A self-locking welding gun and wear compensation method thereof

Abstract

The present invention discloses a self-locking welding gun and a wear compensation method thereof, belonging to the technical field of welding guns, including a C-shaped frame, a lower electrode and an upper electrode, the upper end of the C-shaped frame is equipped with a self-locking quick-connect assembly for connecting with an external multi-axis robot; the self-locking quick-connect assembly includes a mounting sleeve, a robot connection seat, a plug-in seat, an annular groove, a piston, a ventilation structure and an automatic locking structure; the lower end of the plug-in seat is provided with an annular groove with a bottom opening, the upper end of the annular groove is connected to the ventilation structure, an annular piston is fitted and slidably connected in the annular groove, and the piston is connected to the automatic locking structure to achieve locking and unlocking of the plug-in seat and the mounting sleeve. Through the above method, the present invention makes the processing and assembly methods simpler, and can calibrate the various working points of the lower electrode and the upper electrode of the welding gun, thereby ensuring the welding quality.

Description

Technical Field

[0001] The invention relates to the technical field of welding guns, and in particular to a self-locking welding gun and a wear compensation method thereof. Background Art

[0002] Welding robots are required for the assembly of automotive sheet metal parts after stamping.

[0003] When the welding gun is working, the external multi-axis robot drives the welding gun to the set position, and then the lower electrode moves upward by a distance Di to contact the workpiece, and the upper electrode moves downward by a distance Dj to contact the workpiece. The upper and lower electrodes will become shorter after wear and grinding during use. After long-term use, welding cannot be performed according to the set contact pressure, and the welding quality cannot be maintained.

[0004] In order to solve the above problems, Chinese invention patent CN118595578A discloses a quick-connect welding gun and its use method. However, it still has the following problems: First, its processing and assembly methods are relatively complicated, which increases the manufacturing cost. For example, it is necessary to open semi-circular grooves on the circular step plate and the connecting seat respectively, and then combine them into an annular groove. One end of the spring is fixedly installed on the inner wall of the semi-circular groove at the connecting seat, and the outer end of the spring is fixedly installed on the locking rod. Semi-circular grooves are also required on the connecting rod and the connecting seat and combined into a group of transverse through holes. Secondly, the above-mentioned equipment can only compensate for the upper electrode, but cannot compensate for the wear of the lower electrode.

[0005] Based on this, the present invention designs a self-locking welding gun and a wear compensation method thereof to solve the above problems. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a self-locking welding gun and a wear compensation method thereof.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A self-locking welding gun comprises a C-shaped frame, a lower electrode and an upper electrode;

[0009] A self-locking quick-connect assembly for connecting to an external multi-axis robot is installed at the upper end of the C-shaped frame;

[0010] The self-locking quick-connect assembly comprises a mounting sleeve, a robot connection seat, a plug-in seat, an annular groove, a piston, a ventilation structure and an automatic locking structure; the upper end of the mounting sleeve is plugged and installed with a plug-in seat, the top of the plug-in seat is fixedly installed with a robot connection seat, the plug-in seat is installed with a ventilation structure, the lower end of the plug-in seat is provided with an annular groove with a bottom opening, the upper end of the annular groove is connected with the ventilation structure, an annular piston is fitted and slidably connected in the annular groove, and the piston is connected with the automatic locking structure to realize the locking and unlocking of the plug-in seat and the mounting sleeve; the external multi-axis robot is connected with the robot connection seat;

[0011] A lower electrode is fixedly mounted on the lower end of the C-shaped frame;

[0012] An upper electrode position adjustment component for driving the upper electrode to move is installed on the upper end side of the C-shaped frame;

[0013] The invention also comprises a compensation calculation auxiliary component for performing compensation calibration on the positions of the upper electrode and the lower electrode.

[0014] Furthermore, the ventilation structure includes an air inlet pipe and an air outlet pipe, the air inlet pipe and the air outlet pipe are fixedly mounted on the socket and the lower ends thereof penetrate through the socket and are connected with the annular groove.

[0015] Furthermore, a straight hole penetrating the socket and communicating with the annular groove is provided inside the air inlet pipe and the air outlet pipe.

[0016] Furthermore, the automatic locking structure includes an inclined block, a push rod, an inclined groove, an insert plate, a second transverse groove and a socket; a plurality of sets of inclined blocks are fixedly connected to the bottom of the piston, an inclined groove is provided inside the inclined block, a push rod is slidably connected in the inclined groove, the push rod is fixedly installed at one end of the insert plate, the insert plate is slidably connected to the second transverse groove provided on the side wall of the step at the lower end of the socket, and when locked, the other end of the insert plate is inserted into the socket provided on the inner wall of the mounting sleeve.

[0017] Furthermore, the compensation calculation auxiliary component includes a push-pull force gauge and a cross plate. The push-pull force gauge is fixedly installed on an external frame, and the detection end of the push-pull force gauge is fixedly connected to the cross plate.

[0018] Furthermore, the upper electrode position adjustment assembly includes a guide rail assembly, a transverse groove, a connecting block, a threaded rod, a servo motor, a linkage assembly and an encoder; a support seat is fixedly installed on the front side wall of the C-shaped frame, the support seat is rotatably connected to the threaded rod through a bearing, one end of the connecting block is threadedly connected to the threaded rod through a threaded sleeve, the other end of the connecting block is slidingly connected to the C-shaped frame through the guide rail assembly, the top of the threaded rod is transmission-connected to the output end of the servo motor through the linkage assembly, the encoder is installed at the bottom of the servo motor, and the servo motor is fixedly installed on the rear side wall of the C-shaped frame; the upper electrode is fixedly installed in the middle of the connecting block, and a transverse groove for the linkage assembly to pass through is opened on the C-shaped frame.

[0019] It also includes a processor, which is connected to an external multi-axis robot, a servo motor, a push-pull force gauge and an encoder.

[0020] Furthermore, the air inlet pipe and the air outlet pipe are respectively located on both sides of the robot connecting seat.

[0021] In order to better achieve the purpose of the present invention, the present invention also provides a wear compensation method for a self-locking welding gun, using the self-locking welding gun, comprising the following steps:

[0022] Step 1: The external multi-axis robot is connected to the robot connection seat, the air inlet pipe is inlet and the air outlet pipe is closed, the air pressure drives the piston to move down along the annular groove, the piston drives multiple inclined blocks to move down at the same time, the inclined block pushes the push rod to move outward through the inclined surface of the inclined groove, the push rod drives the plug plate to move outward to the inside of the insertion hole, thereby locking the plug seat and the installation sleeve, and the external multi-axis robot drives the welding gun to move;

[0023] Step 2, when the lower electrode and the upper electrode are in a brand new state, the external multi-axis robot drives the C-shaped frame to move to the set initial position, the processor starts the upper electrode position adjustment component to drive the upper electrode to move downward, the bottom of the upper electrode abuts against the cross plate and the push-pull force gauge displays a value of A, at this time, the initial standard moving distance of the upper electrode is recorded as Db mark; then the upper electrode position adjustment component is started to drive the upper electrode to move upward and reset, the upper electrode is completely separated from the cross plate, then the external multi-axis robot drives the C-shaped frame to move upward, the top of the lower electrode abuts against the top of the cross plate and the push-pull force gauge displays a value of A, at this time, the initial standard moving distance of the lower electrode is recorded as Da mark;

[0024] Step 3: After the lower electrode and the upper electrode are worn and polished, the external multi-axis robot drives the C-shaped frame to move to the set initial position, and the processor starts the upper electrode position adjustment component to drive the upper electrode to move downward, the bottom of the upper electrode abuts against the cross plate and the push-pull force gauge displays a value of A. At this time, the movement distance of the upper electrode is recorded as Dn, and n represents the nth calibration; then the upper electrode position adjustment component is started to drive the upper electrode to move upward and reset, and the upper electrode is completely separated from the cross plate, and then the external multi-axis robot drives the C-shaped frame to move upward, the top of the lower electrode abuts against the top of the cross plate and the push-pull force gauge displays a value of A, and the movement distance of the lower electrode is recorded as Dm, and m represents the mth calibration;

[0025] Step 4: The processor calculates ΔDn=Dn-Db standard, ΔDm=Dm-Da standard, and calibrates each working point of the lower electrode and the upper electrode of the welding gun:

[0026] D(i,n)=D(i,0)+ΔDn

[0027] Wherein, D(i, n) represents the moving distance of the i-th working point of the upper electrode after calibration, and n represents the n-th calibration; D(i, 0) represents the initial moving distance of the i-th working point of the upper electrode;

[0028] D(j,m)=D(j,0)+ΔDm

[0029] Wherein, D(j, m) represents the moving distance of the j-th working point of the lower electrode after calibration, m represents the m-th calibration; D(j, 0) represents the initial moving distance of the j-th working point of the lower electrode.

[0030] Compared with the prior art, the present invention has the following beneficial effects: an annular groove with a bottom opening is provided at the lower end of the socket, and a piston is slidably installed in the annular groove; the inclined block can be fixed to the piston externally and installed in the annular groove together with the piston; the push rod and the plug plate can be pre-installed on the socket, and then the push rod can be inserted into the inclined groove to realize assembly; the processing and assembly methods are simpler, which is conducive to reducing the assembly and processing costs of manufacturing.

[0031] In the present invention, when the lower electrode and the upper electrode are worn and polished, the external multi-axis robot drives the C-shaped frame to move to the set initial position, the processor starts the upper electrode position adjustment component to drive the upper electrode to move downward, the bottom of the upper electrode abuts against the cross plate and the push-pull force gauge displays a value of A, and the movement distance of the upper electrode is recorded as Dn at this time, where n represents the nth calibration; then the upper electrode position adjustment component is started to drive the upper electrode to move upward and reset, and the upper electrode is completely separated from the cross plate, and then the external multi-axis robot drives the C-shaped frame to move upward, the top of the lower electrode abuts against the top of the cross plate and The push-pull force gauge displays a value of A, and the moving distance of the lower electrode is recorded as Dm, where m represents the mth calibration; the processor calculates ΔDn=Dn-Db standard, ΔDm=Dm-Da standard; the working points of the lower electrode and the upper electrode of the welding gun are calibrated through the calculated ΔDn and ΔDm, and the processor controls the operation of the external multi-axis robot and encoder to achieve the moving distance of the lower electrode and the upper electrode at each working point to be the calibrated moving distance, ensuring that the contact pressure of the lower electrode and the upper electrode always remains in the set state during welding, thereby ensuring the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A three-dimensional self-locking welding gun of the present invention Figure 1 ;

[0034] Figure 2 It is a front view of a self-locking welding gun of the present invention;

[0035] Figure 3 It is a left side view of a self-locking welding gun of the present invention;

[0036] Figure 4 A three-dimensional self-locking welding gun of the present invention Figure 2 ;

[0037] Figure 5 A three-dimensional self-locking welding gun of the present invention Figure 3 ;

[0038] Figure 6 For along Figure 3 AA direction cross-sectional view;

[0039] Figure 7 for Figure 6 The enlarged view of point B in the middle;

[0040] Figure 8 for Figure 6 Enlarged view of point C in the middle;

[0041] Fig. 9 The figure is a schematic structural diagram of a self-locking welding gun in a calibration state according to the present invention.

[0042] The numbers in the figure represent:

[0043] 1. C-shaped frame; 2. Lower electrode; 3. Upper electrode; 4. Upper electrode position adjustment assembly; 41. Guide rail assembly; 42. Transverse groove one; 43. Connecting block; 44. Threaded rod; 45. Servo motor; 46. Linkage assembly; 47. Encoder; 48. Support seat; 5. Self-locking quick-connect assembly; 51. Mounting sleeve; 52. Inlet pipe; 53. Robot connecting seat; 54. Exit pipe; 55. Plug seat; 56. Straight hole; 57. Annular groove; 58. Piston; 59. Oblique block; 510. Push rod; 511. Oblique groove; 512. Insert plate; 513. Transverse groove two; 514. Socket; 6. Compensation calculation auxiliary assembly; 61. Push-pull dynamometer; 62. Transverse plate. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0046] Embodiment 1: In some embodiments, please refer to the drawings of the specification Figure 1-Figure 9 , a self-locking welding gun, comprising a C-shaped frame 1, a lower electrode 2 and an upper electrode 3;

[0047] The upper end of the C-shaped frame 1 is equipped with a self-locking quick-connect assembly 5 for connecting with an external multi-axis robot;

[0048] The self-locking quick-connect assembly 5 comprises a mounting sleeve 51, a robot connection seat 53, a plug-in seat 55, an annular groove 57, a piston 58, a ventilation structure and an automatic locking structure; the upper end of the mounting sleeve 51 is plugged with the plug-in seat 55, the top of the plug-in seat 55 is fixedly mounted with the robot connection seat 53, the plug-in seat 55 is mounted with a ventilation structure, the lower end of the plug-in seat 55 is provided with an annular groove 57 with a bottom opening, the upper end of the annular groove 57 is connected with the ventilation structure, an annular piston 58 is fitted and slidably connected in the annular groove 57, and the piston 58 is connected with the automatic locking structure to realize the locking and unlocking of the plug-in seat 55 and the mounting sleeve 51;

[0049] The ventilation structure includes an air inlet pipe 52 and an air outlet pipe 54 . The air inlet pipe 52 and the air outlet pipe 54 are fixedly mounted on the socket 55 and the lower ends thereof penetrate the socket 55 and communicate with the annular groove 57 . The air inlet pipe 52 and the air outlet pipe 54 are respectively located on both sides of the robot connection socket 53 .

[0050] Preferably, a straight hole 56 penetrating the socket 55 and communicating with the annular groove 57 is formed inside the air inlet pipe 52 and the air outlet pipe 54 .

[0051] The automatic locking structure includes an inclined block 59, a push rod 510, an inclined groove 511, an insert plate 512, a second transverse groove 513 and a socket 514; a plurality of groups of inclined blocks 59 are fixedly connected to the bottom of the piston 58, an inclined groove 511 is provided inside the inclined block 59, and a push rod 510 is slidably connected in the inclined groove 511, the push rod 510 is fixedly installed at one end of the insert plate 512, and the insert plate 512 is slidably connected to the second transverse groove 513 provided on the side wall of the step at the lower end of the socket 55. When locked, the other end of the insert plate 512 is inserted into the socket 514 provided on the inner wall of the mounting sleeve 51.

[0052] The inner wall of the installation sleeve 51 is provided with a plurality of plug holes 514 which cooperate with the plug plate 512 , and the side wall of the step at the lower end of the plug socket 55 is provided with a plurality of transverse grooves 513 which cooperate with the plug plate 512 for sliding connection.

[0053] The external multi-axis robot is detachably connected to the robot connecting seat 53, and the external multi-axis robot drives the welding gun to move.

[0054] When air is taken in by the air inlet pipe 52 and the air outlet pipe 54 is closed, the air pressure drives the piston 58 to move downward along the annular groove 57, and the piston 58 drives multiple inclined blocks 59 to move downward at the same time. The inclined blocks 59 push the push rod 510 to move outward through the inclined surface of the inclined groove 511, and the push rod 510 drives the plug plate 512 to move outward to the inside of the insertion hole 514, thereby locking the connector 55 and the mounting sleeve 51.

[0055] On the contrary, when the air inlet pipe 52 is closed and the air outlet pipe 54 is evacuated, the air pressure drives the piston 58 to move upward along the annular groove 57, and the piston 58 drives multiple inclined blocks 59 to move upward at the same time. The inclined blocks 59 push the push rod 510 to move inward through the inclined surface of the inclined groove 511, and the push rod 510 drives the plug plate 512 to move inward until it is separated from the socket 514, thereby unlocking the connector 55 and the mounting sleeve 51.

[0056] The present invention provides an annular groove 57 with a bottom opening at the lower end of the socket 55, and slides a piston 58 in the annular groove 57. The inclined block 59 can be fixed to the piston 58 externally and then installed in the annular groove 57 together with the piston 58. The push rod 510 and the plug plate 512 can be pre-installed on the socket 55, and then the push rod 510 can be inserted into the inclined groove 511 to achieve assembly. The processing and assembly methods are simpler, which is conducive to reducing the assembly and processing costs of manufacturing.

[0057] A lower electrode 2 is fixedly mounted on the lower end of the C-shaped frame 1 .

[0058] An upper electrode position adjustment component 4 for driving the upper electrode 3 to move is installed on the upper end side of the C-shaped frame 1 .

[0059] The upper electrode position adjustment component 4 includes a guide rail component 41, a transverse groove 42, a connecting block 43, a threaded rod 44, a servo motor 45, a linkage component 46 and an encoder 47; a support seat 48 is fixedly installed on the front side wall of the C-shaped frame 1, and the support seat 48 is rotatably connected to the threaded rod 44 through a bearing, one end of the connecting block 43 is threadedly connected to the threaded rod 44 through a threaded sleeve, and the other end of the connecting block 43 is limitedly slidably connected to the C-shaped frame 1 through the guide rail component 41, and the top of the threaded rod 44 is transmission-connected to the output end of the servo motor 45 through the linkage component 46, and the encoder 47 is installed at the bottom of the servo motor 45, and the servo motor 45 is fixedly installed on the rear side wall of the C-shaped frame 1; the upper electrode 3 is fixedly installed in the middle of the connecting block 43; a transverse groove 42 is opened on the C-shaped frame 1 to cooperate with the linkage component 46 to pass through.

[0060] The guide rail assembly 41 adopts a conventional slider and slide rail combination structure, and the linkage assembly 46 adopts a conventional synchronous belt assembly, including a synchronous belt and synchronous wheel combination structure.

[0061] The servo motor 45 is started to drive the linkage component 46 to rotate, the linkage component 46 drives the threaded rod 44 to rotate, the threaded rod 44 drives the connecting block 43 to move under the guidance of the guide rail component 41, and the connecting block 43 drives the upper electrode 3 to move vertically; through the combination of the upper electrode position adjustment component 4, the compensation calculation auxiliary component 6, the processor, and the encoder 47, the working points of the lower electrode 2 and the upper electrode 3 of the welding gun are calibrated, the processor controls the operation of the external multi-axis robot and the encoder 47, the encoder 47 controls the driving end of the servo motor 45 to rotate so that the upper electrode 3 moves downward at each working point to the calibrated moving distance, and the external multi-axis robot controls the lower electrode 2 to move upward at each working point to the calibrated moving distance, thereby ensuring that the contact pressure between the lower electrode 2 and the upper electrode 3 is always kept in the set state during welding, thereby ensuring the welding quality.

[0062] The device further comprises a compensation calculation auxiliary component 6 for performing compensation calibration on the positions of the upper electrode 3 and the lower electrode 2 .

[0063] The compensation calculation auxiliary component 6 includes a push-pull force gauge 61 and a transverse plate 62 . The push-pull force gauge 61 is fixedly mounted on an external frame, and a detection end of the push-pull force gauge 61 is fixedly connected to the transverse plate 62 .

[0064] It also includes a processor, which is connected to the external multi-axis robot, the servo motor 45, the push-pull force meter 61 and the encoder 47;

[0065] When the lower electrode 2 and the upper electrode 3 are in a brand new state: the external multi-axis robot drives the C-shaped frame 1 to move to the set initial position, the processor starts the upper electrode position adjustment component 4 to drive the upper electrode 3 to move downward, the bottom of the upper electrode 3 abuts against the horizontal plate 62 and the push-pull force gauge 61 displays a value of A, at this time, the initial standard moving distance of the upper electrode 3 is recorded as Db mark; then the upper electrode position adjustment component 4 is started to drive the upper electrode 3 to move upward and reset, the upper electrode 3 is completely separated from the horizontal plate 62, and then the external multi-axis robot drives the C-shaped frame 1 to move upward, the top of the lower electrode 2 abuts against the top of the horizontal plate 62 and the push-pull force gauge 61 displays a value of A, at this time, the initial standard moving distance of the lower electrode 2 is recorded as Da mark;

[0066] The lower electrode 2 and the upper electrode 3 are worn, and after being polished: the external multi-axis robot drives the C-shaped frame 1 to move to the set initial position, and the processor starts the upper electrode position adjustment component 4 to drive the upper electrode 3 to move downward, and the bottom of the upper electrode 3 abuts against the cross plate 62 and the push-pull force gauge 61 displays a value of A. At this time, the movement distance of the upper electrode 3 is recorded as Dn, and n represents the nth calibration; then the upper electrode position adjustment component 4 is started to drive the upper electrode 3 to move upward and reset, and the upper electrode 3 is completely separated from the cross plate 62, and then the external multi-axis robot drives the C-shaped frame 1 to move upward, and the top of the lower electrode 2 abuts against the top of the cross plate 62 and the push-pull force gauge 61 displays a value of A, and the movement distance of the lower electrode 2 is recorded as Dm, and m represents the mth calibration;

[0067] The processor calculates ΔDn=Dn-Db standard, ΔDm=Dm-Da standard;

[0068] The working points of the lower electrode 2 and the upper electrode 3 of the welding gun are calibrated by the calculated ΔDn and ΔDm:

[0069] D(i,n)=D(i,0)+ΔDn

[0070] Wherein, D(i, n) represents the moving distance of the i-th working point of the upper electrode after calibration, and n represents the n-th calibration; D(i, 0) represents the initial moving distance of the i-th working point of the upper electrode;

[0071] D(j,m)=D(j,0)+ΔDm

[0072] Wherein, D(j, m) represents the moving distance of the j-th working point of the lower electrode after calibration, and m represents the m-th calibration; D(j, 0) represents the initial moving distance of the j-th working point of the lower electrode;

[0073] The processor controls the operation of the external multi-axis robot and encoder to ensure that the moving distance of the lower electrode and the upper electrode at each working point is the calibrated moving distance, ensuring that the contact pressure of the lower electrode and the upper electrode always remains in the set state during welding, thereby ensuring the welding quality.

[0074] Embodiment 2: In some embodiments, Figure 1-Figure 9 As shown, as a preferred embodiment of the present invention, a wear compensation method for a self-locking welding gun includes the following steps:

[0075] Step 1: The external multi-axis robot is connected to the robot connection seat, the air inlet pipe is inlet and the air outlet pipe is closed, the air pressure drives the piston to move down along the annular groove, the piston drives multiple inclined blocks to move down at the same time, the inclined block pushes the push rod to move outward through the inclined surface of the inclined groove, the push rod drives the plug plate to move outward to the inside of the insertion hole, thereby locking the plug seat and the installation sleeve, and the external multi-axis robot drives the welding gun to move;

[0076] Step 2, when the lower electrode and the upper electrode are in a brand new state, the external multi-axis robot drives the C-shaped frame to move to the set initial position, the processor starts the upper electrode position adjustment component to drive the upper electrode to move downward, the bottom of the upper electrode abuts against the cross plate and the push-pull force gauge displays a value of A, at this time, the initial standard moving distance of the upper electrode is recorded as Db mark; then the upper electrode position adjustment component is started to drive the upper electrode to move upward and reset, the upper electrode is completely separated from the cross plate, then the external multi-axis robot drives the C-shaped frame to move upward, the top of the lower electrode abuts against the top of the cross plate and the push-pull force gauge displays a value of A, at this time, the initial standard moving distance of the lower electrode is recorded as Da mark;

[0077] Step 3: After the lower electrode and the upper electrode are worn and polished, the external multi-axis robot drives the C-shaped frame to move to the set initial position, and the processor starts the upper electrode position adjustment component to drive the upper electrode to move downward, the bottom of the upper electrode abuts against the cross plate and the push-pull force gauge displays a value of A. At this time, the movement distance of the upper electrode is recorded as Dn, and n represents the nth calibration; then the upper electrode position adjustment component is started to drive the upper electrode to move upward and reset, and the upper electrode is completely separated from the cross plate, and then the external multi-axis robot drives the C-shaped frame to move upward, the top of the lower electrode abuts against the top of the cross plate and the push-pull force gauge displays a value of A, and the movement distance of the lower electrode is recorded as Dm, and m represents the mth calibration;

[0078] Step 4: The processor calculates ΔDn=Dn-Db standard, ΔDm=Dm-Da standard, and calibrates each working point of the lower electrode and the upper electrode of the welding gun:

[0079] D(i,n)=D(i,0)+ΔDn

[0080] Wherein, D(i, n) represents the moving distance of the i-th working point of the upper electrode after calibration, and n represents the n-th calibration; D(i, 0) represents the initial moving distance of the i-th working point of the upper electrode;

[0081] D(j,m)=D(j,0)+ΔDm

[0082] Wherein, D(j, m) represents the moving distance of the j-th working point of the lower electrode after calibration, and m represents the m-th calibration; D(j, 0) represents the initial moving distance of the j-th working point of the lower electrode;

[0083] Step 5. The processor controls the operation of the external multi-axis robot and encoder to realize that the moving distance of the lower electrode and the upper electrode at each working point is the calibrated moving distance, ensuring that the contact pressure of the lower electrode and the upper electrode always remains in the set state during welding, thereby ensuring the welding quality.

[0084] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-locking welding gun, comprising a C-shaped frame (1), a lower electrode (2) and an upper electrode (3), characterized in that: A self-locking quick-connect assembly (5) for connecting to an external multi-axis robot is installed at the upper end of the C-shaped frame (1); The self-locking quick-connect assembly (5) comprises a mounting sleeve (51), a robot connection seat (53), a plug seat (55), an annular groove (57), a piston (58), a ventilation structure and an automatic locking structure; the upper end of the mounting sleeve (51) is plugged with the plug seat (55), the top of the plug seat (55) is fixedly mounted with the robot connection seat (53), the ventilation structure is mounted on the plug seat (55), the lower end of the plug seat (55) is provided with an annular groove (57) with a bottom opening, the upper end of the annular groove (57) is connected to the ventilation structure, an annular piston (58) is slidably connected in the annular groove (57), and the piston (58) is connected to the automatic locking structure to achieve locking and unlocking of the plug seat (55) and the mounting sleeve (51); an external multi-axis robot is connected to the robot connection seat (53); A lower electrode (2) is fixedly mounted on the lower end of the C-shaped frame (1); An upper electrode position adjustment component (4) for driving the upper electrode (3) to move is installed on the upper end side of the C-shaped frame (1); It also includes a compensation calculation auxiliary component (6) for compensating and calibrating the positions of the upper electrode (3) and the lower electrode (2); The ventilation structure comprises an air inlet pipe (52) and an air outlet pipe (54), wherein the air inlet pipe (52) and the air outlet pipe (54) are fixedly mounted on the plug socket (55) and the lower ends thereof penetrate through the plug socket (55) and are in communication with the annular groove (57); The air inlet pipe (52) and the air outlet pipe (54) are provided with a straight hole (56) penetrating the socket (55) and communicating with the annular groove (57); The automatic locking structure comprises an inclined block (59), a push rod (510), an inclined groove (511), an insert plate (512), a second transverse groove (513) and a socket (514); a plurality of groups of inclined blocks (59) are fixedly connected to the bottom of the piston (58); an inclined groove (511) is provided inside the inclined block (59); a push rod (510) is slidably connected inside the inclined groove (511); the push rod (510) is fixedly mounted on one end of the insert plate (512); the insert plate (512) is slidably connected to a second transverse groove (513) provided on a side wall of a step at the lower end of the socket (55); when locked, the other end of the insert plate (512) is inserted into a socket (514) provided on an inner wall of the mounting sleeve (51); The compensation calculation auxiliary component (6) comprises a push-pull force gauge (61) and a transverse plate (62); the push-pull force gauge (61) is fixedly mounted on an external frame, and a detection end of the push-pull force gauge (61) is fixedly connected to the transverse plate (62).

2. The self-locking welding gun according to claim 1, characterized in that: The upper electrode position adjustment assembly (4) comprises a guide rail assembly (41), a transverse groove (42), a connecting block (43), a threaded rod (44), a servo motor (45), a linkage assembly (46) and an encoder (47); a support seat (48) is fixedly mounted on the front side wall of the C-shaped frame (1); the support seat (48) is rotatably connected to the threaded rod (44) via a bearing; one end of the connecting block (43) is threadedly connected to the threaded rod (44) via a threaded sleeve; the other end of the connecting block (43) is slidably connected to the C-shaped frame (1) via the guide rail assembly (41); the top of the threaded rod (44) is transmission-connected to the output end of the servo motor (45) via the linkage assembly (46); the encoder (47) is mounted on the bottom of the servo motor (45); and the servo motor (45) is fixedly mounted on the rear side wall of the C-shaped frame (1); the upper electrode (3) is fixedly mounted on the middle part of the connecting block (43); and a transverse groove (42) is provided on the C-shaped frame (1) for the linkage assembly (46) to pass through.

3. The self-locking welding gun according to claim 2, characterized in that: It also includes a processor, which is connected to an external multi-axis robot, a servo motor (45), a push-pull force meter (61) and an encoder (47).

4. The self-locking welding gun according to claim 3, characterized in that: The air inlet pipe (52) and the air outlet pipe (54) are respectively located on two sides of the robot connection seat (53).

5. A wear compensation method for a self-locking welding gun, using the self-locking welding gun according to claim 3 or 4, characterized in that: The following steps are involved: Step 1, the external multi-axis robot is connected to the robot connection seat (53), the air inlet pipe (52) is inlet and the air outlet pipe (54) is closed, the air pressure drives the piston (58) to move downward along the annular groove (57), the piston (58) drives the plurality of inclined blocks (59) to move downward at the same time, the inclined blocks (59) push the push rod (510) to move outward through the inclined surface of the inclined groove (511), the push rod (510) drives the plug plate (512) to move outward to the inside of the insertion hole (514), thereby achieving the locking of the plug seat (55) and the installation sleeve (51), and the external multi-axis robot drives the welding gun to move; Step 2: When the lower electrode (2) and the upper electrode (3) are in a brand new state, the external multi-axis robot drives the C-shaped frame (1) to move to the set initial position, and the processor starts the upper electrode position adjustment component (4) to drive the upper electrode (3) to move downward, the bottom of the upper electrode (3) abuts against the horizontal plate (62) and the push-pull force gauge (61) displays a value of A, and at this time, the initial standard movement distance of the upper electrode (3) is recorded as Db mark; then the upper electrode position adjustment component (4) is started to drive the upper electrode (3) to move upward and reset, and the upper electrode (3) and the horizontal plate (62) are completely separated, and then the external multi-axis robot drives the C-shaped frame (1) to move upward, the top of the lower electrode (2) abuts against the top of the horizontal plate (62) and the push-pull force gauge (61) displays a value of A, and at this time, the initial standard movement distance of the lower electrode (2) is recorded as Da mark; Step 3: After the lower electrode (2) and the upper electrode (3) are worn and polished, the external multi-axis robot drives the C-shaped frame (1) to move to the set initial position, and the processor starts the upper electrode position adjustment component (4) to drive the upper electrode (3) to move downward, the bottom of the upper electrode (3) abuts against the horizontal plate (62) and the push-pull force gauge (61) displays a value of A. At this time, the movement distance of the upper electrode (3) is recorded as Dn, and n represents the nth calibration; then the upper electrode position adjustment component (4) is started to drive the upper electrode (3) to move upward and reset, and the upper electrode (3) and the horizontal plate (62) are completely separated, and then the external multi-axis robot drives the C-shaped frame (1) to move upward, the top of the lower electrode (2) abuts against the top of the horizontal plate (62) and the push-pull force gauge (61) displays a value of A, and at this time, the movement distance of the lower electrode (2) is recorded as Dm, and m represents the mth calibration; Step 4: The processor calculates ΔDn=Dn-Db standard and ΔDm=Dm-Da standard, and calibrates each working point of the lower electrode (2) and the upper electrode (3) of the welding gun: D(i,n)=D(i,0)+ΔDn Wherein, D(i, n) represents the moving distance of the i-th working point of the upper electrode (3) after calibration, and n represents the n-th calibration; D(i, 0) represents the initial moving distance of the i-th working point of the upper electrode (3); D(j,m)=D(j,0)+ΔDm Wherein, D(j, m) represents the moving distance of the j-th working point of the lower electrode (2) after calibration, and m represents the m-th calibration; and D(j, 0) represents the initial moving distance of the j-th working point of the lower electrode (2).

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