Multilayer metal welding device and welding method thereof

Abstract

The invention discloses a multilayer metal welding device and a welding method thereof. The device comprises a frame, an electric cylinder group, a pressure follower mechanism, a stretching mechanism, a manipulator assembly, a welding assembly, a power supply assembly, and a workpiece; the power supply assembly also comprises a human-machine interface, an execution assembly, a controller, a welding power supply, and a driver; the welding power supply comprises a curtain grid circuit, a welding circuit group, and a correction circuit group; the main circuits of the curtain grid circuit, the welding circuit group, and the correction circuit group are connected in parallel and are respectively connected to the positive pole of the power supply, the negative pole of the power supply, and the normally closed contact of ZK1 in the relay, and the trigger of the trigger circuit is respectively connected to the transistor controller and the thyristor; the curtain grid circuit, the welding circuit group, and the correction circuit group adopt a parallel circuit structure and a tree-shaped discharge mode; therefore, the welding device has the characteristics of small size, light weight, strong function, high efficiency, low cost, compact structure, and stable physical and chemical properties of the welding nugget.

Description

Technical Field

[0001] The invention relates to a welding device, in particular to a multi-layer metal resistance welding device and a welding method thereof. Background Art

[0002] At present, the welding methods of high-power lithium batteries, hydrogen batteries and fuel cells basically adopt ultrasonic welding, which is a kind of friction welding; therefore, in the friction welding process of multiple layers of metal such as dozens or hundreds of layers of aluminum foil or copper foil, fine metal powder or welding slag will be generated due to the mutual friction of metal materials and hidden in the multi-layer metal foil interlayer, and the metal powder or welding slag in the interlayer cannot be directly cleaned and is directly applied to the battery product; therefore, when the battery with electrolyte is in the process of charging and discharging, the liquid will produce bubbles and impact flow inside the battery, flushing out the metal powder or welding slag in the metal foil interlayer. When the metal powder or welding slag in the electrolyte reaches a certain concentration, the battery will produce plate short circuit or leakage, affecting the battery life.

[0003] Japanese patent CN104981316A provides a method for manufacturing a laminated metal foil, a method for manufacturing a sealed battery including the method for manufacturing a laminated metal foil, and a sealed battery, which belong to the category of resistance welding and mainly include the following steps: the first step, at the welding position of the laminated metal foil, a linear cut is made by means of a cutter along the lamination direction, and then the weld is sealed; the second step, the resistance welding electrode is pressed on the sealed welding position, and then the welding is energized; the method of this patent mainly solves the problem that laminated metals such as laminated aluminum foil or copper foil do not generate welding slag or metal powder during welding, and the welding sparks and other instabilities; therefore, the device has defects such as large size, heavy weight, many processes, small molten core, unstable fusion of the molten core at the knife edge, and long process cycle time. Summary of the invention

[0004] In order to avoid the defects and shortcomings existing in the above-mentioned technology, the purpose of the present invention is to provide a multi-layer metal welding device and a welding method thereof, which can ensure small size, light weight, strong function, high efficiency, large molten core, low cost and good product consistency, and one-time welding forming, while taking into account no pollution to the electrolyte, good on-site environment, compact structure, fully automatic, intelligent welding device, and maintenance-free during operation, long life, and no need for manual operation. Precision resistance welding device.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows:

[0006] A multi-layer metal welding device comprises a frame, an electric cylinder group, a pressure follower mechanism, a stretching mechanism, a manipulator assembly, a welding assembly, a power supply assembly, and a workpiece; the frame is respectively connected to the electric cylinder group, the stretching mechanism, the manipulator assembly, the welding assembly, and the power supply assembly;

[0007] The electric cylinder group also includes an upper electric cylinder and a lower electric cylinder; the upper electric cylinder is respectively connected to the frame and the pressure follower mechanism; the lower electric cylinder is respectively connected to the frame and the stretching mechanism; the pressure follower mechanism is respectively connected to the upper electric cylinder and the welding assembly; the stretching mechanism is respectively connected to the frame, the lower electric cylinder, and the workpiece; the manipulator assembly is connected to the frame; the welding assembly is respectively connected to the frame, the pressure follower mechanism, and the workpiece; the power supply assembly is respectively connected to the frame, the welding assembly, the electric cylinder group, and the manipulator assembly;

[0008] The frame includes a table, a column, a guide rod, and a support rod; the table is respectively connected to the column, the guide rod, the support rod, the stretching mechanism, the welding assembly, and the power supply assembly; the column is connected to the table; the guide rod is respectively connected to the table and the electric cylinder group; the support rod is respectively connected to the table and the electric cylinder group;

[0009] The pressure follower mechanism comprises an upper pressing plate, an adjusting nut, a lower pressing plate, a lower self-locking nut, a push rod, and a spring; the upper pressing plate is respectively connected to the pressing rod, the self-locking nut, the adjusting nut, the spring, and the push rod; the adjusting nut is respectively connected to the upper pressing plate and the push rod; the lower pressing plate is respectively connected to the upper insulating plate, the lower self-locking nut, the push rod, and the spring; the lower self-locking nut is respectively connected to the push rod and the lower pressing plate; the push rod is respectively connected to the upper pressing plate, the adjusting nut, the lower pressing plate, the lower self-locking nut, and the spring; the spring is respectively connected to the push rod, the upper pressing plate, and the lower pressing plate;

[0010] The stretching mechanism comprises an L upper nut, an L upper plate, a pull rod, an L lower nut, an L lower plate, an L sliding bearing, an L lower pressure cover, and an L upper pressure cover; the L upper nut is respectively connected to the L upper plate and the pull rod; the L upper plate is respectively connected to the workpiece, the L upper nut, and the pull rod; the pull rod is respectively connected to the L upper nut, the L upper plate, the L lower nut, the L lower plate, the L sliding bearing, the L lower pressure cover, and the L upper pressure cover; the L lower nut is respectively connected to the pull rod and the L lower plate; the L lower plate is respectively connected to the pressure rod of the lower electric cylinder, the G self-locking nut of the lower electric cylinder, the pull rod, and the L lower nut; the L sliding bearing is respectively connected to the table, the L upper pressure cover, and the L lower pressure cover; the L lower pressure cover is respectively connected to the table, the pull rod, and the L sliding bearing; the L upper pressure cover is respectively connected to the table, the pull rod, and the L sliding bearing;

[0011] The manipulator assembly includes a cross slide, a rotary axis, a Y axis, and a clamping assembly; the cross slide is respectively connected to the table, the rotary axis, and the power supply assembly; the rotary axis is respectively connected to the cross slide, the Y axis, and the power supply assembly; the clamping assembly is connected to the Y axis; the cross slide also includes an X axis and a Z axis; the X axis is respectively connected to the table and the Z axis; the Z axis is respectively connected to the X axis and the rotary axis;

[0012] The welding assembly comprises an upper insulating plate, a positive electrode of a power supply, an extension rod, a positive electrode, a negative electrode, a negative electrode of a power supply, and a lower insulating plate; the upper insulating plate is connected to the positive electrode of the power supply and the lower pressure plate respectively; the positive electrode of the power supply is connected to the upper insulating plate and the extension rod respectively; the extension rod is connected to the positive electrode of the power supply and the positive electrode respectively; the positive electrode is connected to the extension rod and the workpiece respectively; the negative electrode is connected to the workpiece and the negative electrode of the power supply respectively; the negative electrode of the power supply is connected to the negative electrode and the lower insulating plate respectively; the lower insulating plate is connected to the negative electrode of the power supply and the table respectively; the workpiece is connected to the positive electrode, the negative electrode, and the upper plate of L respectively;

[0013] The power supply assembly also includes a human-machine interface, an execution assembly, a controller, a welding power supply, and a driver; the human-machine interface is connected to the controller; the execution assembly is connected to the controller; the controller is respectively connected to the human-machine interface, the execution assembly, the trigger, the welding power supply, and the driver; the welding power supply is respectively connected to the execution assembly and the controller; the driver is connected to the controller;

[0014] The human-machine interface comprises a touch screen, a transmission line, and a power interface; the touch screen is connected to the transmission line and the power interface respectively; the transmission line is connected to the touch screen and the transistor controller respectively; the power interface is connected to the mains isolation power supply and the touch screen respectively;

[0015] The actuator assembly is composed of 10-30 relays, and the relays have the same structure, principle, performance, parameters, size, assembly and connection methods; the relay coils are respectively connected to the DC power supply and the relay controller, and the relay contact parts are respectively connected to the main control power supply, the driver, the welding power supply, the negative electrode of the power supply, and the positive electrode of the power supply;

[0016] The controller further comprises a transistor controller, a relay controller, an AD module, and a DA module; the transistor controller is respectively connected to a human-machine interface, a relay controller, a driver, and a welding power supply; the relay controller is respectively connected to an actuator, a welding power supply, a transistor controller, and an AD module; the AD module is respectively connected to a welding power supply, a relay controller, and a DA module; the DA module is respectively connected to a welding power supply, a driver, and an AD module;

[0017] The driver includes a power supply, a position servo drive component, and a torque servo drive component; the power supply is connected to the position servo drive component and the torque servo drive component respectively; the position servo drive component is connected to the power supply and the manipulator component respectively; the torque servo drive component is connected to the power supply and the electric cylinder group respectively; the position servo drive component is composed of 4 sets of position servo drive components, which are respectively connected to the X-axis motor, the Y-axis motor and the rotary axis motor of the cross slide; the position servo drive component includes a position driver and a position servo motor; the position driver is respectively connected to the transistor controller and the position servo motor, and the position servo motor is respectively connected to the position driver, the X-axis motor or the Y-axis motor or the rotary axis motor; the torque servo drive component is composed of 2 sets of torque servo components, which are respectively connected to the motor of the upper electric cylinder and the motor of the lower electric cylinder; the torque servo component includes a torque driver and a torque motor; the torque driver is respectively connected to the transistor controller, the DA module and the torque motor; the torque motor is respectively connected to the torque driver, the upper electric cylinder motor or the lower electric cylinder motor;

[0018] The welding power supply comprises a screen grid circuit, a welding circuit group, and a correction circuit group; the main circuits of the screen grid circuit, the welding circuit group, and the correction circuit group are connected in parallel and are respectively connected to the positive electrode of the power supply, the negative electrode of the power supply, and the normally closed contact of ZK1 in the relay, and the trigger of the trigger circuit is respectively connected to the transistor controller and the thyristor;

[0019] The curtain grid circuit includes LM-1 in the trigger, KT1 in the thyristor, a freewheeling diode, an inductor, a diode, CN1 in the energy storage component, and high-voltage energy storage; LM-1 in the trigger is respectively connected to the transistor controller and KT1 in the thyristor; KT1 in the thyristor is connected in parallel with the freewheeling diode and is respectively connected to the positive pole of the power supply, ZK1 in the relay, and the inductor; the freewheeling diode is connected in parallel with KT1 in the thyristor and is respectively connected to the positive pole of the power supply, ZK1 in the relay, and the inductor; the inductor is respectively connected to KT1 in the thyristor, the freewheeling diode, the diode, and the high-voltage energy storage; the diode is respectively connected to the inductor, the high-voltage energy storage, and CN1 in the energy storage component; CN1 in the energy storage component is respectively connected to the negative pole of the power supply, ZK1 in the relay, and the diode; the high-voltage energy storage is respectively connected to the inductor, the diode, and the negative pole of the power supply;

[0020] The welding circuit group is composed of 1 to 10 welding branches with completely the same structure, principle and parameters; the welding branches include LM-2 in the trigger, KT2 in the thyristor and CN2 in the energy storage component; LM-2 in the trigger is connected to the transistor controller and KT2 in the thyristor respectively; KT2 in the thyristor is connected to LM-2 in the trigger and CN2 in the energy storage component respectively; CN2 in the energy storage component is connected to KT2 in the thyristor and the negative pole of the power supply respectively;

[0021] The correction circuit group is composed of 1-10 correction branches with completely the same structure, principle and parameters; the correction branch includes LM-3 in the trigger, KT3 in the thyristor and CN3 in the energy storage component; LM-3 in the trigger is respectively connected to the transistor controller and KT3 in the thyristor; KT3 in the thyristor is respectively connected to LM-3 in the trigger and CN3 in the energy storage component; CN3 in the energy storage component is respectively connected to KT3 in the thyristor and the negative pole of the power supply;

[0022] The energy storage component also includes a capacitor, a feedback resistor, a charging power supply, FD3 in the unloading resistor, ZK3 in the safety switch, RG3 of the power tube, and a power unloading control; the capacitor, feedback resistor, and charging power supply are connected in parallel and are respectively connected to FD3 in the unloading resistor, the safety switch, KT3 in the thyristor, and ZK3 in the negative electrode of the power supply; FD3 in the unloading resistor is respectively connected to KT3 in the thyristor, the capacitor, the feedback resistor, the charging power supply, ZK3 in the safety switch, and RG3 in the power tube; ZK3 in the safety switch and RG3 in the power tube are respectively connected in parallel to FD3 in the unloading resistor and the negative electrode of the power supply; the unloading control is respectively connected to the DA module, the power tube, the DC power supply, and the negative electrode of the power supply;

[0023] The positive electrode and the negative electrode have the same principle, structure, and dimension chain, and are assembled on the same axis and placed in a mirror image, that is, the outer circles M of the positive electrode and the negative electrode are coaxial, and the N of the spherical surface SR is coaxial;

[0024] The size of the fillet C of the positive electrode is 10 to 30 times the size of H; the height of the spherical surface SR of the positive electrode is 0.2 times the compacted thickness of the workpiece; the diameter of the spherical surface SR of the positive electrode is 10 to 100 times the thickness of the workpiece; the size range of the contour line ΦR of the positive electrode is between one-half and three-quarters of the diameter ΦD of the positive electrode, and the number of contour lines ΦR is 1 to 5; that is, the diameter size of the outer contour line V of the spherical surface SR is smaller than the diameter size of the inner contour line W of the fillet C; the number of spherical surfaces SR of the positive electrode is 1 to 100, when the spherical surface SR When there is one spherical SR, the axis of the spherical surface SR is coaxial with the outer circle M. When there are more than two spherical surfaces SR, the center lines of the spherical surfaces SR are placed on the contour line ΦR and are evenly distributed on the contour line ΦR. The outer circle X of one spherical surface SR and the outer circle X of an adjacent spherical surface SR shall not intersect, and the distance between X and X shall not be less than 2 mm. When a contour line cannot accommodate multiple spherical surfaces SR as required, the contour line can be evenly distributed between one half and three quarters of the diameter ΦD of the positive electrode, and then the spherical surfaces SR are evenly distributed on each contour line.

[0025] The positive electrode and the negative electrode may be round or square, but no matter they are round or square, the welding surfaces of the positive electrode and the negative electrode have discharge bosses H, and the bosses H are connected to the plane in a smooth curved surface.

[0026] The structure, principle, dimension chain, performance and parameters of the upper electric cylinder and the lower electric cylinder are completely consistent. The pressure of the upper electric cylinder is 10-15000 kg. The upper electric cylinder is a torque motor with a brake, and the motor power is 1 to 10 kilowatts.

[0027] The curtain grid circuit, welding circuit group, and correction circuit group adopt a parallel circuit structure and a tree-shaped discharge method, that is, the withstand voltage and capacity of the capacitor of each circuit are different. According to the different current requirements of the welding workpiece, any circuit can be selected for discharge. They can be used alone or in combination, and can also be discharged intermittently or at intervals according to a time sequence; the curtain grid circuit is a superimposed power supply of a high-low voltage combination, and the high-low voltage power supply switching is automatically switched by a diode; the welding circuit group and the correction circuit group are interchangeable, that is, the welding circuit group and the correction circuit group can be used as welding modules or as correction modules.

[0028] The high-voltage energy storage charging voltage and discharging voltage are greater than 500 volts.

[0029] The energy storage component is 1 to 20 circuits; each circuit can be used alone, in parallel, or for intermittent discharge; the energy storage component can be charged alone or simultaneously.

[0030] The workpiece refers to aluminum foil, copper foil, aluminum strip, copper strip or aluminum substrate surface treatment material or copper substrate surface treatment material with 2 to 500 layers, and the substrate thickness is between 0.006 mm and 1 mm.

[0031] The upper electric cylinder and the lower electric cylinder have the same structure and principle, and are mirror-imaged and coaxially placed.

[0032] The welding method of the multi-layer metal welding device comprises the following steps:

[0033] A. Preparation steps: According to the technical requirements of the workpiece, select the electrode shapes of the positive electrode and the negative electrode, and calculate the material resistance of the workpiece, the number of layers to be welded and the total resistance, the resistance of the oxide film of different layers, and determine whether it is center point welding or through welding; then select the ΦD size of the positive electrode and the negative electrode according to the welding area required by the technology, and calculate the number and uniform distribution of the spherical surface SR and the contour line ΦR, and the number of molten nuggets formed by the welding nugget; finally, according to the different materials and the cold work hardening characteristics of non-ferrous metals, calculate the torque of the electric cylinder group and the yield point and hardness reduction value of the workpiece caused by high heat, adjust the pressure of the pressure follower mechanism spring, install the positive electrode and negative electrode used for welding, and then adjust the axis section coordinates of the negative electrode to make the positive electrode and the negative electrode coaxial, fix the negative electrode, and then rotate the rotation angle of the negative electrode to make the N axis of the negative electrode coaxial with the N axis of the positive electrode, and tighten the rotation bolt of the negative electrode to prevent the negative electrode from moving up, down, left, right, front, and back; at this time, the preparation step A is completed, and enter the next step, the self-check step B;

[0034] B. Self-checking step: After the preparation step of step A is completed, the multi-layer metal welding device enters the self-checking step B; first check whether the emergency stop and alarm are effective. If effective, the controller sends an audible and visual alarm signal to the actuator, and sends the fault location and fault handling method to the touch screen through the transmission line; secondly, check whether the kinematic pairs of each axis are at the origin position. If not, the touch screen will display which axis is not at the origin position, and display "whether it returns to the origin position according to the specified path and axis motion sequence"; finally, when the controller is initialized and the self-check is passed, the touch screen will display "Please select the welding workpiece number"; if the selection is a new workpiece, the controller will automatically jump to the jog control / parameter setting menu page; at this time, the self-checking step B is completed and enters the setting step C;

[0035] C. Setting steps: After the self-checking step of step B, the controller automatically jumps to setting step C and switches the screen of the touch screen to the inching control / parameter setting menu; then, according to the data calculated in preparation step A, the parameters are respectively entered into the manipulator part, pre-pressing part, pre-tensioning part, discharging part, charging part and unloading part; wherein: the manipulator part takes out the workpiece from the feed rack and puts it into the welding coordinate between the positive electrode and the negative electrode to wait for welding, and when the welding is completed, the workpiece is transferred to the discharge rack; during this period, the working speed of the manipulator X-axis, Y-axis, Z-axis, upper electric cylinder and lower electric cylinder of the rotary axis can be adjusted and set online, and the parameters can be manually repeatedly inched to test the running speed, linkage interpolation and soft interruption test of the X-axis, Y-axis, Z-axis, upper electric cylinder and lower electric cylinder of the rotary axis until the process requirements are met, and at the same time, the manipulator can also automatically determine whether there is material on the feed rack and the discharge rack and the order of taking and placing materials;

[0036] The pre-pressing part is to use the upper electric cylinder as the power source, drag the upper electric cylinder, pressure follower mechanism, upper insulating plate of the welding assembly, positive pole of the power supply, extension rod, and positive electrode to move toward the workpiece, and use the negative electrode as a fixed reference to apply pressure to the workpiece. The size of the pressure can be modified online on the touch screen, and the pressure value can be automatically triggered and adjusted in real time. At the same time, the feedback signal is fed back to the transistor controller, and then the transistor controller compares it with the pressure value entered on the touch screen. If the feedback value is equal to the entered pressure value, the upper electric cylinder brake is closed and the upper electric cylinder stops working; when the feedback value is greater than the entered pressure value, the upper electric cylinder moves in the opposite direction of the workpiece until the feedback value is equal to the entered pressure value, the upper electric cylinder brake is closed and the upper electric cylinder stops working; otherwise, the opposite is true; the pre-tensioning part is that the lower electric cylinder drags the stretching mechanism to move toward the workpiece, and uses the workpiece as a fixed reference to apply pressure to the workpiece. The size of the pressure can be modified online on the touch screen, and the pressure value can be automatically triggered and adjusted in real time; at this time, the parameters of each axis of the motion pair are set and adjusted, and the energy storage and discharge parameters are set; that is: first set the curtain grid circuit, that is: according to the waiting The thickness and number of layers of the oxide film on the welding workpiece are different. The breakdown voltage of the oxide film is calculated. The breakdown voltage is the high-voltage energy storage charging voltage. The charging voltage selection range is 500 to 5000 volts. Then set the CN1 charging voltage in the energy storage component. The charging voltage selection range is 20 to 100 volts. The calculation method is the workpiece preheating time and preheating temperature. The higher the voltage, the longer the preheating time; the second is to set the welding circuit group, that is, select the welding power of the workpiece, that is, calculate the welding power and welding current according to the thickness of each layer of the workpiece, the number of layers, and the welding area, and then according to the welding The power and welding current select the number of welding branches, determine the charging voltage of the CN2 group in the energy storage component, and determine whether the welding branches are discharged simultaneously, intermittently, or sequentially; then enter it into the controller through the touch screen, and the charging voltage range entered is 0 to 50 volts; finally, set the correction circuit group, and the correction branch charging voltage value is charged to each correction branch according to the voltage value divided by the number of correction branches, and enter it into the controller on the touch screen, and the charging voltage range entered is 0 to 50 volts; at this time; the setting step C is completed and enters the automatic step D;

[0037] D. Automatic steps: After the processing of step C is completed, the controller automatically jumps to automatic step D to wait for the manual automatic operation command. When the operator presses the automatic operation button on the touch screen, the equipment will automatically run; first, when the controller receives the automatic operation command from the touch screen, the controller will issue the automatic return to zero point operation of the X-axis, Y-axis, Z-axis, rotary axis, upper electric cylinder, and lower electric cylinder of the manipulator part. When each axis returns to zero, the clamping component's grip opens, the L upper plate opens, and the unloading relay is energized. At the same time, it determines whether there is material on the feed rack and which rack has material. If there is no material, the manipulator automatically enters the waiting program. If there is material on the feed rack, the controller will issue a command to which material rack to pick up the material and the action sequence. At this time, the X-axis, Y-axis, Z-axis, and rotary axis will go to the specified coordinates to grab the workpiece according to the running distance and running speed of the position data control table, and then Then the workpiece is sent to the positioning fixture of the negative electrode of the welding station. After the workpiece is placed in the positioning fixture, the positioning fixture sends a workpiece in place instruction to the controller. At this time, the controller sends a release command to the clamping component and retracts the arm Z axis to the origin position to wait; when the controller receives the Z axis arrival origin command, it sends a lower electric cylinder clamping command, and the lower electric cylinder drags the L upper plate to press the workpiece, where: the pressure of the L upper plate is the torque signal set on the touch screen; the controller also sends a charging command to the curtain grid circuit, welding circuit group, and correction circuit group at the same time, and compares in real time whether the charging voltage of the capacitor is consistent with the charging data entered on the touch screen. If it is consistent, it sends a charging completion instruction to the controller, and at the same time detects that the pressure values ​​of the L upper plate and the upper electric cylinder have reached the set pressure value, and the controller sends a welding instruction; then, the discharge is carried out sequentially according to the discharge timing set on the touch screen; that is: the curtain grid circuit

[0038] The discharge sequence of the correction circuit group is as follows: when the controller detects the discharge completion signal of the welding circuit group, it immediately averages and analyzes whether the power, resistance, voltage and current of the welding circuit group meet the set requirements; if not, the controller will calculate the error value generated by the welding circuit group, and then determine which correction branch or which correction branches in the correction circuit group have parallel values ​​close to or equal to the error value, and then perform secondary discharge to supplement the insufficient welding energy;

[0039] When the controller detects the completion signal of the secondary discharge, the controller first issues a relay power-off command, and then issues an upper cylinder and lower cylinder opening command. When the controller detects the arrival signal of the lower cylinder and the upper cylinder, the Z-axis arm is extended again. After reaching the coordinates of the workpiece, the clamping assembly clamps the workpiece and sends it to the empty position of the discharge port. Then the robot returns to its original position. At this time, the first working cycle is completed. If it continues to work, the equipment will work over and over again. If manual intervention issues an end command, at this time, the automatic step D is completed and enters the power-off step E.

[0040] E. Power-off step: After the automatic step processing of step D is completed, the controller sends a servo enable shutdown command to detect whether the relay is disconnected and whether the capacitor is discharged, and then automatically turns off the power supply; when the controller automatically turns off the power supply, it also cuts off the power supply of the controller itself.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. Since the present invention adopts a multi-network tree-shaped discharge structure of high and low voltage power supplies, the welding device is reduced from three processes to one process, and is formed in one step; therefore, the welding device has the characteristics of small size, light weight, strong function, high efficiency, low cost and compact structure.

[0043] 2. Since the present invention adopts large-tonnage electric cylinder rolling, stretching and body welding technology and multi-network tree discharge principle and structure of high and low voltage power supplies; therefore, the welding nugget has excellent physical and mechanical properties and chemical stability, good use effect, long service life and large nugget.

[0044] 3. Since the surface of the product welded by the present invention does not require any treatment, and no particles, powder or welding slag is generated during the welding process; therefore, the product manufactured by the device does not pollute the electrolyte and has a good on-site environment.

[0045] 4. Since the present invention adopts fully automatic intelligent control technology, the device does not require human intervention and operation during operation, and product quality problems will not occur due to human factors. Therefore, the products produced by this device are stable, reliable and consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention has 9 drawings in total. Among them:

[0047] Figure 1 It is a flow chart of a multi-layer metal welding device.

[0048] Figure 2 It is a top view schematic diagram of a multi-layer metal welding device.

[0049] Figure 3 yes Figure 2 Schematic diagram of the A-A section.

[0050] Figure 4 yes Figure 3 Schematic diagram of the right side.

[0051] Figure 5 It is a schematic diagram of tree discharge waveform.

[0052] Figure 6 It is a schematic diagram of the main view of the electrodes of a multi-layer metal welding device.

[0053] Figure 7 yes Figure 6 Schematic top view of .

[0054] Figure 8 yes Figure 3 B is an enlarged view of .

[0055] Fig. 9 It is a schematic diagram of the electrical part of the multi-layer metal welding device.

[0056] In the figure: 1, table, 2, column, 3, power supply assembly, 4, upper electric cylinder, 5, lower electric cylinder, 6, cross slide, 7, rotary axis, 8, Y axis, 9, clamping assembly, 10, guide rod, 11, torque motor, 17, support rod, 40, push rod, 48, upper pressure plate, 49, adjustment nut, 51, spring, 52, lower pressure plate, 53, upper insulating plate, 54, lower self-locking nut, 55, positive pole of power supply, 56, extension rod, 57, positive electrode, 58, L upper nut, 59, L upper plate, 60, pull rod, 61, L lower nut, 62, workpiece, 63, negative electrode, 64, negative pole of power supply, 65, lower insulating plate, 66, L lower plate, 67, L sliding bearing, 68, L lower pressure cover, 69, L upper pressure cover, 73, position servo motor, 98, high voltage energy storage, 124 , human-machine interface, 125, actuator, 126, welding power supply, 127, driver, 128, controller, 129, transmission line, 130, touch screen, 131, transistor controller, 132, relay controller, 133, AD module, 134, DA module, 135, relay, 136, trigger, 137, thyristor, 138, energy storage component, 139, position driver, 141, torque driver, 143, inductor, 144, power discharge control, 145, power tube, 146, safety switch, 147, charging power supply, 148, feedback resistor, 149, capacitor, 150, power discharge resistor, 151, diode, 154, curtain grid circuit, 155, welding circuit group, 156, correction circuit group, 157, freewheeling diode. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the accompanying drawings.

[0058] A multilayer metal welding device comprises a frame, an electric cylinder group, a pressure follower mechanism, a stretching mechanism, a manipulator assembly, a welding assembly, a power supply assembly 3, and a workpiece 62; the frame is respectively connected to the electric cylinder group, the stretching mechanism, the manipulator assembly, the welding assembly, and the power supply assembly 3; the electric cylinder group also comprises an upper electric cylinder 4 and a lower electric cylinder 5; the upper electric cylinder 4 is respectively connected to the frame and the pressure follower mechanism; the lower electric cylinder 5 is respectively connected to the frame and the stretching mechanism; the pressure follower mechanism is respectively connected to the upper electric cylinder 4 and the welding assembly; the stretching mechanism is respectively connected to the frame, the lower electric cylinder 5, and the workpiece 62; the manipulator assembly is connected to the frame; the welding assembly is respectively connected to the frame, the pressure follower mechanism, and the workpiece 62; the power supply assembly 3 is respectively connected to the frame, the welding assembly, the electric cylinder group, and the manipulator assembly;

[0059] The frame includes a table 1, a column 2, a guide rod 10, and a support rod 17; the table 1 is respectively connected to the column 2, the guide rod 10, the support rod 17, the stretching mechanism, the welding assembly, and the power supply assembly 3; the column 2 is connected to the table 1; the guide rod 10 is respectively connected to the table 1 and the electric cylinder group; the support rod 17 is respectively connected to the table 1 and the electric cylinder group;

[0060] The pressure follower mechanism includes an upper pressing plate 48, an adjusting nut 49, a lower pressing plate 52, a lower self-locking nut 54, a push rod 40, and a spring 51; the upper pressing plate 48 is respectively connected to the pressing rod, the self-locking nut, the adjusting nut 49, the spring 51, and the push rod 40; the adjusting nut 49 is respectively connected to the upper pressing plate 48 and the push rod 40; the lower pressing plate 52 is respectively connected to the upper insulating plate 53, the lower self-locking nut 54, the push rod 40, and the spring 51; the lower self-locking nut 54 is respectively connected to the push rod 40 and the lower pressing plate 52; the push rod 40 is respectively connected to the upper pressing plate 48, the adjusting nut 49, the lower pressing plate 52, the lower self-locking nut 54, and the spring 51; the spring 51 is respectively connected to the push rod 40, the upper pressing plate 48, and the lower pressing plate 52;

[0061] The stretching mechanism includes an L upper nut 58, an L upper plate 59, a pull rod 60, an L lower nut 61, an L lower plate 66, an L sliding bearing 67, an L lower pressure cover 68, and an L upper pressure cover 69; the L upper nut 58 is connected to the L upper plate 59 and the pull rod 60 respectively; the L upper plate 59 is connected to the workpiece 62, the L upper nut 58, and the pull rod 60 respectively; the pull rod 60 is connected to the L upper nut 58, the L upper plate 59, the L lower nut 61, the L lower plate 66, the L sliding bearing 67, the L lower pressure cover 68, and the L The upper pressure cover 69 is connected; the L lower nut 61 is respectively connected to the pull rod 60 and the L lower plate 66; the L lower plate 66 is respectively connected to the pressure rod of the lower electric cylinder, the G self-locking nut of the lower electric cylinder, the pull rod 60, and the L lower nut 61; the L sliding bearing 67 is respectively connected to the table 1, the L upper pressure cover 69, and the L lower pressure cover 68; the L lower pressure cover 68 is respectively connected to the table 1, the pull rod 60, and the L sliding bearing 67; the L upper pressure cover 69 is respectively connected to the table 1, the pull rod 60, and the L sliding bearing 67;

[0062] The manipulator assembly includes a cross slide 6, a rotary axis 7, a Y axis 8, and a clamping assembly 9; the cross slide 6 is respectively connected to the table 1, the rotary axis 7, and the power supply assembly 3; the rotary axis 7 is respectively connected to the cross slide 6, the Y axis 8, and the power supply assembly 3; the clamping assembly 9 is connected to the Y axis 8; the cross slide 6 also includes an X axis and a Z axis; the X axis is respectively connected to the table 1 and the Z axis; the Z axis is respectively connected to the X axis and the rotary axis 7;

[0063] The welding assembly includes an upper insulating plate 53, a positive power supply electrode 55, an extension rod 56, a positive electrode 57, a negative electrode 63, a negative power supply electrode 64, and a lower insulating plate 65; the upper insulating plate 53 is connected to the positive power supply electrode 55 and the lower pressure plate 52 respectively; the positive power supply electrode 55 is connected to the upper insulating plate 53 and the extension rod 56 respectively; the extension rod 56 is connected to the positive power supply electrode 55 and the positive electrode 57 respectively; the positive electrode 57 is connected to the extension rod 56 and the workpiece 62 respectively; the negative electrode 63 is connected to the workpiece 62 and the negative power supply electrode 64 respectively; the negative power supply electrode 64 is connected to the negative electrode 63 and the lower insulating plate 65 respectively; the lower insulating plate 65 is connected to the negative power supply electrode 64 and the table 1 respectively;

[0064] The workpiece 62 is connected to the positive electrode 57, the negative electrode 63, and the L upper plate 59 respectively;

[0065] The power supply assembly 3 further includes a human-machine interface 124, an execution assembly 125, a controller 128, a welding power supply 126, and a driver 127; the human-machine interface 124 is connected to the controller 128; the execution assembly 125 is connected to the controller 128; the controller 128 is respectively connected to the human-machine interface 124, the execution assembly 125, the trigger 136, the welding power supply 126, and the driver 127; the welding power supply 126 is respectively connected to the execution assembly 125 and the controller 128; the driver 127 is connected to the controller 128;

[0066] The human-machine interface 124 includes a touch screen 130, a transmission line 129, and a power interface; the touch screen 130 is connected to the transmission line 129 and the power interface respectively; the transmission line 129 is connected to the touch screen 130 and the transistor controller 131 respectively; the power interface is connected to the mains isolation power supply and the touch screen 130 respectively;

[0067] The actuator 125 is composed of 10-30 relays 135, and the relays 135 have the same structure, principle, performance, parameters, size, assembly and connection methods; the coils of the relays 135 are respectively connected to the DC power supply and the relay controller 132, and the contact parts of the relays 135 are respectively connected to the main control power supply, the driver 127, the welding power supply 126, the negative electrode 64 of the power supply, and the positive electrode 55 of the power supply;

[0068] The controller 128 further includes a transistor controller 131, a relay controller 132, an AD module 133, and a DA module 134; the transistor controller 131 is respectively connected to the human-machine interface 124, the relay controller 132, the driver 127, and the welding power supply 126; the relay controller 132 is respectively connected to the actuator 125, the welding power supply 126, the transistor controller 131, and the AD module 133; the AD module 133 is respectively connected to the welding power supply 126, the relay controller 132, and the DA module 134; the DA module 134 is respectively connected to the welding power supply 126, the driver 127, and the AD module 133;

[0069] The driver 127 includes a power supply, a position servo drive component, and a torque servo drive component; the power supply is connected to the position servo drive component and the torque servo drive component respectively; the position servo drive component is connected to the power supply and the manipulator component respectively; the torque servo drive component is connected to the power supply and the electric cylinder group respectively; the position servo drive component is composed of 4 sets of position servo drive components, which are respectively connected to the X-axis motor, Y-axis motor and rotary axis 7 motor of the cross slide 6; the position servo drive component includes a position driver 139 and a position servo motor 73; the position driver 139 is respectively connected to the transistor control The device 131 is connected to the position servo motor 73, and the position servo motor 73 is respectively connected to the position driver 139, the X-axis motor or the Y-axis motor or the rotary axis 7 motor; the torque servo drive assembly is composed of two sets of torque servo components, which are respectively connected to the motor of the upper electric cylinder 4 and the motor of the lower electric cylinder 5; the torque servo component includes a torque driver 141 and a torque motor 11; the torque driver 141 is respectively connected to the transistor controller 131, the DA module 134, and the torque motor 11; the torque motor 11 is respectively connected to the torque driver 141, the upper electric cylinder 4 motor or the lower electric cylinder 5 motor;

[0070] The welding power supply 126 includes a screen grid circuit 154, a welding circuit group 155, and a correction circuit group 156; the main circuits of the screen grid circuit 154, the welding circuit group 155, and the correction circuit group 156 are connected in parallel and are respectively connected to the positive electrode 55 of the power supply, the negative electrode 64 of the power supply, and the normally closed contact of ZK1 in the relay 135, and the trigger 136 of the trigger circuit is respectively connected to the transistor controller 131 and the thyristor 137;

[0071] The curtain grid circuit 154 includes LM-1 in the trigger 136, KT1 in the thyristor 137, a freewheeling diode 157, an inductor 143, a diode 151, CN1 in the energy storage component 138, and a high-voltage energy storage 98; LM-1 in the trigger 136 is connected to the transistor controller 131 and KT1 in the thyristor 137 respectively; KT1 in the thyristor 137 and the freewheeling diode 157 are connected in parallel to the positive electrode 55 of the power supply, ZK1 in the relay 135, and the inductor 143 respectively; the freewheeling diode 157 and KT1 in the thyristor 137 are connected in parallel to the positive electrode 55 of the power supply, ZK1 in the relay 135, and the inductor 143 respectively; After being connected in parallel, they are respectively connected to the positive electrode 55 of the power supply, ZK1 in the relay 135, and the inductor 143; the inductor 143 is respectively connected to KT1 in the thyristor 137, the freewheeling diode 157, the diode 151, and the high-voltage energy storage 98; the diode 151 is respectively connected to the inductor 143, the high-voltage energy storage 98, and CN1 in the energy storage component 138; CN1 in the energy storage component 138 is respectively connected to the negative electrode 64 of the power supply, ZK1 in the relay 135, and the diode 151; the high-voltage energy storage 98 is respectively connected to the inductor 143, the diode 151, and the negative electrode 64 of the power supply;

[0072] The welding circuit group 155 is composed of 1 to 10 welding branches with completely the same structure, principle and parameters; the welding branches include LM-2 in the trigger 136, KT2 in the thyristor 137, and CN2 in the energy storage component 138; LM-2 in the trigger 136 is connected to the transistor controller 131 and KT2 in the thyristor 137 respectively; KT2 in the thyristor 137 is connected to LM-2 in the trigger 136 and CN2 in the energy storage component 138 respectively; CN2 in the energy storage component 138 is connected to KT2 in the thyristor 137 and the negative electrode 64 of the power supply respectively;

[0073] The correction circuit group 156 is composed of 1 to 10 correction branches with completely the same structure, principle and parameters; the correction branch includes LM-3 in the trigger 136, KT3 in the thyristor 137, and CN3 in the energy storage component 138; LM-3 in the trigger 136 is connected to the transistor controller 131 and KT3 in the thyristor 137 respectively; KT3 in the thyristor 137 is connected to LM-3 in the trigger 136 and CN3 in the energy storage component 138 respectively; CN3 in the energy storage component 138 is connected to KT3 in the thyristor 137 and the negative pole 64 of the power supply respectively;

[0074] The energy storage component 138 also includes a capacitor 149, a feedback resistor 148, a charging power supply 147, FD3 in the unloading resistor 150, ZK3 in the safety switch 146, RG3 of the power tube 145, and an unloading control 144; the capacitor 149, the feedback resistor 148, and the charging power supply 147 are connected in parallel and are respectively connected to FD3 in the unloading resistor 150, the safety switch 146, KT3 in the thyristor 137, and ZK3 in the negative electrode 64 of the power supply; the unloading resistor 1 FD3 in 50 is respectively connected to KT3 in thyristor 137, capacitor 149, feedback resistor 148, charging power supply 147, ZK3 in safety switch 146, and RG3 in power tube 145; ZK3 in safety switch 146 and RG3 in power tube 145 are respectively connected to FD3 in power-discharging resistor 150 and power negative electrode 64 after being connected in parallel; power-discharging control 144 is respectively connected to DA module 134, power tube 145, DC power supply, and power negative electrode 64;

[0075] The positive electrode 57 and the negative electrode 63 have the same principle, structure, and dimension chain, and are assembled on the same axis and placed in a mirror image, that is, the outer circles M of the positive electrode 57 and the negative electrode 63 are coaxial, and the N of the spherical surface SR is coaxial;

[0076] The size of the fillet C of the positive electrode 57 is 10 to 30 times the size of H; the height of the spherical surface SR of the positive electrode 57 is 0.2 times the compacted thickness of the workpiece 62; the diameter of the spherical surface SR of the positive electrode 57 is 10 to 100 times the thickness of the workpiece; the size range of the contour line ΦR of the positive electrode 57 is between one-half and three-quarters of the diameter ΦD of the positive electrode 57, and the number of contour lines ΦR is 1 to 5; that is: the diameter size of the outer contour line V of the spherical surface SR is smaller than the diameter size of the inner contour line W of the fillet C; the spherical surface SR of the positive electrode 57 is 1 to 100 When there is one spherical surface SR, the axis of the spherical surface SR is coaxial with the outer circle M. When there are more than two spherical surfaces SR, the center lines of the spherical surfaces SR are placed on the contour line ΦR and are evenly distributed on the contour line ΦR. The outer circle X of one spherical surface SR and the outer circle X of an adjacent spherical surface SR shall not intersect, and the distance between X and X shall not be less than 2 mm. When a contour line cannot accommodate multiple spherical surfaces SR as required, the contour line can be evenly distributed between one half and three quarters of the diameter ΦD of the positive electrode 57, and then the spherical surfaces SR are evenly distributed on each contour line.

[0077] The positive electrode 57 and the negative electrode 63 may be round or square, but no matter they are round or square, the welding surfaces of the positive electrode 57 and the negative electrode 63 have discharge bosses H, and the bosses H are connected to the plane in a smooth curved surface.

[0078] The structure, principle, dimension chain, performance and parameters of the upper electric cylinder 4 and the lower electric cylinder 5 are completely consistent. The pressure of the upper electric cylinder 4 is 10-15000 kg. The upper electric cylinder 4 is a torque motor with a brake, and the motor power is 1 to 10 kilowatts.

[0079] The curtain grid circuit 154, welding circuit group 155, and correction circuit group 156 adopt a parallel circuit structure and a tree-shaped discharge method, that is, the withstand voltage and capacity of the capacitor 149 of each circuit are different. According to the different current requirements of the welding workpiece 62, any circuit can be selected for discharge. They can be used alone or in combination, and can also be discharged intermittently or at intervals in a time sequence; the curtain grid circuit 154 is a superimposed power supply of a high and low voltage combination, and the high and low voltage power supply switching is automatically switched by the diode 151; the welding circuit group 155 and the correction circuit group 156 are interchangeable, that is, the welding circuit group 155 and the correction circuit group 156 can be used as welding modules or as correction modules.

[0080] The charging voltage and discharging voltage of the high voltage energy storage 98 are greater than 500 volts.

[0081] The energy storage component 138 is composed of 1 to 20 circuits; each circuit can be used individually, in parallel, or for intermittent discharge; the energy storage component 138 can be charged individually or simultaneously.

[0082] The workpiece 62 refers to aluminum foil, copper foil, aluminum strip, copper strip, or aluminum substrate surface treatment material or copper substrate surface treatment material with 2 to 500 layers, and the substrate thickness is between 0.006 mm and 1 mm.

[0083] The upper electric cylinder 4 and the lower electric cylinder 5 have the same structure and principle, and are mirror-imaged and coaxially placed.

[0084] The welding method of the multi-layer metal welding device comprises the following steps:

[0085] A. Preparation steps: According to the technical requirements of the workpiece 62, select the electrode shapes of the positive electrode 57 and the negative electrode 63, and calculate the material resistance of the workpiece 62, the number of layers to be welded and the total resistance, the resistance of the oxide film of different layers, and determine whether it is center point welding or through welding; then select the ΦD size of the positive electrode 57 and the negative electrode 63 according to the welding area required by the technology, and calculate the number and uniform distribution of the spherical surface SR and the contour line ΦR, and the number of molten nuggets formed by the welding; finally, according to the different materials and the cold work hardening characteristics of non-ferrous metals, calculate the torque of the electric cylinder group and the workpiece 62 due to high After adjusting the yield point and hardness reduction value caused by heat, the pressure of the pressure follower spring 51 is adjusted, and the positive electrode 57 and the negative electrode 63 used for welding are installed. Then, the axis section coordinates of the negative electrode 63 are adjusted to make the positive electrode 57 and the negative electrode 63 coaxial, and then the negative electrode 63 is fixed. Then, the rotation angle of the negative electrode 63 is rotated to make the N axis of the negative electrode 63 coaxial with the N axis of the positive electrode 57, and the rotation bolt of the negative electrode 63 is tightened to prevent the negative electrode 63 from moving up, down, left, right, forward, or backward. At this time, the preparation step A is completed, and the next step, the self-checking step B, is entered.

[0086] B. Self-checking step: After the preparation step of step A is completed, the multilayer metal welding device enters the self-checking step B; first, check whether the emergency stop and alarm are effective. If so, the controller 128 sends an audible and visual alarm signal to the actuator 125, and sends the fault location and fault handling method to the touch screen 130 through the transmission line 129; secondly, check whether the motion pairs of each axis are at the origin position. If not, the touch screen 130 displays which axis is not at the origin position, and displays "whether it returns to the origin position according to the specified path and axis motion sequence"; finally, when the controller 128 is initialized and the self-check is passed, the touch screen 130 displays "Please select the welding workpiece serial number"; if the selection is a new workpiece, the controller 128 automatically jumps to the inching control / parameter setting menu page; at this time, the self-checking step B is completed and enters the setting step C;

[0087] C. Setting step: After the self-checking step of step B is processed, the controller 128 automatically jumps to the setting step C, and switches the screen of the touch screen 130 to the inching control / parameter setting menu; then, according to the data calculated in the preparation step A, the parameters are respectively entered into the manipulator part, the pre-pressing part, the pre-tensioning part, the discharging part, the charging part, and the unloading part; wherein: the manipulator part takes out the workpiece 62 from the feed rack and puts it into the welding coordinates between the positive electrode 57 and the negative electrode 63 to wait for welding, and when the welding is completed, the workpiece 62 is transferred to the discharge rack; during this period, the working speeds of the upper electric cylinder 4 and the lower electric cylinder 5 of the X-axis, Y-axis, Z-axis, and the rotary axis 7 of the manipulator can be adjusted and set online, and the parameters can be manually repeatedly inched to test the running speed, linkage interpolation, and soft interruption test of the X-axis, Y-axis, Z-axis, and the rotary axis 7 upper electric cylinder 4 and the lower electric cylinder 5 until the process requirements are met, and at the same time, the manipulator can also automatically determine whether there is material on the feed rack and the discharge rack and the order of taking and placing materials;

[0088] The pre-pressing part uses the upper electric cylinder 4 as the power source to drag the upper electric cylinder, the pressure follower mechanism, the upper insulating plate 53 of the welding assembly, the positive pole 55 of the power supply, the extension rod 56, and the positive electrode 57 to move toward the workpiece 62, and uses the negative electrode 63 as a fixed reference base to apply pressure to the workpiece 62. The size of the pressure can be modified online on the touch screen 130, and the size of the pressure value can be automatically triggered and adjusted in real time. At the same time, the feedback signal is fed back to the transistor controller 131, and then the transistor controller 131 compares it with the pressure value entered by the touch screen 130. If the feedback value is equal to the entered pressure value, the upper electric cylinder 4 is braked and closed, and the upper The electric cylinder 4 stops working; when the feedback value is greater than the input pressure value, the upper electric cylinder 4 moves in the opposite direction of the workpiece 62 until the feedback value is equal to the input pressure value, the upper electric cylinder 4 brakes off and stops working; otherwise, the opposite happens; the pre-tensioning part is that the lower electric cylinder 5 drags the stretching mechanism to move in the direction of the workpiece 62, and uses the workpiece 62 as a fixed reference to apply pressure to the workpiece 62. The size of the pressure can be modified online on the touch screen 130, and the size of the pressure value can be automatically triggered and adjusted in real time; at this time, the parameters of the motion pair are set and adjusted, and the energy storage and discharge parameters are set; that is: first set the curtain grid circuit 154, That is, according to the thickness and number of oxide films of the workpiece 62 to be welded, the breakdown voltage of the oxide film is calculated. The breakdown voltage is the charging voltage of the high-voltage energy storage 98. The charging voltage selection range is 500 to 5000 volts. Then, the charging voltage of CN1 in the energy storage component 138 is set. The charging voltage selection range is 20 to 100 volts. The calculation method is the preheating time and preheating temperature of the workpiece 62. The higher the voltage, the longer the preheating time. Secondly, the welding circuit group 155 is set, that is, the welding power of the workpiece 62 is selected, that is, the welding power and welding current are calculated according to the thickness, number and welding area of ​​each layer of the workpiece 62, and then the welding power and welding current are calculated according to the thickness, number and welding area of ​​each layer of the workpiece 62. The welding power and welding current select the number of welding branches, determine the charging voltage of the CN2 group in the energy storage component 138, and determine whether the welding branches are discharged simultaneously, intermittently, or sequentially; then the charging voltage is recorded in the controller 128 through the touch screen 130, and the recorded charging voltage range is 0 to 50 volts; finally, the correction circuit group 156 is set, and the correction branch charging voltage value is charged to each correction branch according to the voltage value divided by the number of correction branches, and is recorded in the controller 128 through the touch screen 130, and the recorded charging voltage range is 0 to 50 volts; at this time; the setting step C is completed and enters the automatic step D;

[0089] D. Automatic step: After the processing of the setting step of step C is completed, the controller 128 automatically jumps to the automatic step D to wait for the manual automatic operation command. When the operator presses the automatic operation button on the touch screen 130, the equipment will automatically run; first, when the controller 128 receives the automatic operation command of the touch screen 130, the controller 128 will issue the automatic return to zero point operation of the X-axis, Y-axis, Z-axis, rotary axis 7, upper electric cylinder 4, and lower electric cylinder 5 of the manipulator part. When the return to zero point of each axis is completed, the clamping component of the clamping component opens, the L upper plate 59 is turned on, and the unloading relay 135 is energized, and at the same time, it is determined whether there is material on the feed rack and which rack has material. If there is no material, the manipulator automatically enters the waiting program. If there is material on the feed rack, the controller 128 will issue a command to which material rack to pick up the material and the action sequence. At this time, the X-axis, Y-axis, Z-axis, and rotary axis 7 will grab the workpiece 62 at the specified coordinates according to the running distance and running speed of the position data control table, and then send the workpiece 62 to the negative electrode of the welding station. In the positioning fixture of 63, after the workpiece 62 is placed in the positioning fixture, the positioning fixture sends a workpiece 62 in place instruction to the controller 128. At this time, the controller 128 sends a release command to the clamping component and retracts the arm Z axis to the origin position to wait; when the controller 128 receives the Z axis reaching the origin command, it sends a lower electric cylinder 5 clamping command, and the lower electric cylinder 5 drags the L upper plate 59 to press the workpiece 62, wherein: the pressure of the L upper plate 59 is the torque signal set on the touch screen 130; the controller 128 also sends a charging command to the curtain grid circuit 154, the welding circuit group 155, and the correction circuit group 156 at the same time, and compares in real time whether the charging voltage of the capacitor 149 is consistent with the charging data entered by the touch screen 130. If it is consistent, it sends a charging completion instruction to the controller 128, and at the same time detects that the pressure values ​​of the L upper plate 59 and the upper electric cylinder 4 have reached the set pressure value, and the controller 128 sends a welding instruction; then, the discharge is carried out sequentially according to the discharge timing set by the touch screen 130; that is: the curtain grid circuit 154

[0090] The discharge sequence of the correction circuit group 156 is as follows: when the controller 128 detects the discharge completion signal of the welding circuit group 155, it immediately averages and analyzes whether the power, resistance, voltage, and current of the welding circuit group 155 meet the set requirements; if not, the controller 128 calculates the error value generated by the welding circuit group 155, and then determines which correction branch or which correction branches in the correction circuit group 156 have parallel values ​​close to or equal to the error value, and then performs secondary discharge to supplement the insufficient welding energy;

[0091] When the controller 128 detects the secondary discharge completion signal; the controller 128 first sends the relay 135 a power-off command, and then sends the upper electric cylinder 4 and the lower electric cylinder 5 opening command. When the controller 128 detects the arrival signal of the lower electric cylinder 5 and the upper electric cylinder 4, the arm of the Z axis is extended again, and after reaching the coordinate of the workpiece 62, the clamping assembly clamps the workpiece 62 and sends it to the empty position of the discharge port; then the manipulator returns to its original position, at this time, the first working cycle is completed, if it continues to work, the equipment will work repeatedly; if manual intervention sends an end command, at this time, the automatic step D is completed, and the power-off step E is entered;

[0092] E. Power-off step: After the automatic step processing of step D is completed, the controller 128 issues a servo enable shutdown command to detect whether the relay 135 is disconnected and whether the capacitor 149 has been discharged, and then automatically turns off the power supply; while automatically turning off the power supply, the controller 128 also cuts off the power supply of the controller 128 itself.

Claims

1. Multilayer metal welding device, characterized in that: The invention comprises a frame, an electric cylinder group, a pressure follower mechanism, a stretching mechanism, a manipulator assembly, a welding assembly, a power supply assembly (3), and a workpiece (62); the frame is respectively connected to the electric cylinder group, the stretching mechanism, the manipulator assembly, the welding assembly, and the power supply assembly (3); the electric cylinder group further comprises an upper electric cylinder (4) and a lower electric cylinder (5); the upper electric cylinder (4) is respectively connected to the frame and the pressure follower mechanism; the lower electric cylinder (5) is respectively connected to the frame and the stretching mechanism; the pressure follower mechanism is respectively connected to the upper electric cylinder (4) and the welding assembly; the stretching mechanism is respectively connected to the frame, the lower electric cylinder (5), and the workpiece (62); the manipulator assembly is connected to the frame; the welding assembly is respectively connected to the frame, the pressure follower mechanism, and the workpiece (62); the power supply assembly (3) is respectively connected to the frame, the welding assembly, the electric cylinder group, and the manipulator assembly; The frame comprises a table top (1), a column (2), a guide rod (10), and a support rod (17); the table top (1) is respectively connected to the column (2), the guide rod (10), the support rod (17), the stretching mechanism, the welding assembly, and the power supply assembly (3); the column (2) is connected to the table top (1); the guide rod (10) is respectively connected to the table top (1) and the electric cylinder group; the support rod (17) is respectively connected to the table top (1) and the electric cylinder group; The pressure follower mechanism comprises an upper pressure plate (48), an adjusting nut (49), a lower pressure plate (52), a lower self-locking nut (54), a push rod (40), and a spring (51); the upper pressure plate (48) is respectively connected to the pressure rod, the self-locking nut, the adjusting nut (49), the spring (51), and the push rod (40); the adjusting nut (49) is respectively connected to the upper pressure plate (48) and the push rod (40); the lower pressure plate (52) is respectively connected to the upper insulating plate ( 53), a lower self-locking nut (54), a push rod (40), and a spring (51); the lower self-locking nut (54) is respectively connected to the push rod (40) and the lower pressure plate (52); the push rod (40) is respectively connected to the upper pressure plate (48), the adjusting nut (49), the lower pressure plate (52), the lower self-locking nut (54), and the spring (51); the spring (51) is respectively connected to the push rod (40), the upper pressure plate (48), and the lower pressure plate (52); The stretching mechanism comprises an L upper nut (58), an L upper plate (59), a pull rod (60), an L lower nut (61), an L lower plate (66), an L sliding bearing (67), an L lower pressure cover (68), and an L upper pressure cover (69); the L upper nut (58) is respectively connected to the L upper plate (59) and the pull rod (60); the L upper plate (59) is respectively connected to the workpiece (62), the L upper nut (58), and the pull rod (60); the pull rod (60) is respectively connected to the L upper nut (58), the L upper plate (59), the L lower nut (61), the L lower plate (66), the L sliding bearing (67), the L lower pressure cover (68) ), and the L upper pressure cover (69); the L lower nut (61) is respectively connected to the pull rod (60) and the L lower plate (66); the L lower plate (66) is respectively connected to the pressure rod of the lower electric cylinder, the G self-locking nut of the lower electric cylinder, the pull rod (60), and the L lower nut (61); the L sliding bearing (67) is respectively connected to the table (1), the L upper pressure cover (69), and the L lower pressure cover (68); the L lower pressure cover (68) is respectively connected to the table (1), the pull rod (60), and the L sliding bearing (67); the L upper pressure cover (69) is respectively connected to the table (1), the pull rod (60), and the L sliding bearing (67); The manipulator assembly comprises a cross slide (6), a rotary shaft (7), a Y axis (8), and a clamping assembly (9); the cross slide (6) is respectively connected to the table (1), the rotary shaft (7), and the power supply assembly (3); the rotary shaft (7) is respectively connected to the cross slide (6), the Y axis (8), and the power supply assembly (3); the clamping assembly (9) is connected to the Y axis (8); the cross slide (6) further comprises an X axis and a Z axis; the X axis is respectively connected to the table (1) and the Z axis; the Z axis is respectively connected to the X axis and the rotary shaft (7); The welding assembly comprises an upper insulating plate (53), a positive electrode of a power source (55), an extension rod (56), a positive electrode (57), a negative electrode (63), a negative electrode (64), and a lower insulating plate (65); the upper insulating plate (53) is connected to the positive electrode of the power source (55) and the lower pressure plate (52) respectively; the positive electrode of the power source (55) is connected to the upper insulating plate (53) and the extension rod (56) respectively; the extension rod (56) is connected to the positive electrode of the power source (55) and the positive electrode (57) respectively; the positive electrode (57) is connected to the extension rod (56) and the workpiece (62) respectively; the negative electrode (63) is connected to the workpiece (62) and the negative electrode of the power source (64) respectively; the negative electrode of the power source (64) is connected to the negative electrode (63) and the lower insulating plate (65) respectively; the lower insulating plate (65) is connected to the negative electrode of the power source (64) and the table (1) respectively; The workpiece (62) is connected to the positive electrode (57), the negative electrode (63), and the L upper plate (59) respectively; The power supply assembly (3) further comprises a human-machine interface (124), an execution assembly (125), a controller (128), a welding power supply (126), and a driver (127); the human-machine interface (124) is connected to the controller (128); the execution assembly (125) is connected to the controller (128); the controller (128) is respectively connected to the human-machine interface (124), the execution assembly (125), the trigger (136), the welding power supply (126), and the driver (127); the welding power supply (126) is respectively connected to the execution assembly (125) and the controller (128); the driver (127) is connected to the controller (128); The human-machine interface (124) comprises a touch screen (130), a transmission line (129), and a power interface; the touch screen (130) is respectively connected to the transmission line (129) and the power interface; the transmission line (129) is respectively connected to the touch screen (130) and the transistor controller (131); the power interface is respectively connected to the mains isolation power supply and the touch screen (130); The actuator (125) is composed of 10-30 relays (135), and the relays (135) have the same structure, principle, performance, parameters, size, and consistent assembly and connection methods; the relay (135) coil is respectively connected to a DC power supply and a relay controller (132), and the relay (135) contact part is respectively connected to a main control power supply, a driver (127), a welding power supply (126), a power supply negative electrode (64), and a power supply positive electrode (55); The controller (128) further comprises a transistor controller (131), a relay controller (132), an AD module (133), and a DA module (134); the transistor controller (131) is respectively connected to the human-machine interface (124), the relay controller (132), the driver (127), and the welding power supply (126); the relay controller (132) is respectively connected to the actuator (125), the welding power supply (126), the transistor controller (131), and the AD module (133); the AD module (133) is respectively connected to the welding power supply (126), the relay controller (132), and the DA module (134); the DA module (134) is respectively connected to the welding power supply (126), the driver (127), and the AD module (133); The driver (127) includes a power supply, a position servo drive component, and a torque servo drive component; the power supply is connected to the position servo drive component and the torque servo drive component respectively; the position servo drive component is connected to the power supply and the manipulator component respectively; the torque servo drive component is connected to the power supply and the electric cylinder group respectively; the position servo drive component is composed of 4 sets of position servo drive components, which are respectively connected to the X-axis motor, Y-axis motor and rotary axis (7) motor of the cross slide (6); the position servo drive component includes a position driver (139) and a position servo motor (73); the position driver (139) is respectively connected to the transistor controller (131), the position servo The motor (73) is connected to the position servo motor (73), the position servo motor (73) is respectively connected to the position driver (139), the X-axis motor or the Y-axis motor or the rotary shaft (7) motor; the torque servo drive assembly is composed of two sets of torque servo components, which are respectively connected to the motor of the upper electric cylinder (4) and the motor of the lower electric cylinder (5); the torque servo components include a torque driver (141) and a torque motor (11); the torque driver (141) is respectively connected to the transistor controller (131), the DA module (134) and the torque motor (11); the torque motor (11) is respectively connected to the torque driver (141), the upper electric cylinder (4) motor or the lower electric cylinder (5) motor; The welding power source (126) comprises a screen grid circuit (154), a welding circuit group (155), and a correction circuit group (156); the main circuits of the screen grid circuit (154), the welding circuit group (155), and the correction circuit group (156) are connected in parallel and are respectively connected to the positive electrode (55) of the power supply, the negative electrode (64) of the power supply, and the normally closed contact of ZK1 in the relay (135); the trigger (136) of the trigger circuit is respectively connected to the transistor controller (131) and the thyristor (137); The screen grid circuit (154) comprises LM-1 in the trigger (136), KT1 in the thyristor (137), a freewheeling diode (157), an inductor (143), a diode (151), CN1 in the energy storage component (138), and a high-voltage energy storage (98); LM-1 in the trigger (136) is connected to the transistor controller (131) and KT1 in the thyristor (137) respectively; KT1 in the thyristor (137) is connected in parallel with the freewheeling diode (157) and then connected to the positive electrode of the power supply (55), ZK1 in the relay (135), and the inductor (143); the freewheeling diode (157) is connected in parallel with KT1 in the thyristor (137) The inductor (143) is respectively connected to the positive electrode (55) of the power supply, ZK1 in the relay (135), and the inductor (143); the inductor (143) is respectively connected to KT1 in the thyristor (137), the freewheeling diode (157), the diode (151), and the high-voltage energy storage (98); the diode (151) is respectively connected to the inductor (143), the high-voltage energy storage (98), and CN1 in the energy storage component (138); CN1 in the energy storage component (138) is respectively connected to the negative electrode (64) of the power supply, ZK1 in the relay (135), and the diode (151); the high-voltage energy storage (98) is respectively connected to the inductor (143), the diode (151), and the negative electrode (64) of the power supply; The welding circuit group (155) is composed of 1 to 10 welding branches with completely identical structures, principles and parameters; the welding branches include LM-2 in the trigger (136), KT2 in the thyristor (137) and CN2 in the energy storage component (138); LM-2 in the trigger (136) is respectively connected to the transistor controller (131) and KT2 in the thyristor (137); KT2 in the thyristor (137) is respectively connected to LM-2 in the trigger (136) and CN2 in the energy storage component (138); CN2 in the energy storage component (138) is respectively connected to KT2 in the thyristor (137) and the negative pole (64) of the power supply; The correction circuit group (156) is composed of 1 to 10 correction branches with completely identical structures, principles and parameters; the correction branches include LM-3 in the trigger (136), KT3 in the thyristor (137) and CN3 in the energy storage component (138); LM-3 in the trigger (136) is respectively connected to the transistor controller (131) and KT3 in the thyristor (137); KT3 in the thyristor (137) is respectively connected to LM-3 in the trigger (136) and CN3 in the energy storage component (138); CN3 in the energy storage component (138) is respectively connected to KT3 in the thyristor (137) and a negative pole (64) of a power supply; The energy storage component (138) further comprises a capacitor (149), a feedback resistor (148), a charging power supply (147), FD3 in the power-discharging resistor (150), ZK3 in the safety switch (146), RG3 of the power tube (145), and a power-discharging control (144); the capacitor (149), the feedback resistor (148), and the charging power supply (147) are connected in parallel and are respectively connected to FD3 in the power-discharging resistor (150), the safety switch (146), KT3 in the thyristor (137), and ZK3 in the negative electrode (64) of the power supply; the power-discharging resistor (149) FD3 in the controllable silicon (137), a capacitor (149), a feedback resistor (148), a charging power supply (147), ZK3 in the safety switch (146), and RG3 in the power tube (145) are respectively connected in parallel to FD3 in the power-discharging resistor (150) and a negative electrode of the power supply (64); the power-discharging control (144) is respectively connected to the DA module (134), the power tube (145), the DC power supply, and the negative electrode of the power supply (64).

2. The multi-layer metal welding device according to claim 1, characterized in that: The positive electrode (57) and the negative electrode (63) have the same principle, structure, and dimension chain, and are assembled on the same axis and placed in a mirror image, that is, the outer circles M of the positive electrode (57) and the negative electrode (63) are coaxial, and the N of the spherical surface SR is coaxial; the size of the fillet C of the positive electrode (57) is 10 to 30 times the size H; the height of the spherical surface SR of the positive electrode (57) is 0.2 times the pressed thickness of the workpiece (62); the diameter of the spherical surface SR of the positive electrode (57) is 10 to 100 times the thickness of the workpiece; the size range of the outline ΦR of the positive electrode (57) is the diameter of the positive electrode (57) The number of contour lines ΦR is between one-half and three-quarters of ΦD; that is, the diameter of the outer contour line V of the spherical surface SR is smaller than the diameter of the inner contour line W of the fillet C; the number of spherical surfaces SR of the positive electrode (57) is between 1 and 100, when there is one spherical surface SR, the axis of the spherical surface SR is coaxial with the outer circle M, when there are more than two spherical surfaces SR, the center lines of the spherical surfaces SR are placed on the contour line ΦR and are evenly distributed on the contour line ΦR, and the outer circle X of one spherical surface SR and the outer circle X of an adjacent spherical surface SR shall not intersect, and the distance between X and X shall not be less than 2 mm; When a contour line cannot accommodate multiple spherical surfaces SR as required, the contour line can be evenly distributed between one half and three quarters of the diameter ΦD of the positive electrode (57), and then the spherical surfaces SR are evenly distributed on each contour line; the positive electrode (57) and the negative electrode (63) can be circular or square, but no matter whether they are circular or square, the welding surfaces of the positive electrode (57) and the negative electrode (63) have a discharge boss H, and the connection between the boss H and the plane is a smooth curved surface connection.

3. The multi-layer metal welding device according to claim 1, characterized in that: The structures, principles, dimension chains, performances and parameters of the upper electric cylinder (4) and the lower electric cylinder (5) are completely consistent. The pressure of the upper electric cylinder (4) is 10-15000 kg. The upper electric cylinder (4) is a torque motor with a brake, and the motor power is 1 to 10 kilowatts.

4. The multi-layer metal welding device according to claim 1, characterized in that: The screen grid circuit (154), welding circuit group (155) and correction circuit group (156) adopt a parallel circuit structure and a tree-shaped discharge mode, that is, the withstand voltage and capacity of the capacitor (149) of each circuit are different. According to the different currents required by the welding workpiece (62), any circuit can be selected for discharge. They can be used alone or in combination, and can also be discharged intermittently or at intervals in a time sequence. The screen grid circuit (154) is a superimposed power supply of a high-low voltage combination, and the high-low voltage power supply switching is automatically switched by a diode (151). The welding circuit group (155) and the correction circuit group (156) are interchangeable, that is, the welding circuit group (155) and the correction circuit group (156) can be used as welding modules or correction modules.

5. The multi-layer metal welding device according to claim 1, characterized in that: The charging voltage and discharging voltage of the high voltage energy storage (98) are greater than 500 volts.

6. The multi-layer metal welding device according to claim 1, characterized in that: The energy storage component (138) is composed of 1 to 20 loops; each loop can be used individually, in parallel, or in intermittent discharge; the energy storage component (138) can be charged individually or simultaneously.

7. The multi-layer metal welding device according to claim 1, characterized in that: The workpiece (62) refers to aluminum foil, copper foil, aluminum strip, copper strip, or aluminum substrate surface treatment material or copper substrate surface treatment material with 2 to 500 layers, and the substrate thickness is between 0.006 mm and 1 mm.

8. The multi-layer metal welding device according to claim 1, characterized in that: The upper electric cylinder (4) and the lower electric cylinder (5) have the same structure and principle, and are mirror-imaged and coaxially arranged.

9. A welding method for a multi-layer metal welding device, comprising the following steps: A. Preparation steps: According to the technical requirements of the workpiece (62), the electrode shapes of the positive electrode (57) and the negative electrode (63) are selected, and the material resistance of the workpiece (62), the number of layers to be welded and the total resistance, and the resistance of the oxide film of different layers are calculated to determine whether it is center point welding or through welding; then, according to the welding area required by the technical requirements, the ΦD size of the positive electrode (57) and the negative electrode (63) is selected, and the number and uniform distribution of the spherical surface SR and the contour line ΦR, and the number of weld nuggets formed by the welding nuggets are calculated; finally, according to the different materials and the cold work hardening characteristics of non-ferrous metals, the torque of the electric cylinder group and the workpiece are calculated. After adjusting the yield point and hardness of the component (62) due to high heat, the pressure of the pressure follower mechanism spring (51) is adjusted, and the positive electrode (57) and the negative electrode (63) used for welding are installed. Then, the axis section coordinates of the negative electrode (63) are adjusted to make the positive electrode (57) and the negative electrode (63) coaxial, and then the negative electrode (63) is fixed. Then, the rotation angle of the negative electrode (63) is rotated to make the N axis of the negative electrode (63) coaxial with the N axis of the positive electrode (57), and the rotation bolt of the negative electrode (63) is tightened to prevent the negative electrode (63) from moving up, down, left, right, forward, or backward; At this point, preparation step A is completed, and the next step is entered, self-check step B; B. Self-checking step: After the preparation step of step A is completed, the multilayer metal welding device enters the self-checking step B; firstly, it is checked whether the emergency stop and the alarm are effective. If they are effective, the controller (128) sends an audible and visual alarm signal to the actuator (125), and at the same time sends the fault location and fault handling method to the touch screen (130) through the transmission line (129); secondly, it is checked whether each axis motion pair is at the origin position. If it is not at the origin position, the touch screen (130) displays which axis is not at the origin position, and displays "whether it returns to the origin position according to the specified path and axis motion sequence"; finally, when the controller (128) is initialized and the self-check is passed, the touch screen (130) displays "please select the welding workpiece serial number", and if the selection is a new workpiece, the controller (128) automatically jumps to the inching control / parameter setting menu page; at this time, the self-checking step B is completed and the setting step C is entered; C. Setting step: After the self-checking step of step B, the controller (128) automatically jumps to setting step C and switches the screen of the touch screen (130) to the inching control / parameter setting menu; then, according to the data calculated in the preparation step A, the parameters are respectively entered into the manipulator part, the pre-pressing part, the pre-tensioning part, the discharging part, the charging part, and the unloading part; wherein: the manipulator part takes out the workpiece (62) from the feed rack and puts it into the welding coordinate between the positive electrode (57) and the negative electrode (63) to wait for welding, and when the welding is completed After that, the workpiece (62) is transferred to the discharge rack; during this period, the working speeds of the X-axis, Y-axis, Z-axis, upper electric cylinder (4) and lower electric cylinder (5) of the manipulator can be adjusted and parameters can be set online. After the parameters are adjusted and set, manual repeated jog tests can be performed on the running speeds, linkage interpolation and soft interrupt tests of the X-axis, Y-axis, Z-axis, upper electric cylinder (4) and lower electric cylinder (5) of the rotary axis (7) until the process requirements are met. At the same time, the manipulator can also automatically determine whether there is material on the feed rack and the discharge rack and the order of taking and placing materials. The pre-pressing part uses the upper electric cylinder (4) as a power source to drag the upper electric cylinder, the pressure follower mechanism, the upper insulating plate (53) of the welding assembly, the positive electrode (55) of the power supply, the extension rod (56), and the positive electrode (57) toward the workpiece (62), and uses the negative electrode (63) as a fixed reference to apply pressure to the workpiece (62). The size of the pressure can be modified online on the touch screen (130), and the size of the pressure value can be automatically triggered and adjusted in real time. At the same time, the feedback signal is fed back to the transistor controller (131), and then the transistor controller (131) compares the pressure value recorded with the touch screen (130). If the feedback value is equal to the recorded pressure value, the upper electric cylinder (4) is pressed. ) brake is closed, and the upper electric cylinder (4) stops working; when the feedback value is greater than the input pressure value, the upper electric cylinder (4) moves in the opposite direction of the workpiece (62) until the feedback value is equal to the input pressure value, the upper electric cylinder (4) brake is closed, and the upper electric cylinder (4) stops working; otherwise, the opposite is true; the pre-tensioning part is that the lower electric cylinder (5) drags the stretching mechanism to move in the direction of the workpiece (62), and uses the workpiece (62) as a fixed reference datum to apply pressure to the workpiece (62), the size of the pressure can be modified online on the touch screen (130), and the size of the pressure value is automatically triggered and adjusted in real time; at this time, the parameters of each axis of the motion pair are set and adjusted, and the energy storage and discharge parameters are set; that is: first set The curtain grid circuit (154) is set, that is: according to the thickness and number of oxide films of the workpiece (62) to be welded, the breakdown voltage of the oxide film is calculated. The breakdown voltage is the charging voltage of the high-voltage energy storage (98). The charging voltage selection range is 500 to 5000 volts. Then, the charging voltage of CN1 in the energy storage component (138) is set. The charging voltage selection range is 20 to 100 volts. The calculation method is the preheating time and preheating temperature of the workpiece (62). The higher the voltage, the longer the preheating time. Secondly, the welding circuit group (155) is set, that is: the welding power of the workpiece (62) is selected, that is: the welding power and welding voltage are calculated according to the thickness of each layer, the number of layers, and the welding area of ​​the workpiece (62). Then, according to the welding power and the welding current, the number of welding branches is selected, and the charging voltage of the CN2 group in the energy storage component (138) is determined, and it is determined whether the welding branches are discharged simultaneously, intermittently, or sequentially; then, the charging voltage is recorded in the controller (128) through the touch screen (130), and the recorded charging voltage range is 0 to 50 volts; finally, the correction circuit group (156) is set, and the correction branch charging voltage value is charged to each correction branch according to the voltage value divided by the number of correction branches, and is recorded in the controller (128) through the touch screen (130), and the recorded charging voltage range is 0 to 50 volts; at this time; the setting step C is completed, and the automatic step D is entered; D. Automatic step: After the processing of step C is completed, the controller (128) automatically jumps to the automatic step D to wait for the manual automatic operation command. When the operator presses the automatic operation button on the touch screen (130), the device automatically operates. First, when the controller (128) receives the automatic operation command from the touch screen (130), the controller (128) will issue an automatic return to zero point operation for the X-axis, Y-axis, Z-axis, rotary axis (7), upper electric cylinder (4), and lower electric cylinder (5) of the manipulator. When the axes return to zero point, the clamping assembly is automatically The gripper opens, the L upper plate (59) opens, and the power-off relay (135) closes, and at the same time determines whether there is material on the feed rack and which rack has material. If there is no material, the manipulator automatically enters the waiting program. If there is material on the feed rack, the controller (128) will issue a command to which rack to pick up the material and the action sequence. At this time, the X-axis, Y-axis, Z-axis, and rotary axis (7) will grab the workpiece (62) at the specified coordinates according to the running distance and running speed of the position data control table, and then send the workpiece (62) to the positioning fixture of the negative electrode (63) of the welding station. After the workpiece (62) is placed on the positioning fixture, the positioning fixture sends a workpiece (62) in-position instruction to the controller (128). At this time, the controller (128) sends a release command to the clamping assembly and retracts the arm Z axis to the origin position to wait; when the controller (128) receives the Z axis arrival origin command, it sends a lower electric cylinder (5) clamping command, and the lower electric cylinder (5) drags the L upper plate (59) to press the workpiece (62), wherein: the pressure of the L upper plate (59) is the torque signal set on the touch screen (130); the controller (128) also sends a The controller (128) issues a charging command to the screen grid circuit (154), the welding circuit group (155), and the correction circuit group (156), and compares in real time whether the charging voltage of the capacitor (149) is consistent with the charging data recorded by the touch screen (130). If they are consistent, the controller (128) issues a charging completion command. At the same time, when it is detected that the pressure values ​​of the upper plate (59) and the upper electric cylinder (4) have reached the set pressure value, the controller (128) issues a welding command; then, the discharge is performed sequentially according to the discharge timing set by the touch screen (130); that is, the screen grid circuit (154) The discharge timing of the correction circuit group (156) is as follows: when the controller (128) detects the discharge completion signal of the welding circuit group (155), the welding circuit group (155) is immediately averaged to analyze whether the power, resistance, voltage and current meet the set requirements; if not, the controller (128) calculates the error value generated by the welding circuit group (155), and then determines which correction branch or which correction branches in the correction circuit group (156) have parallel values ​​close to or equal to the error value, and then performs secondary discharge to supplement the insufficient welding energy; When the controller (128) detects the secondary discharge completion signal, the controller (128) first issues a power-off command to the relay (135), and then issues an opening command to the upper electric cylinder (4) and the lower electric cylinder (5). When the controller (128) detects the arrival signal of the lower electric cylinder (5) and the upper electric cylinder (4), the arm of the Z axis is extended again, and after reaching the coordinate of the workpiece (62), the clamping assembly clamps the workpiece (62) and sends it to the empty position of the discharge port. Then the robot returns to its original position. At this time, the first working cycle is completed. If the work continues, the equipment will work repeatedly. If the human intervention issues an end command, at this time, the automatic step D is completed and the power-off step E is entered. E. Power-off step: After the automatic step processing of step D is completed, the controller (128) issues a servo enable closing command, detects whether the relay (135) is disconnected, and whether the capacitor (149) is discharged, and automatically turns off the power supply; while the controller (128) automatically turns off the power supply, it also cuts off the power supply of the controller (128) itself.

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