An indirect welding control method and control system for a servo welding tong

Abstract

The present invention belongs to the technical field of welding, and particularly relates to an indirect welding control method and control system for a servo welding tong, including step S1: initializing the servo welding tong, and obtaining the thickness information of the current conductive plate corresponding to indirect welding of the servo welding tong and the current conductive plate pressing point number through an information collection module; step S2: moving the servo welding tong to the pressing point of the current number of the conductive plate for indirect welding, and the information collection module collects the real-time data of the servo welding tong; step S3: according to the real-time data of the servo welding tong in step S2, the information processing module calculates the actual thickness of the conductive plate through a preset program; step S4: the information processing module compares the actual thickness of the conductive plate with the thickness information of the conductive plate and determines whether the plate thickness is normal; if so, the current control process is exited, if not, step S5 is executed; by identifying the current conductive plate pressing point number, it is possible to automatically determine whether the conductive plate needs to be replaced, and the pressing point number of the conductive plate can be automatically changed when replacement is not required.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding, and particularly relates to a control method and a control system for indirect welding of a servo welding tongs. Background Art

[0002] Assembly spot welding is the main welding method in body manufacturing. Welding equipment and tooling positioning jigs are highly concentrated in the welding production line, resulting in a very high equipment saturation rate per unit space in the welding production line. Therefore, in automotive manufacturing, indirect welding devices are generally used at positions where welding space is difficult to overcome the problems of small space and inability of the welding tongs to enter; that is, welding is performed with welding tongs when the welding tongs can directly reach the welding position, and for those that cannot reach, the added indirect welding device is used to divert the welding current.

[0003] Since the indirect welding device cannot generate current for welding, during the actual welding process, the servo welding tongs are used to clamp the conductive copper plate assembly of the indirect welding device, and the current generated on the welding tongs is introduced into the indirect welding device to achieve the welding function. To ensure sufficient contact between the welding tongs and the conductive copper plate of the indirect welding device, generally, a certain pressure is applied by the welding tongs to clamp the conductive copper plate. After the clamping pressure reaches the set pressure, the welding tongs are energized for indirect welding, and the welding tongs are opened after welding is completed.

[0004] During the indirect welding process, the copper plate will be slightly indented and deformed at the clamping point under the pressure of the welding tongs. After long-term accumulation, due to excessive indentation and piercing of the copper plate, poor contact will occur, seriously affecting the welding quality; since the current welding equipment cannot automatically judge the health status of the conductive copper plate, currently in the industry, the indentation depth of the copper plate is generally identified manually and the conductive copper plate is replaced regularly to ensure the welding quality.

[0005] In addition, since the servo welding tongs are usually tools carried by robots, currently in the industry, the movement trajectory of the robot carrying the servo welding tongs for indirect welding is unique and cannot automatically change the pressing point. That is, after the pressing point of the conductive copper plate in contact with the servo welding tongs of the indirect welding device does not meet the permission requirements, the entire copper plate can only be replaced, resulting in serious waste of materials. Summary of the Invention

[0006] The purpose of the present invention is to provide a control method and a control system for indirect welding of a servo welding tongs, which can automatically judge the health status of the conductive plate to decide whether to replace the conductive plate, and change the pressing point of the servo welding tongs according to the actual situation of the conductive plate, avoiding the problem that the whole plate can only be replaced when some pressing points of the conductive plate do not meet the requirements, and reducing the material waste of indirect welding.

[0007] The present invention is realized as follows. A control method for indirect welding of a servo welding tongs includes:

[0008] Step S1: Initialize the servo welding tongs, and obtain the thickness information of the current conductive plate corresponding to the indirect welding of the servo welding tongs and the current conductive plate pressing point number through the information collection module;

[0009] Step S2: Move the servo welding tongs to the current numbered pressing point of the conductive plate for indirect welding, and the information collection module collects the real-time data of the servo welding tongs;

[0010] Step S3: According to the real-time data of the servo welding tongs in Step S2, the information processing module calculates the actual thickness of the conductive plate through a preset program;

[0011] Step S4: The information processing module compares the actual thickness of the conductive plate with the thickness information of the conductive plate and determines whether the plate thickness is normal; if so, exit the current control process, if not, execute Step S5;

[0012] Step S5: The information processing module identifies the current conductive plate pressing point number and determines whether the conductive plate needs to be replaced; if so, exit the current control process, if not, change the current conductive plate pressing point number;

[0013] Step S6: According to the changed conductive plate pressing point number in Step S5, the control module controls the servo welding tongs to the changed conductive plate pressing point and prepares for the next welding.

[0014] A control method for indirect welding of a servo welding tong in the present invention can obtain the corresponding data of the conductive plate during the indirect welding of the servo welding tong through the information collection module to obtain the thickness information of the conductive plate corresponding to the indirect welding of the current servo welding tong and the current conductive plate pressing point number, providing data support for the subsequent determination of the plate thickness and the pressing point of the conductive plate; collecting the real-time data of the servo welding tong by using the information collection module is convenient for calculating the actual thickness of the conductive plate, so as to automatically judge whether the plate thickness of the conductive plate is normal by using the information processing module, saving labor costs on the premise of ensuring the accuracy of the determination; by identifying the current conductive plate pressing point number, it can automatically judge whether the conductive plate needs to be replaced, and can automatically change the pressing point number of the conductive plate when replacement is not required, avoiding the situation of overall replacement of the conductive plate when only some pressing points of the conductive plate do not meet the requirements, ensuring that the effective pressing points on the conductive plate can be fully used, and further reducing the waste of materials during the indirect welding process.

[0015] Preferably, in Step S1, the conductive plate thickness information at least includes: the initial thickness of the conductive plate and the minimum allowable thickness t of the conductive plate min ,

[0016] The initial thickness of the conductive plate is: the distance between the pressing point of the moving arm of the welding tong and the pressing point of the static arm of the welding tong when the servo welding tong presses the conductive plate without pressing damage to the conductive plate pressing point;

[0017] The minimum allowable thickness t of the conductive platemin It is: the distance between the pressing point of the movable arm of the welding tongs and the pressing point of the static arm of the welding tongs when the pressing point of the conductive plate reaches the limit of pressure loss.

[0018] The pressure loss limit is: the limit position of the indentation that can ensure reliable conduction of electricity when the welding tongs are pressurized and does not affect the welding quality after the pressing point of the conductive plate has undergone pressure loss.

[0019] Preferably, in step S1, the current conductive plate pressing point number is the serial number value X set for the available pressing points of the conductive plate, where X is a positive integer value.

[0020] Preferably, in step S2, the real-time data of the servo welding tongs specifically includes: the number of rotation cycles data and the angle data of the rotary encoder on the servo welding tongs.

[0021] Preferably, in step S3, the calculation formula for the actual plate thickness calculated by the information processing module through a preset program is

[0022] In the formula, t is the actual thickness of the indirectly welded conductive plate;

[0023] P0 and R0 are respectively the number of rotation cycles and the rotation angle of the rotary encoder when the moving electrode and the static electrode of the welding tongs are in contact;

[0024] P and R are respectively the number of rotation cycles and the rotation angle of the rotary encoder collected after the welding tongs clamp the indirectly welded conductive plate;

[0025] H is the transmission coefficient for converting the rotary motion of the welding tongs motor into the linear motion of the movable arm of the welding tongs.

[0026] Preferably, in step S4, the information processing module compares the actual plate thickness of the conductive plate with the conductive plate thickness information and determines whether the plate thickness is normal, specifically including:

[0027] When t > t min Then it is determined that the plate thickness is normal;

[0028] When t ≤ t min Then it is determined that the plate thickness is abnormal.

[0029] Preferably, in step S5: comparing the current conductive plate pressing point number with the conductive plate pressing point information, and determining whether to replace the conductive plate according to the comparison result, specifically including:

[0030] When X ≥ X MAX Then an alarm is given to prompt replacement of the conductive plate;

[0031] When X < X MAX Then there is no need to replace the conductive plate, and the current conductive plate pressing point number is incremented by one;

[0032] Wherein, X MAXis the maximum value of the available press point serial number value X of the conductive plate.

[0033] The present invention also provides an indirect welding control system for a servo welding tong, specifically including:

[0034] Information collection module: Collect the current usage information of the indirect welding conductive plate, the conductive plate press point information, and the real-time data of the servo welding tong, and upload the obtained conductive plate usage information, conductive plate press point information, and the real-time data of the servo welding tong to the information processing module;

[0035] Information processing module: Calculate the actual plate thickness of the current conductive plate according to the above steps S3 and S4 and judge whether it is normal, and judge whether the conductive plate needs to be replaced and perform an update operation on the conductive plate press point data according to the above step S5; and transmit the changed conductive plate press point number to the control module;

[0036] Control module: Implement the press point change of the indirect welding of the servo welding tong according to the calculation result of the information processing module.

[0037] Preferably, it further includes: an information display module, which is signal-connected to the information collection module and the information processing module, and records and displays the data collected or generated by the information collection module and the information processing module;

[0038] An information input module, installed on the information display module and connected to the information processing module, so that the operator can control the servo welding tong to perform indirect welding.

[0039] Preferably, the information collection module, the information processing module, and the control module are all embedded in the PLC program.

[0040] For the indirect welding control system of a servo welding tong of the present invention, by setting a collection module, it is convenient to collect the thickness information of the conductive plate, the conductive plate press point information, and the real-time data of the servo welding tong, providing data support for the subsequent determination of the plate thickness and press points of the conductive plate; through the information processing module, it is convenient to calculate the actual plate thickness of the conductive plate, so as to automatically compare and judge whether the plate thickness is normal; and through the information processing module, the number of the conductive plate is identified, so as to judge whether the conductive plate needs to be replaced or the current conductive plate press point number needs to be changed; finally, the control module is used to change the press points of the servo welding tong, avoiding the problem that only the whole can be replaced when some press points of the conductive plate do not meet the requirements, reducing the material waste of indirect welding; finally, realizing automatic identification of the health status of the conductive plate to replace manual visual identification, having the advantage of greatly reducing the maintenance labor cost of indirect welding, and avoiding possible human negligence, ensuring the quality of indirect welding.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows: It can automatically calculate the actual thickness of the conductive plate, and automatically determine whether the thickness of the conductive plate is normal and whether the conductive plate needs to be replaced, saving labor costs while ensuring the accuracy of determination; when the conductive plate does not need to be replaced, it can automatically change the numbering of the pressure points on the conductive plate, avoiding the situation of replacing the entire conductive plate when only some of the pressure points on the conductive plate do not meet the requirements, so that the effective pressure points on the conductive plate can be fully utilized, thereby reducing the waste of materials in the indirect soldering process and ensuring the quality of the indirect soldering. Brief Description of the Drawings

[0042] Figure 1 It is a flowchart of a method for controlling indirect soldering of a servo welding tong

[0043] Figure 2 It is a schematic structural diagram of a servo welding tong during indirect soldering in a method for controlling indirect soldering of a servo welding tong provided by the present invention;

[0044] Figure 3 It is a side sectional view of a conductive plate assembly in a method for controlling indirect soldering of a servo welding tong provided by the present invention;

[0045] Figure 4 It is a schematic structural diagram of a pressure point arranged on a conductive plate assembly in a method for controlling indirect soldering of a servo welding tong provided by the present invention;

[0046] In the drawings: 1 welding tong motor, 2 moving arm of the welding tong, 3 moving electrode, 4 static arm of the welding tong, 5 static electrode, 6 conductive plate assembly, 61 upper conductive plate, 62 lower conductive plate, 63 insulating gasket, 64 support, 7 indirect soldering device. Detailed Description of the Embodiment

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0048] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0049] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation of the components shown in the drawings. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and they can change accordingly with the change of the orientation of the components placed in the drawings.

[0050] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral one; it can be directly connected or indirectly connected through an intermediate medium.

[0051] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0052] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0053] Embodiment 1

[0054] As Figure 1 shown, it is a flowchart of an indirect welding control method for a servo welding tong provided by the present invention, including:

[0055] Step S1: Initialize the servo welding tong, and obtain the thickness information of the current conductive plate corresponding to the indirect welding of the servo welding tong and the current conductive plate pressing point number through the information collection module;

[0056] Step S2: Move the servo welding tong to the current numbered pressing point of the conductive plate for indirect welding, and the information collection module collects the real-time data of the servo welding tong;

[0057] Step S3: According to the real-time data of the servo welding tong in step S2, the information processing module calculates the actual thickness of the conductive plate through a preset program;

[0058] Step S4: The information processing module compares the actual thickness of the conductive plate with the conductive plate thickness information and determines whether the plate thickness is normal; if so, this control process is exited; if not, step S5 is executed;

[0059] Step S5: The information processing module identifies the current conductive plate press point number and determines whether the conductive plate needs to be replaced; if so, this control process is exited; if not, the current conductive plate press point number is changed;

[0060] Step S6: According to the conductive plate press point number changed in step S5, the control module controls the servo welding tongs to the changed conductive plate press point and prepares for the next welding.

[0061] In actual application of this embodiment, by obtaining the conductive plate thickness information corresponding to the indirect welding of the current servo welding tongs and the current conductive plate press point number through the information collection module, the corresponding data of the conductive plate during the indirect welding process of the servo welding tongs can be obtained, providing data support for the subsequent determination of the conductive plate thickness and the press point determination; collecting the real-time data of the servo welding tongs by using the information collection module is convenient for calculating the actual thickness of the conductive plate, so as to automatically judge whether the conductive plate thickness is normal by using the information processing module, saving labor costs while ensuring the accuracy of the determination; by identifying the current conductive plate press point number, it can automatically judge whether the conductive plate needs to be replaced, and can automatically change the press point number of the conductive plate when replacement is not required, avoiding the situation of replacing the entire conductive plate when only some press points of the conductive plate do not meet the requirements, ensuring that the effective press points on the conductive plate can be fully used, and thus reducing the waste of materials during the indirect welding process.

[0062] Specifically, in step S1, the conductive plate thickness information at least includes: the initial thickness of the conductive plate and the minimum allowable thickness t of the conductive plate min ,

[0063] The initial thickness of the conductive plate is: when there is no press loss at the conductive plate press point, the servo welding tongs press the conductive plate, and the distance between the press point of the moving arm of the welding tongs and the press point of the static arm of the welding tongs;

[0064] The minimum allowable thickness t of the conductive plate min is: when the conductive plate press point reaches the press loss limit, the servo welding tongs press the conductive plate, and the distance between the press point of the moving arm of the welding tongs and the press point of the static arm of the welding tongs;

[0065] Among them, the press loss limit is: the concave limit position where the conductive plate press point can ensure reliable conduction when the welding tongs apply pressure and does not affect the welding quality after passing through the press loss.

[0066] It should be noted that as Figure 2 , Figure 3As shown in the figure, the structure of the servo welding tongs for indirect welding mainly includes: a welding tongs motor 1, a moving arm 2 of the welding tongs, a moving electrode 3 connected to the moving arm 2 of the welding tongs, a static arm 4 of the welding tongs, a static electrode 5 connected to the static arm 4 of the welding tongs, a conductive plate assembly 6 arranged between the moving electrode 3 and the static electrode 5, and an indirect welding device 7 connected to the conductive plate assembly 6.

[0067] In one case of this embodiment, the conductive plate assembly 6 mainly includes: a support 64, insulating gaskets 63 symmetrically arranged on both sides of the support 64, and an upper conductive plate 61 and a lower conductive plate 62 distributed on the side of the insulating gaskets 63 on both sides away from the support 64.

[0068] Furthermore, during use, the moving electrode 3 and the static electrode 5 are respectively pressed against the corresponding pressing points on the upper conductive plate 61 and the lower conductive plate 62 to perform indirect welding; therefore, the initial thickness of the conductive plate is the distance between the pressing point of the welding tongs moving arm and the pressing point of the welding tongs static arm when the servo welding tongs press the conductive plate and the upper conductive plate 61 and the lower conductive plate 62 have not suffered pressing damage.

[0069] During actual operation, the initial thickness of the conductive plate = the thickness of the conductive plate at the pressing point of the welding tongs moving arm + the thickness of the insulating gasket at the pressing point of the welding tongs moving arm + the thickness of the support + the thickness of the conductive plate at the pressing point of the welding tongs static arm + the thickness of the insulating gasket at the pressing point of the welding tongs static arm.

[0070] Even further, after the static electrode 5 and the moving electrode 3 press the corresponding pressing points of the conductive plate, depression points will be generated on the upper conductive plate 61 and the lower conductive plate 62. When the depression points reach the limit position, it will affect the conduction process of the welding tongs moving electrode 3 and the static electrode 5; after the thickness is lower than the allowable thickness, the electrode will crush the surface conductive plate and directly contact the lower insulating gasket 63 when the welding tongs are pressurized, resulting in poor conduction; therefore, the minimum allowable thickness of the conductive plate is the distance between the pressing point of the welding tongs moving arm and the pressing point of the welding tongs static arm when the servo welding tongs press the conductive plate and the pressing points of the conductive plate reach the limit of pressing damage.

[0071] During actual operation, the minimum allowable thickness of the conductive plate = the allowable minimum thickness of the conductive plate after depression at the pressing point of the moving arm + the thickness of the insulating gasket at the pressing point of the moving arm + the thickness of the support + the allowable minimum thickness of the conductive plate after depression at the pressing point of the static arm + the thickness of the insulating gasket at the pressing point of the static arm.

[0072] Embodiment 2

[0073] Based on Embodiment 1, in step S1, the current conductive plate pressing point number is the sequence value X set for the available pressing points of the conductive plate, where X is a positive integer value.

[0074] It should be noted that, as Figure 4 shown, in the early stage of operation, the servo welding tongs trajectory will be programmed and taught for multiple available pressing point positions according to the size area of the indirect welding conductive copper plate, so that the servo welding tongs can select one pressing point for welding each time; asFigure 4 As shown in the figure, 9 pressure points are selected for the conductive copper plate work; in the illustrated example, the value range of X is from 1 to 9, that is, 9 selectable pressure points are designed, and the maximum value that X can take is: X MAX = 9.

[0075] In the actual application of this embodiment, in step S2, the real-time data of the servo welding tongs specifically includes: the number of rotation cycles data and the angle data of the rotary encoder on the servo welding tongs.

[0076] Furthermore, in step S3, the calculation formula for the actual plate thickness calculated by the information processing module through a preset program is

[0077] In the formula, t is the actual thickness of the indirect welding conductive plate;

[0078] P0 and R0 are respectively the number of rotation cycles and the rotation angle of the rotary encoder when the moving electrode and the static electrode of the welding tongs are in contact;

[0079] P and R are respectively the number of rotation cycles and the rotation angle of the rotary encoder collected after the welding tongs clamp the indirect welding conductive plate;

[0080] H is the transmission coefficient for the welding tongs motor to convert the rotational motion into the linear motion of the moving arm of the welding tongs.

[0081] It can be known that the real-time data of the servo welding tongs is collected by using the information collection module, so as to calculate the actual thickness t of the indirect welding conductive plate by using the number of rotation cycles data and the angle data on the rotary encoder of the servo welding tongs.

[0082] Furthermore, in step S4, the information processing module compares the actual plate thickness of the conductive plate with the conductive plate thickness information and determines whether the plate thickness is normal, specifically including:

[0083] When t > t min , it is determined that the plate thickness is normal;

[0084] When t ≤ t min , it is determined that the plate thickness is abnormal.

[0085] It should be noted that comparing the actual thickness of the indirect welding conductive plate with the minimum allowable thickness of the conductive plate is convenient for timely determining whether the plate thickness is normal, and avoiding that after the allowable thickness is exceeded, when the welding tongs apply pressure, the electrode will crush the surface conductive plate and directly contact the lower insulating gasket, resulting in poor conductivity and affecting the welding process.

[0086] Even further, in step S5: comparing the current conductive plate pressure point number with the conductive plate pressure point information, and determining whether to replace the conductive plate according to the comparison result, specifically including:

[0087] When X ≥ X MAX , an alarm is given to prompt to replace the conductive plate;

[0088] When X < X MAX , there is no need to replace the conductive plate, and the current conductive plate press point number is incremented by one;

[0089] where X MAX is the maximum value of the available press point serial number value X of the conductive plate.

[0090] It can be known that by comparing the current conductive plate press point number with the maximum value of the available press points of the conductive plate, it is convenient to replace to the next press point when some press points of the conductive plate do not meet the requirements, so as to ensure that the effective press points on the conductive plate can be fully utilized, reducing the material waste in the indirect soldering process.

[0091] Embodiment 3

[0092] This embodiment is an embodiment of an indirect soldering control system for a servo welding tong, including:

[0093] Information collection module: Collect the current indirect soldering conductive plate thickness information, conductive plate press point information, and real-time data of the servo welding tong, and upload the obtained conductive thickness information, conductive plate press point information, and real-time data of the servo welding tong to the information processing module;

[0094] Information processing module: Calculate the actual plate thickness of the current conductive plate according to steps S3 and S4 in Embodiment 1 and judge whether it is normal, and judge whether it is necessary to replace the conductive plate and perform an update operation on the conductive plate press point data according to step S5 in Embodiment 1; and transmit the changed conductive plate press point number to the control module;

[0095] Control module: Perform a press point change for indirect soldering of the servo welding tong according to the calculation result of the information processing module.

[0096] Specifically, by setting up the collection module, it is convenient to collect the thickness information of the conductive plate, the conductive plate press point information, and the real-time data of the servo welding tong, providing data support for the subsequent determination of the plate thickness and press points of the conductive plate; by the information processing module, it is convenient to calculate the actual plate thickness of the conductive plate, so as to automatically compare and judge whether the plate thickness is normal; and by the information processing module, the number of the conductive plate is identified, so as to judge whether it is necessary to replace the conductive plate or change the current conductive plate press point number; finally, the control module is used to perform a press point change on the servo welding tong, avoiding the problem that the whole conductive plate can only be replaced when some press points of the conductive plate do not meet the requirements, reducing the material waste in the indirect soldering; finally, realizing automatic identification of the health status of the conductive plate to replace manual visual identification, having the advantage of greatly reducing the maintenance labor cost of indirect soldering, and avoiding possible human negligence, ensuring the quality of indirect soldering.

[0097] Further, it further includes: an information display module, which is signal-connected to the information collection module and the information processing module, and records and displays the data collected or generated by the information collection module and the information processing module.

[0098] An information input module, which is installed on the information display module and connected to the information processing module, so that the operator can control the servo welding tongs for indirect welding.

[0099] It should be noted that by setting the information display module, it is convenient to present the data collected or generated by the information collection module and the information processing module, and at the same time provide an alarm function. The operator can control the servo welding tongs for indirect welding at the information input module according to needs, or stop the machine to manually replace the conductive plate of the welding tongs, which is convenient for data optimization during production. The operator can timely grasp the real-time usage status of the indirect welding copper plate and replace it before the limit service life of the copper plate arrives as planned to avoid affecting production.

[0100] Furthermore, the information collection module, the information processing module and the control module are all embedded in the PLC program.

[0101] In practical applications of this embodiment, embedding the information collection module, the information processing module and the control module in the PLC program can reduce the hardware cost, further reduce the project introduction cost, and improve the economy; the information display module can be an HMI human-machine interaction interface, and the information input module can be a data optimization window matching the information display module, which further improves the practicability and operability.

[0102] In this article, specific examples are used to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; it should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of this application, several improvements and modifications can still be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An indirect welding control method for a servo welding tong, characterized in that, Including: Step S1: Initialize the servo welding tongs, and obtain the thickness information of the current conductive plate corresponding to the indirect welding and the current conductive plate pressing point number through the information collection module; Step S2: Move the servo welding tongs to the current numbered pressing point of the conductive plate for indirect welding, and the information collection module collects the real-time data of the servo welding tongs; Step S3: According to the real-time data of the servo welding tongs in Step S2, the information processing module calculates the actual thickness of the conductive plate through a preset program; Step S4: The information processing module compares the actual thickness of the conductive plate with the thickness information of the conductive plate and determines whether the plate thickness is normal; if so, exit the current control process, if not, execute Step S5; Step S5: The information processing module identifies the current conductive plate pressing point number and determines whether the conductive plate needs to be replaced; if so, exit the current control process, if not, change the current conductive plate pressing point number; Step S6: According to the changed conductive plate pressing point number in Step S5, the control module controls the servo welding tongs to the changed conductive plate pressing point and prepares for the next welding.

2. The indirect welding control method of a servo welding tongs according to claim 1, wherein In step S1, the thickness information of the conductive plate at least includes: the initial thickness of the conductive plate and the minimum allowable thickness t of the conductive plate min , The initial thickness of the conductive plate is: when there is no pressing loss at the conductive plate pressing point, the servo welding tongs clamp the conductive plate, and the distance between the pressing point of the moving arm of the welding tongs and the pressing point of the static arm of the welding tongs; The minimum allowable thickness t of the conductive plate min is: when the pressing point of the conductive plate reaches the limit of pressing loss, the servo welding tongs press the conductive plate, and the distance between the pressing point of the moving arm of the welding tongs and the pressing point of the static arm of the welding tongs; The pressing loss limit is: the limit position of the concave pressing after the conductive plate pressing point has undergone pressing loss, which can ensure reliable conduction when the welding tongs are pressurized and does not affect the welding quality.

3. The indirect welding control method of a servo welding tong according to claim 1, characterized in that In Step S1, the current conductive plate pressing point number is the serial number value X set for the available pressing points of the conductive plate, where X is a positive integer value.

4. A method for indirectly controlling a servo welding tong, according to claim 2, characterized in that, In Step S2, the real-time data of the servo welding tongs specifically includes: the rotation number data and angle data of the rotary encoder on the servo welding tongs.

5. A method for indirectly controlling a servo welding tong, according to claim 4, characterized in that, In step S3, the calculation formula for the actual board thickness calculated by the information processing module through a preset program is In the formula, t is the actual thickness of the conductive plate for indirect welding; P0 and R0 are respectively the rotation number and rotation angle of the rotary encoder when the moving electrode and the static electrode of the welding tongs are in contact; P and R are respectively the rotation number and rotation angle of the rotary encoder collected after the welding tongs clamp the conductive plate for indirect welding; H is the transmission coefficient of the welding tongs motor to convert the rotary motion into the linear motion of the moving arm of the welding tongs.

6. The indirect welding control method of a servo welding tongs according to claim 5, wherein In Step S4, the information processing module compares the actual thickness of the conductive plate with the thickness information of the conductive plate and determines whether the plate thickness is normal, which specifically includes: When t > t min , the plate thickness is determined to be normal; When t ≤ t min , the plate thickness is determined to be abnormal.

7. A method for indirectly controlling a servo welding tong, according to claim 3, characterized in that In Step S5: Compare the current conductive plate pressing point number with the conductive plate pressing point information, and determine whether to replace the conductive plate according to the comparison result, which specifically includes: When X ≥ X MAX , an alarm is given to prompt replacing the conductive plate; When X < X MAX , there is no need to replace the conductive plate, and the current conductive plate pressing point number is incremented by one; Among them, X MAX is the maximum value of the available pressure point serial number value X of the conductive plate.

8. An indirect welding control system for a servo welding tong, characterized in that, Including: Information collection module: Collect the usage information of the current conductive plate for indirect welding, the conductive plate pressing point information, and the real-time data of the servo welding tongs, and upload the obtained conductive plate usage information, conductive plate pressing point information, and real-time data of the servo welding tongs to the information processing module; Information processing module: Calculate the actual thickness of the current conductive plate according to Steps S3 and S4 in Claim 1 and determine whether it is normal, and determine whether the conductive plate needs to be replaced according to Step S5 in Claim 1 and perform an update operation on the conductive plate pressing point data; and transmit the changed conductive plate pressing point number to the control module; Control module: Implement the change of the pressing point of the servo welding tongs for indirect welding according to the calculation result of the information processing module.

9. The indirect welding control system of a servo welding tongs according to claim 8, wherein Also including: An information display module, which is signal-connected to the information collection module and the information processing module, records and displays the data collected or generated by the information collection module and the information processing module; An information input module, which is installed on the information display module and connected to the information processing module, so that the operator can control the servo welding tongs for indirect welding.

10. A servo welding tongs indirect welding control system according to claim 8, characterized in that, The information collection module, the information processing module and the control module are all embedded in the PLC program.

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