the microcomputer to a remote site. The method according to claim 1, The user operation switch unit includes a weaving width and weaving frequency control switch, a left / right stop time adjustment switch, a weaving start and stop switch, a weaving center shift switch, and a user's weaving width and weaving frequency and left / right stop. Digital torches for welding torch weaving, characterized in that the time, weaving start and stop, and weaving center movement can be adjusted. The method according to claim 1, The input terminal of the microcomputer is provided with an end limit switch that detects the stroke end position of the weaving slide as an electrical signal, and causes the microcomputer to drive the DC motor when the stroke end position of the weaving slide is detected by the end limit switch. Digital control device for weaving a welding torch, characterized in that to stop. The method according to claim 1, The output terminal of the H-bridge motor driving unit is characterized in that a current transformer is installed to detect the current flowing in the DC motor in the microcomputer to block the operation of the DC motor when the current is determined to be an overload condition exceeding a predetermined current value. Digital control for torch weaving. The method according to claim 1, The microcomputer senses heat generated during the operation of the DC motor through the H bridge motor driving unit while driving the DC motor, and if it is determined that the microcomputer is overheated above a predetermined temperature, the microcomputer displays the overheat state on the fluorescent display and simultaneously displays the motion controller. Welding torch weaving digital control device, characterized in that the drive of the DC motor to cut through. The method according to claim 1, And a non-volatile memory for storing various weaving parameters inside or outside the microcomputer and transferring them to the microcomputer when the power is turned on.

Images