Automatic welding system and method

Abstract

The invention provides an automatic welding system and method.The automatic welding system comprises a welding platform, clamping devices, a positioning device and a visual collecting device are arranged on the welding platform, and the clamping devices are symmetrically arranged and used for clamping the welding end of a diamond wire; the positioning device is arranged on the clamping device and is used for positioning the diamond wire welding end; the visual collection device is used for collecting an image of the diamond wire welding end and transmitting the image to the control platform, and the control platform controls the positioning device to drive the clamping device to move. The device has the beneficial effects that automatic and accurate alignment of the diamond wire welding end is achieved, the positioning accuracy is improved, automatic adjustment of welding parameters is achieved, the welding quality is improved, local protection is conducted on the welding process through shielding gas, and the device is safer and more reliable; the automatic inspection of the welding quality is realized, and the inspection efficiency and the inspection standardization are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding, and in particular relates to an automatic welding system and method. Background Art

[0002] In the production process of photovoltaic silicon wafers, the diamond wire is a main production auxiliary material for cutting silicon wafers. When the diamond wire breaks during the production process, it needs to be re-welded for use.

[0003] Chinese Patent CN219402776U discloses a welding machine, which has the following problems:

[0004] 1. Manually visually observe the projection of the amplifier on the display, and align and position the diamond wire through a manual slide table, resulting in a large error and affecting the welding quality.

[0005] 2. Manually pre-press the diamond wire through a manual slide table, and the welding success rate is greatly affected by the experience of the operator.

[0006] 3. Manually visually observe the size and shape of the solder joint projection to inspect the welding quality, and the inspection is not standardized.

[0007] 4. It is necessary to manually remove the diamond wire, use a weight or a tensiometer to test the breaking force of the solder joint, take a photo and record it, and then upload the recorded photo to the database, which is a cumbersome operation. Summary of the Invention

[0008] To solve the above technical problems, the present invention provides an automatic welding system and method, which effectively solve the problems of large positioning error in the prior art, the influence of manual work on welding quality, non-standard manual inspection and cumbersome steps, and overcome the deficiencies of the prior art.

[0009] The technical solution adopted by the present invention is: an automatic welding system, including a welding platform, on which a clamping device, a positioning device and a visual acquisition device are provided. The clamping devices are symmetrically arranged and are used to clamp the welding ends of the diamond wire; the positioning device is arranged on the clamping device and is used to position the welding ends of the diamond wire; the visual acquisition device is used to acquire the images of the welding ends of the diamond wire and transmit the images to a control platform, and the control platform controls the positioning device to drive the clamping device to move.

[0010] Further, the positioning device includes a first adjustment platform and a second adjustment platform, which are respectively connected to the clamping device. The first adjustment platform is used to drive the clamping device to move along the X-axis and Y-axis, and the second adjustment platform is used to drive the clamping device to move along the Y-axis and Z-axis.

[0011] Further, the clamping device includes:

[0012] Support blocks, symmetrically arranged on the positioning device;

[0013] Electrodes, arranged on the support blocks;

[0014] Adjusting rods, passing through the interior of the support blocks and movably connected to the support blocks;

[0015] Pressing blocks, arranged above the electrodes and connected to the tops of the adjusting rods, for pressing the welding ends of the diamond wires onto the electrodes.

[0016] Furthermore, a blowing device is provided on the support blocks for blowing protective gas towards the welding ends of the diamond wires.

[0017] Furthermore, a detection device is provided on the control platform, and the detection device is electrically connected to the electrodes for detecting the welding current and voltage.

[0018] Furthermore, the visual acquisition device includes a first acquisition device and a second acquisition device. The first acquisition device is arranged above the clamping device, and the second acquisition device is arranged on one side of the clamping device.

[0019] Furthermore, adjusting and positioning devices are provided on both the first acquisition device and the second acquisition device. The adjusting and positioning devices are arranged on the support frame of the welding platform.

[0020] Furthermore, the adjusting and positioning device includes

[0021] A base, arranged on the support frame;

[0022] A slider, arranged on the base and slidably connected to the base, capable of sliding in a first direction;

[0023] A clamping block, for clamping the first acquisition device or the second acquisition device, arranged on the slider and slidably connected to the slider, capable of sliding in a second direction, and the first direction is perpendicular to the second direction.

[0024] The present invention also provides an automatic welding method, using the automatic welding system as described above, including the following steps:

[0025] Cut the welding ends of the diamond wires flat;

[0026] Place the welding ends of the diamond wires on the clamping device;

[0027] The visual acquisition device acquires an image of the welding ends of the diamond wires, and the control platform controls the positioning device to position the welding ends of the diamond wires according to the image;

[0028] Pre-press the welding ends of the diamond wires;

[0029] Measure the resistance value of the welded end of the diamond wire and the wire diameter of the diamond wire, and adjust the welding parameters for welding according to the resistance value and wire diameter;

[0030] Inspect the welded joints.

[0031] Further, the step of inspecting the welded joints includes:

[0032] Obtain an image of the welded joint by using the visual acquisition device and compare it with the set standard;

[0033] A detection device is connected to the clamping device to detect the welding current and voltage during the welding process, and determine the welding quality according to the waveforms of the current and voltage;

[0034] Determine that the welding quality is qualified after all are qualified.

[0035] The advantages and positive effects of the present invention are: By adopting the above technical solution, automatic and precise alignment of the welded end of the diamond wire is achieved, the positioning accuracy is improved, automatic adjustment of the welding parameters is realized, the welding quality is improved, local protection of the welding process is carried out by the shielding gas, which is safer and more reliable; automatic inspection of the welding quality is realized, and the inspection efficiency and the standardization of the inspection are improved. Brief Description of the Drawings

[0036] Figure 1 It is a schematic diagram of the overall structure of an automatic welding system according to an embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of the welding platform structure of an automatic welding system according to an embodiment of the present invention.

[0038] Figure 3 It is a schematic diagram of the clamping device structure of an automatic welding system according to an embodiment of the present invention.

[0039] Figure 4 It is a schematic diagram of the adjustment and positioning device structure of an automatic welding system according to an embodiment of the present invention.

[0040] Figure 5 It is a schematic diagram of another perspective of the adjustment and positioning device of an automatic welding system according to an embodiment of the present invention.

[0041] Figure 6 It is a working flow chart of an automatic welding method according to an embodiment of the present invention.

[0042] In the figure:

[0043] 10. Clamping device 11. Support block 12. Electrode

[0044] 13. Adjusting rod 14. Pressing block 15. Handle

[0045] 16. Fixed bracket 20. Positioning device 21. First adjustment platform

[0046] 211. X-axis drive motor 212. X-axis lead screw 213. Y-axis drive motor

[0047] 214. Y-axis lead screw 215. First movable platform 22. Second adjustment platform

[0048] 221. Z-axis drive motor 222. Second movable platform 30. Visual acquisition device

[0049] 31. First acquisition device 32. Second acquisition device 33. Support frame

[0050] 34. Adjusting and positioning device 341. Base 342. Slide block

[0051] 343. Clamping block 344. First adjustment screw 345. First clamping block

[0052] 346. First positioning plate 347. Second adjustment screw 348. Second clamping block

[0053] 349. Second positioning plate 40. Blowing device 41. Support

[0054] 42. Nozzle 50. Welding platform 51. Cutting tool device

[0055] 60. Control cabinet 70. Industrial control computer 80. Display

[0056] 90. Diamond wire Detailed implementation manners

[0057] An embodiment of the present invention provides an automatic welding system and method. The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0058] In the description of the embodiments of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "set", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0059] As Figure 1 and Figure 2 shown, an automatic welding system according to an embodiment of the present invention includes a welding platform 50 and a control platform. The control platform includes a control cabinet 60, and an industrial control computer 70 is installed in the control cabinet 60. A display 80 is installed above the control cabinet 60. The welding platform 50 is arranged above the control cabinet 60. The welding platform 50 is provided with a clamping device 10, a positioning device 20, and a vision acquisition device 30. There are two clamping devices 10, which are symmetrically arranged and used to clamp the two welding ends of the wire saw 90. The positioning device 20 is arranged on the clamping device 10 and used to position the welding ends of the wire saw. The vision acquisition device 30 is used to acquire images of the welding ends of the wire saw and transmit the images to the control platform, and the control platform controls the positioning device 20 to drive the clamping device 10 to move to align and position the welding ends of the wire saw.

[0060] Specifically, as Figure 2 shown, the positioning device 20 includes a first adjustment platform 21 and a second adjustment platform 22, which are respectively connected to the two clamping devices 10. The first adjustment platform 21 is used to drive the clamping device 10 to move along the X-axis and the Y-axis, and the second adjustment platform 22 is used to drive the clamping device 10 to move along the Y-axis and the Z-axis. In this embodiment, the first adjustment platform 21 includes an X-axis linear micro-motion platform and a Y-axis linear micro-motion platform. The X-axis linear micro-motion platform is arranged on the welding platform 50, and the Y-axis linear micro-motion platform is arranged on the X-axis linear micro-motion platform. The X-axis drive motor 211 drives the X-axis lead screw 212 to drive the Y-axis linear micro-motion platform to move integrally along the X-axis, and the Y-axis drive motor 213 drives the Y-axis lead screw 214 to drive the first movable platform 215 to move along the Y-axis. The second adjustment platform 22 includes a Z-axis lifting platform and a Y-axis linear micro-motion platform. The Z-axis drive motor 221 drives the Z-axis lead screw to drive the inclined surface lifting structure to drive the Y-axis linear micro-motion platform to lift integrally. The Z-axis lead screw and the inclined surface lifting mechanism are not shown in the figure. The Y-axis drive motor 213 drives the Y-axis lead screw 214 to drive the second movable platform 222 to move along the Y-axis. The control platform controls the drive motor to use a high-precision servo micro-motion system to control the lead screw drive for precise positioning. The linear micro-motion platform and the lifting platform are both prior arts, and the specific structures are not described in detail here.

[0061] Specifically, as Figure 3As shown in the figure, the clamping device 10 includes a support block 11, an electrode 12, an adjusting rod 13, and a pressing block 14. The support block 11 is symmetrically mounted on the first movable platform 215 and the second movable platform 222 by a fixed bracket 16. An electrode 12 is fixed on the top of the support block 11. The adjusting rod 13 passes through the inside of the support block 11 and is movably connected to the support block 11. The pressing block 14 is arranged above the electrode 12 and is connected to the top of the adjusting rod 13. A handle 15 is rotatably connected to the adjusting rod 13. After placing the welded end of the diamond wire on the electrode 12, pulling the handle 15 causes the adjusting rod 13 to drive the pressing block 14 to move downward to clamp the diamond wire 90. A first spring is sleeved on the top of the adjusting rod 13. The top of the first spring is connected to the bottom of the pressing block 14, and the bottom of the first spring is engaged with the top of the support block 11, which is not shown in the figure. A resisting spring is sleeved on the bottom of the adjusting rod 13. When the adjusting rod 13 drives the pressing block 14 to press the diamond wire 90, the resisting spring holds the handle 15 to prevent the pressing block 14 from loosening. The clamping device 10 is a prior art, and its specific internal structure will not be elaborated here.

[0062] Preferably, a blowing device 40 is installed on the support block 11 to blow protective gas to the welded end of the diamond wire. In this embodiment, a nozzle 42 is fixed on the support block 11 near the welded end of the diamond wire by a bracket 41. The nozzle 42 is connected to the gas path of external inert protective gas and is used to convey inert protective gas to the welded end of the diamond wire during the welding process for local antioxidant protection to ensure the welding quality. The type of the protective gas is not limited and can be carbon dioxide, nitrogen, or argon.

[0063] Preferably, a detection device (not shown in the figure) is provided on the control platform. The detection device is electrically connected to the electrode 12 and is used to detect the welding current and voltage. In this embodiment, in order to automatically detect the welding quality, a detection device, specifically an oscilloscope, is arranged in the control cabinet 60. The oscilloscope is electrically connected to the electrode 12. During the welding process, the oscilloscope is used to collect the current and voltage waveforms of welding and normalizing.

[0064] In order to accurately position the clamping device 10, a vision acquisition device 30 is used to obtain an image of the welded end of the diamond wire. Specifically, as Figure 2 shown, the vision acquisition device 30 includes a first acquisition device 31 and a second acquisition device 32. The first acquisition device 31 is arranged above the clamping device 10, and the second acquisition device 32 is arranged on one side of the clamping device 10. Both the first acquisition device 31 and the second acquisition device 32 are high-power lens cameras. When placing the welded end of the diamond wire on the clamping device 10, it is only necessary to be able to observe the images of the welded end of the diamond wire collected by the first acquisition device 31 and the second acquisition device 32 on the display 80. Subsequently, the positioning device 20 will accurately align and position the welded end of the diamond wire.

[0065] Preferably, in order to facilitate the adjustment of the positions of the first acquisition device 31 and the second acquisition device 32 and accurately acquire the images of the welded ends of the diamond wires, adjustment and positioning devices 34 are provided on both the first acquisition device 31 and the second acquisition device 32. A support frame 33 is provided on the welding platform 50, and the first acquisition device 31 and the second acquisition device 32 are installed on the support frame 33 through the adjustment and positioning devices 34. Since the position of the first adjustment platform 21 in the Z-axis direction is fixed and the position of the second adjustment platform 22 in the X-axis direction is fixed, the positions of the first acquisition device 31 and the second acquisition device 32 in the Z-axis direction and the X-axis direction can be determined during installation, and the first acquisition device 31 and the second acquisition device 32 can be positioned through the adjustment and positioning devices 34. The positions of the first acquisition device 31 and the second acquisition device 32 are usually set before leaving the factory and do not need to be adjusted during use. When the first acquisition device 31 and the second acquisition device 32 are damaged and need to be replaced, the adjustment and positioning devices 34 are used for installation and positioning.

[0066] Specifically, as Figure 4 and Figure 5 shown, the adjustment and positioning device 34 includes a base 341, a slider 342, and a clamping block 343. The base 341 is fixedly installed on the support frame 33. A groove slideway is provided in the upper part of the base 341. The slider 342 is arranged in the upper part of the base 341. A protrusion is provided at the bottom of the slider 342, and the protrusion can move along the groove slideway in the first direction. A protrusion slideway is provided at the top of the slider 342. The clamping block 343 is arranged at the top of the slider 342 and is used for clamping the first acquisition device 31 or the second acquisition device 32. A groove is provided at the bottom of the clamping block 343, and the groove can move along the protrusion slideway in the second direction. The first direction and the second direction are perpendicular.

[0067] To facilitate adjusting the moving position of the slider 342, a first adjusting device is provided on the slider 342 for driving the slider 342 to slide along the first direction, and a first positioning device is provided on the base 341 for fixing the slider 342. To facilitate adjusting the moving position of the clamping block 343, a second adjusting device is provided on the clamping block 343 for driving the clamping block 343 to slide along the second direction, and a second positioning device is provided on the slider 342 for fixing the clamping block 343. In this embodiment, a first adjusting screw 344 is threadedly connected inside the slider 342. The first adjusting screw 344 is arranged along the first direction. A first clamping block 345 is fixed at one end of the base 341. The end of the first adjusting screw 344 is engaged in the card slot of the first clamping block 345 and can only rotate. By rotating the first adjusting screw 344, the slider 342 can be made to slide along the first direction. When the first adjusting screw 344 adjusts the slider 342 to the set position, a fastening bolt is used to fix the first positioning plate 346 on the side of the base 341 along the second direction, and the first positioning plate 346 fastens the slider 342 and the base 341 together. A second adjusting screw 347 is threadedly connected inside the clamping block 343. The second adjusting screw 347 is arranged along the second direction. A second clamping block 348 is fixed at one end of the slider 342. The end of the second adjusting screw 347 is engaged in the card slot of the second clamping block 348 and can only rotate. By rotating the second adjusting screw 347, the clamping block 343 can be made to slide along the second direction. When the second adjusting screw 347 adjusts the clamping block 343 to the set position, a fastening bolt is used to fix the second positioning plate 349 on the side of the slider 342 along the first direction, and the second positioning plate 349 fastens the clamping block 343 and the slider 342 together.

[0068] As Figure 2 shown, a cutting tool device 51 is provided on the welding platform 50 for cutting the two broken ends of the wire saw 90 to obtain a relatively flat end face, so that the two welding ends have no inclined surfaces and burrs, ensuring the welding quality.

[0069] An automatic welding method, as Figure 6 shown, uses the automatic welding system as described above and includes the following steps:

[0070] S1. Cut the welding end of the wire saw flat;

[0071] S2. Place the welding end of the wire saw on the clamping device 10;

[0072] S3. The visual acquisition device 30 acquires an image of the welding end of the wire saw, and the control platform controls the positioning device 20 to position the welding end of the wire saw according to the image;

[0073] S4. Pre-press the welding end of the wire saw;

[0074] S5. Adjust the welding parameters to perform welding;

[0075] S6. Inspect the solder joints.

[0076] The following is a detailed introduction.

[0077] S1. Cut the welding end of the diamond wire flat.

[0078] To avoid the influence of inclined planes or burrs on the welding end face on the welding quality, before welding, it is necessary to use the cutter device 51 to cut both ends of the broken diamond wire so that the welding end of the diamond wire remains flat.

[0079] S2. Place the welding end of the diamond wire on the clamping device 10.

[0080] Place the two welded ends of the diamond wire 90 cut flat on the clamping device 10. The first acquisition device 31 and the second acquisition device 32 acquire the placement image, and the projection images of the two diamond wires 90 can be observed on the display 80.

[0081] S3. The vision acquisition device 30 acquires the image of the welding end of the diamond wire, and the control platform controls the positioning device 20 to position the welding end of the diamond wire according to the image.

[0082] The first acquisition device 31 and the second acquisition device 32 transmit the image of the initial placement position to the control platform. The control platform calculates the deviation value of the two welding ends of the diamond wire in the three-dimensional space, with an accuracy of 1μm. The positioning device 20 is used to control the high-precision servo motor to drive the lead screw transmission to align and position the two welding ends of the diamond wire. When the positioning in a certain direction is completed, the servo in-place signal will trigger the vision acquisition device to re-acquire the positioning image of the welding end. After passing the verification and meeting the positioning requirements, the positioning in the next direction will be carried out. Otherwise, the control platform will further revise the coordinates according to the positioning image until the positioning alignment requirements in this direction are met. The positioning accuracy is 1μm.

[0083] S4. Pre-press the welding end of the diamond wire.

[0084] The control platform controls the first adjustment platform 21 to move along the X-axis direction. When the end faces of the two diamond wires 90 are in contact, continue to move a set length for pre-pressing, so that the welding end faces of the two diamond wires 90 form a micro-deformation. The set length of the pre-pressing is 5 - 30μm.

[0085] S5. Adjust the welding parameters for welding.

[0086] Since the length of the diamond wire 90 protruding from the clamping device 10 is different, the resistance of the welding end will also vary. Different resistances require different welding parameters. The control platform applies a measurement voltage to the electrode 12 of the clamping device 10 to measure the resistance value of the welding end of the diamond wire at this time. Based on the images collected by the first acquisition device 31 and the second acquisition device 32, the control platform can calculate the wire diameter of the diamond wire 90. The control platform matches the best welding parameters from the database according to the above resistance value and wire diameter for welding.

[0087] During the welding process, the diamond wire 90 melts rapidly. To avoid oxidation during the melting process and affect the welding quality. A blow nozzle 42 is used to deliver an inert protective gas to the welding end for local antioxidant protection. The type of protective gas is not limited and can be carbon dioxide, nitrogen or argon. The blowing is carried out simultaneously with the welding.

[0088] During the welding process, the detection device oscilloscope is electrically connected to the electrode 12 to obtain the current and voltage waveforms of welding and normalizing.

[0089] S6. Inspect the solder joints.

[0090] The first acquisition device 31 and the second acquisition device 32 obtain images of the solder joints. The control platform compares the images with the set standards to determine whether the size and shape of the solder joints are qualified;

[0091] The control platform judges the waveforms of the obtained current and voltage. If the waveforms are regular and complete, they are qualified; if the waveforms are irregular and various, they are unqualified;

[0092] If both of the above are qualified, it is determined that the welding quality is qualified, and there is no need to use a tensiometer or a weight to detect the welding quality.

[0093] The control platform transmits all the detection data to the database for storage.

[0094] The control platform will send out "OK" / "NG" signals according to the detection results to prompt the operator of the welding results.

[0095] The advantages and positive effects of the present invention are:

[0096] 1. The control platform controls the first adjustment platform and the second adjustment platform to achieve automatic and precise alignment of the welding end of the diamond wire according to the image of the welding end of the diamond wire obtained by the visual acquisition device, improving the positioning accuracy and ensuring the welding success rate.

[0097] 2. By blowing air to protect the welding end of the diamond wire during the welding process through the blow nozzle for local antioxidant protection, the welding quality is further ensured.

[0098] 3. Measure the resistance by applying a pre-welding voltage, obtain the image through a vision acquisition device to calculate the wire diameter of the diamond wire, and automatically adapt the appropriate parameter values, realizing the intelligentization of welding.

[0099] 4. Automatically obtain the waveforms of the welding current and voltage during the welding process, and automatically obtain the images of the solder joints through a vision acquisition device, realizing the automatic detection of the welding quality.

[0100] 5. The control platform automatically collects, stores, and uploads the welding parameters, the morphology of the solder joints, and the data of the welding current and voltage.

[0101] The above has described the embodiments of the present invention in detail, but the content described is only the preferred embodiments of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. An automatic welding system, comprising a welding platform, characterized in that: A clamping device, a positioning device and a vision acquisition device are provided on the welding platform. The clamping devices are symmetrically arranged and used for clamping the welding end of the diamond wire. The positioning device is arranged on the clamping device and used for positioning the welding end of the diamond wire. The vision acquisition device is used for acquiring an image of the welding end of the diamond wire and transmitting the image to a control platform, and the control platform controls the positioning device to drive the clamping device to move.

2. An automatic welding system according to claim 1, characterized in that: The positioning device includes a first adjustment platform and a second adjustment platform, which are respectively connected to the clamping device. The first adjustment platform is used for driving the clamping device to move along the X-axis and the Y-axis, and the second adjustment platform is used for driving the clamping device to move along the Y-axis and the Z-axis.

3. An automatic welding system according to claim 1 or 2, characterized in that: The clamping device includes: Support blocks, symmetrically arranged on the positioning device; Electrodes, arranged on the support blocks; Adjusting rods, passing through the inside of the support blocks and movably connected to the support blocks; Pressing blocks, arranged above the electrodes and connected to the tops of the adjusting rods, and used for pressing the welding end of the diamond wire onto the electrodes.

4. An automatic welding system according to claim 3, wherein: A blowing device is provided on the support block and used for blowing protective gas to the welding end of the diamond wire.

5. An automatic welding system according to claim 4, characterized in that: A detection device is provided on the control platform. The detection device is electrically connected to the electrodes and used for detecting the welding current and voltage.

6. An automatic welding system according to any one of claims 1-2 and 4-5, characterized in that: The vision acquisition device includes a first acquisition device and a second acquisition device. The first acquisition device is arranged above the clamping device, and the second acquisition device is arranged on one side of the clamping device.

7. An automatic welding system according to claim 6, characterized in that: Adjusting and positioning devices are provided on both the first acquisition device and the second acquisition device. The adjusting and positioning devices are arranged on the support frame of the welding platform.

8. An automatic welding system according to claim 7, characterized in that: The adjusting and positioning device includes: A base, arranged on the support frame; A slider, arranged on the base and slidably connected to the base, and capable of sliding along a first direction; A clamping block, used for clamping the first acquisition device or the second acquisition device, arranged on the slider and slidably connected to the slider, and capable of sliding along a second direction. The first direction is perpendicular to the second direction.

9. An automatic welding method, characterized in that, Adopting the automatic welding system according to any one of claims 1-8, characterized in that it includes the following steps: Cut the welding end of the diamond wire flat; Place the welding end of the diamond wire on the clamping device; The vision acquisition device acquires an image of the welding end of the diamond wire, and the control platform controls the positioning device to position the welding end of the diamond wire according to the image; Perform pre-pressing on the welding end of the diamond wire; Measure the resistance value of the welding end of the diamond wire and the wire diameter of the diamond wire, and adjust the welding parameters for welding according to the resistance value and the wire diameter; Inspect the solder joints.

10. An automatic welding method according to claim 9, characterized in that: The step of inspecting the solder joints includes: The vision acquisition device acquires an image of the solder joint and compares it with a set standard; A detection device is connected to the clamping device and detects the welding current and voltage during the welding process, and determines the welding quality according to the waveforms of the current and voltage; Determine that the welding quality is qualified after all are qualified.

Images