Automated adaptive maintenance method and system for welding gun electrodes

Abstract

An automated welding electrode adaptive maintenance method and system are disclosed, including: acquiring a predetermined electrode maintenance schedule, including electrode maintenance parameters; acquiring welding electrode parameters representative of a wear condition of at least one electrode at a predetermined maintenance frequency; selecting a maintenance operation for at least one electrode based on the comparison of the electrode parameters representative of the wear condition of at least one electrode with predetermined reference parameters; issuing a signal to a selected maintenance station for performing the selected maintenance operation; and controlling adjusting the electrode maintenance frequency based on the electrode parameters representative of the wear condition of at least one electrode.

Claims

1. An automated welding electrode adaptive maintenance method, comprising: acquiring a predetermined electrode maintenance schedule that includes electrode parameters and defines a welding cycle in which a specified number of assemblies are welded by a welding gun; acquiring, during a first welding cycle, welding electrode parameters representative of a wear condition of at least one electrode mounted on the welding gun at a predetermined maintenance frequency; selecting a maintenance operation for said at least one electrode based on a comparison of said electrode parameters representative of the wear condition of said at least one electrode with predetermined reference parameters; issuing a signal to a selected maintenance station for performing said selected maintenance operation; adjusting the electrode maintenance schedule by adjusting an electrode maintenance frequency and severity of the maintenance based on said electrode parameters representative of the wear condition of said at least one electrode until the wear condition is consistently maintained after each maintenance operation, wherein said electrode parameters representative of the wear condition of said at least one electrode are acquired after each maintenance operation and before a subsequent welding cycle; and applying the adjusted electrode maintenance schedule to the at least one electrode after the specified number of assemblies has been welded by the welding gun to determine that one of: changing electrode tips, keeping the electrode tips or altering the electrode maintenance schedule, will be performed; and performing a subsequent maintenance operation at the selected maintenance station after the subsequent welding cycle in accordance with the adjusted electrode maintenance frequency.

2. The automated welding electrode adaptive maintenance method according to claim 1, wherein said maintenance operation is performed after a welding cycle following the acquisition of said electrode parameters representative of a wear condition of the at least one electrode.

3. The automated welding electrode adaptive maintenance method according to claim 1, wherein acquiring welding electrode parameters representative of a wear condition of the at least one electrode comprises acquiring a geometric parameter of said at least one electrode including a measured diameter of the at least one electrode.

4. The automated welding electrode adaptive maintenance method according to claim 3, including comparing the measured electrode diameter with a predetermined diameter threshold range and selecting a second electrode maintenance operation if the measured electrode diameter is outside said predetermined diameter threshold range, whereby a deteriorated condition for the at least one electrode is determined.

5. The automated welding electrode adaptive maintenance method according to claim 4, wherein selecting the second electrode maintenance operation includes issuing a cutting instruction for conveying the at least one electrode to a cutting station.

6. The automated welding electrode adaptive maintenance method according to claim 1, wherein acquiring welding electrode parameters representative of a wear condition of the at least one electrode comprises acquiring a geometric parameter of said at least one electrode including a measured length of the at least one electrode.

7. The automated welding electrode adaptive maintenance method according to claim 6, including comparing the measured electrode length with a predetermined minimum length threshold and selecting a first electrode maintenance operation if the measured electrode length is below said predetermined minimum length threshold, whereby a deteriorated condition for the at least one electrode is determined.

8. The automated welding electrode adaptive maintenance method according to claim 7, wherein selecting the first electrode maintenance operation includes issuing a replacing instruction for conveying the at least one electrode to a replacement station.

9. The automated welding electrode adaptive maintenance method according to claim 1, wherein acquiring welding electrode parameters representative of a wear condition of the at least one electrode comprises acquiring a cleanliness parameter of said at least one electrode, including a reflectivity value of a surface of the at least one electrode.

10. The automated welding electrode adaptive maintenance method according to claim 9, including: comparing the measured electrode cleanliness with a plurality of predetermined cleanliness ranges; when the measured cleanliness is in a first cleanliness range indicating minimal deterioration of the at least one electrode, reducing severity of abrasive dressing operation and frequency of the abrasive operation by a predetermined number of assemblies; when the measured cleanliness is in a second cleanliness range indicating a slight deterioration of the at least one electrode, retaining the same electrode maintenance operation and frequency; when the measured cleanliness is in a third cleanliness range indicating a heavy deterioration of the at least one electrode, increasing severity of abrasive dressing operation and maintaining the frequency of the abrasive operation; when the measured cleanliness is in a fourth cleanliness range indicating a more heavy deterioration of the at least one electrode, increasing severity of abrasive dressing operation and increasing the frequency of the abrasive operation by a predetermined number of assemblies; and when the measured cleanliness is in a fifth cleanliness range indicating a severe deterioration of the at least one electrode, moving the welding gun to a cutting station and cutting back a top of the at least one electrode to a desired shape.

11. The automated welding electrode adaptive maintenance method according to claim 10, wherein selecting a third electrode maintenance operation includes issuing an abrasive dressing instruction for conveying the at least one electrode to an abrasive dressing station.

12. The automated welding electrode adaptive maintenance method according to claim 11, wherein selecting the third electrode maintenance operation further includes adjusting the maintenance frequency.

13. The automated welding electrode adaptive maintenance method according to claim 11, wherein selecting the third electrode maintenance operation further includes adjusting an abrasive dressing intensity.

14. The automated welding electrode adaptive maintenance method according to claim 10 wherein selecting a third electrode maintenance operation includes issuing a cutting instruction for conveying the at least one electrode to the cutting station.

15. An automated welding electrode adaptive maintenance system, comprising a control and processing station arranged for performing the method of claim 1.

16. A non-transitory computer readable medium, storing instructions thereon for electrode adaptive maintenance, the instructions comprising: acquiring a predetermined electrode maintenance schedule that includes electrode parameters and defines a welding cycle in which a specified number of assemblies are welded by a welding gun; acquiring, during a first welding cycle, welding electrode parameters representative of a wear condition of at least one electrode mounted on the welding gun at a predetermined maintenance frequency; selecting a maintenance operation for said at least one electrode based on a comparison of said electrode parameters representative of the wear condition of said at least one electrode with predetermined reference parameters; issuing a signal to a selected maintenance station for performing said selected maintenance operation; controlling adjusting the electrode maintenance schedule by adjusting an electrode maintenance frequency and severity of the maintenance based on said electrode parameters representative of the wear condition of said at least one electrode until the wear condition is consistently maintained after each maintenance operation, wherein said electrode parameters representative of the wear condition of said at least one electrode are acquired after each maintenance operation and before a subsequent welding cycle; and applying the adjusted electrode maintenance schedule to the at least one electrode after a specified number of assemblies has been welded by the welding gun to determine that one of: changing electrode tips, keeping the electrode tips or altering the electrode maintenance schedule will be performed; and performing a subsequent maintenance operation at the selected maintenance station after the subsequent welding cycle in accordance with the adjusted electrode maintenance frequency.

Description

(1) The features and advantages of the invention will become apparent from the following detailed description, given by way of non-limiting example, of a preferred embodiment thereof. Reference is made to the accompanying drawings, in which:

(2) FIG. 1 is a block diagram of an adaptive welding electrode maintenance system according to the invention;

(3) FIG. 2 is a flow chart of an automatic adaptive welding electrode maintenance method implemented by the system of FIG. 1 within a RSW production environment; and

(4) FIG. 3 (divided in FIGS. 3a and 3b for layout constraints) is a flow chart of an automated welding electrode assessment with control functions to enable automated adaptive electrode maintenance in an automated adaptive welding electrode maintenance method within a RSW production environment implemented by the system of FIG. 1.

(5) Referring initially to FIG. 1, numeral 10 generally designates a system for controlling the operation of welding electrodes in a welding gun of a manufacturing plant.

(6) System 10 includes a software-based control and processing station 12 that is preferably associated with a sensor equipment 14 designed to detect images of a pair of spot welding electrodes E carried by the welding gun, and is coupled to a welding gun 16, e.g. by means of a control unit of a robot or transportation system 18 arranged for moving the welding gun in welding positions, the robot or transportation system being also arranged for moving the welding gun to a maintenance station assembly 20 for performing maintenance (electrode dressing, cutting and electrode changing) operations on at least one of said pair of spot welding electrodes.

(7) For example, the above elements of this system are integrated into a production environment where a means of transportation of the welding electrodes is present (for example a robot or other computer controlled transportation system). The transportation system is adapted to run computer programs that carry the electrodes to each station where maintenance tasks are performed. In the currently preferred embodiment, the control unit of the transportation system is adapted to carry out pre-programmed functions and to wait for control signals from the software-based control and processing station 12, which carry information regarding what sub program is required to perform work at the next station.

(8) The control and processing station 12 is adapted to output an operation information signal S1 to the control unit of the robot or transportation system 18, and to receive a maintenance signal S2, from the maintenance station assembly 20, via the control unit of said robot and transportation system, for controlling maintenance operations on the welding electrodes. The control and processing station 12 is also adapted to receive at an input an electrode monitoring signal S3 from the sensor equipment 16.

(9) Welding guns are generally known, and therefore will not be described nor illustrated.

(10) Typically, the control and processing station 12 is a self-contained unit comprising a microprocessor based circuit with a local storage and communications means capable of connecting with the transport control system. The control and processing station 12 is also adapted to be configured over the communications means mentioned above.

(11) In any case the embodiments of a control and processing station referred to herein are considered well-known in the art and will not be further described herein because they are not relevant for the purposes of implementation and understanding of the present invention.

(12) Sensor equipment 14 is arranged to acquire the geometric and cleanliness measurements of the welding electrodes in use. In a preferred embodiment the sensor equipment 14 includes an optical reflection system, which illuminates the faces of the electrodes and takes measurements of both reflectivity and the area/shape of the electrode surface. In this way, electrode face diameter and material condition, which are the two key factors determining the quality of the weld, will be assessed. The sensor equipment will generate quantitative measures of the quality of the electrode, and preferably of the electrode length, i.e. the distance between the electrode shoulder and electrode base and the electrode tip diameter, i.e. of the central area of the welding electrode that contacts the work piece to create the spot weld, as well as of the electrode cleanliness. Electrode cleanliness represents a degree of contamination of the electrode. Where the electrode tip surface is viewed under illumination, the cleanliness is derived from a measurement of the reflected light from the electrode tip surface. Deposition of contaminates such as oxides or material build up, reduce the reflectivity of the surface. The measurement of the cleanliness of the electrodes is more preferably determined as a numeric value and is categorized into one of a predetermined plurality of predefined ranges. Higher levels of cleanliness indicate a good electrode condition where less frequent and less severe maintenance schedules are required. Low levels of cleanliness indicate that more frequent and more severe electrode maintenance is required.

(13) The maintenance station assembly 20 preferably includes a first cutting station, a second abrasive dressing station and a third replacement station.

(14) The cutting station is arranged for performing a cutting operation, i.e. for restoring electrode geometry by means of a shaping operation that uses an edged cutting tool. The cutting process also restores the electrode geometry and cleanliness. Cutting operations are performed by applying the electrodes to an electrode cutter. An amount of force is applied to the electrodes for a defined period of time, the force and time preferably conforming to the cutter manufacturer's specification so the electrode geometry will be fully restored.

(15) The abrasive dressing station is arranged for performing an abrasive dressing operation, i.e. for restoring the cleanliness of the electrode using an abrasive tool. Unlike cutting, the electrode geometry is not restored.

(16) Preferably, the abrasive dressing station is arranged for performing a number of different dressing options and more preferably a minimal, a medium or a heavy abrasive dressing operation. The degree of abrasion will be governed by the amount of force applied to the electrodes and the period of time for which the abrasive dressing operation is applied, the force and time preferably conforming to the dressing station manufacturer's specifications.

(17) The replacement station is arranged for performing a replacement operation, i.e. for replacing both the upper and lower electrodes, or only one of them.

(18) The control and processing station 12 is arranged (programmed) to implement an automated welding electrode adaptive maintenance method. For this purpose, the control and processing station 12 is arranged (programmed) to receive as input data electrode parameters representative of the wear conditions of the electrodes from the sensor equipment 14 during a quality check that is performed before or after, and preferably immediately after electrode periodical maintenance. The control and processing station 12 is then arranged (programmed) to process the electrode parameters representative of the wear conditions of the electrodes based on comparison with predetermined reference parameters, which have been derived, for example, from laboratory trials. Finally, the control and processing station 12 is arranged (programmed) to output instructions to either: Continue welding without altering the maintenance regime Continue welding and alter the frequency or severity of the maintenance regime Continue welding and alter the maintenance regime, sending the electrode or electrodes to one maintenance station and performing a maintenance operation that is appropriate to the electrode condition.

(19) Referring to FIG. 2, an automated method for adaptively controlling welding electrode maintenance within the environment of an RSW production process is disclosed.

(20) At step 100 a number of parameters indicative of production requirements are input to the system, preferably including:

(21) a) the number of welds per assembly, i.e. the number of welds that make up each assembly under production;

(22) b) the electrode type, i.e. the diameter, minimum length and tip geometry of the electrodes;

(23) c) the production material, i.e. the material being welded including any coatings;

(24) Preferably, a further parameter can be supplied to the system, i.e. the number of assemblies (per shift), that defines the total number of assemblies that are to be produced.

(25) At step 200 a starting electrode maintenance schedule is generated, including default electrode maintenance parameters e.g. number of welds per component, number of components per production shift, maximum allowable maintenance time, total number of maintenance operations, electrode geometry, preferably based on the recommendations of the maintenance station manufacturer. Starting from the above parameters, a default maintenance frequency, i.e. the number of assemblies between maintenance operations, can be calculated and also stored in the electrode maintenance schedule. This will also define the number of shifts where the electrodes can be used to weld, before requiring replacement.

(26) The maintenance frequency calculation is derived from expert knowledge that defines the number of welds that can be undertaken before a minimal dressing operation is required to maintain the electrode quality. This frequency is used to calculate the number of assemblies that can be completed before a dressing or cutting action is required to restore or enhance the electrode condition to a known acceptable state.

(27) A starting electrode maintenance schedule can be further optimized by the system in a continued learning phase, during operation of the system.

(28) At step 300 a new pair of electrodes are mounted onto the welding gun.

(29) At step 400 the new electrodes are processed to achieve the required geometry and surface cleanliness. New electrodes do not always have the required shape and parallel alignment required for welding. Before welding the electrodes undergo a maintenance cycle on the cutter to prepare their geometry. At step 500 a measurement of the electrode quality is made.

(30) At step 600 the software-based control and processing station compares measured values of electrode parameters with reference parameters, i.e. values/thresholds of electrode quality to determine whether the electrode is fit for production. In the event the geometry and cleanliness of one or both electrodes is not within specification, then the cutting operation and sensor measurement will be repeated. If the electrode geometry and cleanness is within the required specifications then the welding operation can take place.

(31) If at step 700 all the assemblies have been welded, then the system considers at step 800 that a shift is completed.

(32) At step 800 all assemblies have been completed and the end of the production shift has been reached. At this point the automated production process will stop.

(33) If all assemblies have not yet been completed at step 700, then welding will continue.

(34) At step 900 the system performs welding of the assemblies for production in a welding cycle. The amount of welds made (number of assemblies produced) per welding cycle is defined by the generated electrode maintenance schedule. At the beginning of production this electrode maintenance schedule is taken from the data generated in step 200. Later in production this maintenance schedule is altered automatically based upon input from the software-based control and processing station 12.

(35) Once the specified number of assemblies has been welded, the electrodes are presented to an electrode maintenance station, step 1000. Electrode maintenance is performed in accordance with the maintenance regime that is first defined in step 200 and later influenced by the electrode quality monitoring in step 1100.

(36) After having performed electrode maintenance, the system monitors the electrode condition (electrode quality) at step 1100 by means of the sensor equipment, thus acquiring geometric and cleanliness measurements. The geometric measurements being specifically electrode length and tip diameter. Electrode cleanliness measurements are then compared with predetermined quality metric reference values determined by expert knowledge (e.g. reflectivity of the surface of the electrodes) in order to evaluate the degree of electrode quality, the electrode quality being assessed if a predetermined electrode quality metric (i.e. geometric and cleanliness measurements) falls in one of a plurality of percentage ranges (R1-Rx).

(37) The control and processing station 12 makes decisions based upon the measured electrode quality data, electrode length, tip diameter and cleanliness. The logical flow step required to make these decisions is shown in FIG. 3 and is described below. The output of step 1100 is a return to the production cycle with either new electrode tips at step 300 or to step 700 with an altered electrode maintenance regime, or with no changes to the electrode maintenance regime.

(38) Referring to FIG. 3 (FIGS. 3a and 3b), step 1100 of the automated method for adaptively controlling welding electrode maintenance is detailed.

(39) At step 1105 the system monitors electrode conditions (i.e. electrode quality or electrode wear) by means of the sensor equipment, thus acquiring geometric and cleanliness measurements through signal S3, the geometric and cleanliness measurements being used for comparison with reference values in order to evaluate the degree of electrode quality, the electrode quality being assessed if a predetermined electrode quality metric (i.e. geometric and cleanliness measurements) falls in one of a plurality of ranges (R1-Rx) of the geometric and cleanliness measurement values acquired at step 200 for the new electrode. An example of a system with 5 percentage ranges is shown in FIG. 3.

(40) At step 1110 the length L of both electrodes is compared with a predefined threshold minimum electrode length L.sub.min. If at least one electrode has a measured length that is smaller than said predefined threshold value, a deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1112 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to move the welding gun to the replacement substation, and an instruction (through the same or a different signal S1) to the replacement substation to operate replacement of the electrode(s). The production process will then continue from step 700 (in FIG. 2).

(41) At steps 1120 and 1122 either electrode tip diameter D is compared with a predefined threshold minimum diameter D.sub.min, respectively maximum electrode diameter D.sub.max. If at least one electrode has a measured diameter outside the predefined range between said minimum and maximum threshold values, a deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1124 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to alter the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) at step 1000 (in FIG. 2). At step 1000 the welding gun will accordingly be moved to the cutting station and the electrode tip face will be cut back to the desired shape.

(42) At steps 1130, 1132, 1134, 1136 and 1138 either electrode tip cleanliness C is respectively compared with a predefined cleanliness category or range, and a category of maintenance (particularly, a degree of abrasive dressing or cutting) that is needed is selected based on the ascertained cleanliness.

(43) Specifically, whether at step 1130 is detected that either electrode tip cleanliness C is in a first cleanliness range R1, then minimal deterioration in electrode condition is determined. Processing station 12 issues at step 1140 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to alter the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) at step 1000 (in FIG. 2). The intensity of the abrasive dressing operation will be reduced and the frequency of dressing will decrease by a predetermined number of assemblies, where said predetermined number depends on the material and coating being welded, at step 900.

(44) If none of the electrodes is determined to have cleanliness in the first cleanliness range, then at step 1132 is determined whether either electrode tip cleanliness C is in a second cleanliness range R2 If so, a slightly deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1142 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to retain the same electrode maintenance operation and frequency at the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) step 1000 (in FIG. 2). The intensity of the abrasive dressing operation will not be altered and the frequency of dressing will remain the same.

(45) If none of the electrodes is determined to have cleanliness in the second cleanliness range, then at step 1134 is determined whether either electrode tip cleanliness C is in a third cleanliness range R3: If so, a heavily deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1144 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to alter the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) at step 1000 (in FIG. 2). The intensity of the abrasive dressing operation will be increased but the frequency of dressing will remain the same.

(46) If none of the electrodes is determined to have cleanliness in the third cleanliness range, then at step 1136 is determined whether either electrode tip cleanliness C is in a fourth cleanliness range R4: If so, a more heavily deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1146 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to alter the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) at step 1000 (in FIG. 2). The intensity of the abrasive dressing operation will be increased and the frequency of dressing will increase, by a predetermined number of assemblies, where said predetermined number depends on the material and coating being welded, at step 900.

(47) If none of the electrodes is determined to have cleanliness in the fourth cleanliness range, then at step 1138 is determined whether either electrode tip cleanliness C is in a fifth cleanliness range R: If so, a severely deteriorated condition for the electrode is determined and the control and processing station 12 issues at step 1148 an instruction (typically, an electronic signal S1 that conveys a message to a movement unit, e.g. a robot or like transportation system that moves and controls the position of the welding gun), to alter the next proceeding electrode maintenance operation (i.e. the electrode maintenance operation of the next welding cycle) at step 1000 (in FIG. 2). At step 1000 the welding gun will accordingly be moved to the cutting station and the electrode tip face will be cut back to the desired shape.

(48) In any case production is continued at step 900 (in FIG. 2) after maintenance operations at steps 1112, 1124, 1140, 1142, 1144, 1146, 1148, respectively.

(49) As already disclosed with reference to FIG. 2, after having performed electrode maintenance, the system monitors electrode quality at step 1100 by means of the sensor equipment, thus acquiring geometric and cleanliness measurements. The geometric and cleanliness measurements are then compared with reference values in order to evaluate the degree of electrode quality, the electrode quality being assessed if i.e. the electrodes are measured to determine their length, geometry and cleanliness, and these measurements are employed to optimize the dressing and cutting operations, i.e. the electrode maintenance schedule.

(50) As there are two electrodes in a welding gun, the worst value of the two will always be used for cleanliness and geometry (length and diameter) measurements. Length measurements can be treated individually by asymmetric electrode replacements.

(51) In conclusion, the adaptive maintenance system and method according to the invention advantageously increases the lifetime of spot welding electrodes and improves the overall quality of the spot welds created.

(52) The adaptive maintenance system and method according to the invention achieve these goals by combining a number of innovative techniques, i.e.:

(53) i) employing an abrasive dressing operation for cleaning the welding electrodes as well as periodically employing a traditional electrode tip cutter;

(54) ii) using specialized equipment to measure electrode length, electrode geometry and electrode cleanliness;

(55) iii) employing an adaptive technique that optimize the abrasive and mechanical cutting operations based on measured values;

(56) iv) supporting asymmetric electrode replacement, where an electrode that has insufficient remaining length is replaced without replacing the other electrode from the pair.

(57) As a further advantage, in addition to electrode quality data, feedback from the weld gun (if an electric servo gun is utilized), may be used to allow determination of the rate of material removal from the electrodes, permitting calculation and optimization of electrode life. This will also prevent dressing through the electrodes towards the end of their life. Also, the performance of the abrasive tooling may be assessed by the system and by recording any incremental increase in required dress time over successive shifts the system is adapted to notify of a need for abrasive tool replacement, when the dress time approaches the maximum allowable for the dress cycle (which is a user-defined requirement).

(58) It shall be apparent that, the principle of the invention remaining the same, the embodiments and implementation details will be able to be widely varied compared to what has been described and illustrated by way of non-limiting example only, without departing from the scope of the invention as defined by the appended claims.