Milling control method for electrode of resistance welding electrode holder

Abstract

The invention provides a milling control method for an electrode of a resistance welding electrode holder, which comprises the following steps: acquiring a plurality of historical data when a milling cutter mills the electrode, the historical data comprising the milling amount of the electrode milled by the milling cutter every time; determining the average value of the milling amount of the electrode milled by the milling cutter every time included in at least part of the historical data in the multiple pieces of historical data; and on the basis of the average value and the expected milling amount when the electrode is milled every time, the milling parameters of the milling cutter when the electrode is milled this time are adjusted. According to the milling control method for the electrode of the electric resistance welding electrode holder provided by the invention, based on the average value of the milling amount in the historical data and the expected milling amount when the electrode is milled every time, the milling parameters when the milling cutter mills the electrode this time are adjusted, so that lean control over the milling process is achieved, and the milling efficiency is improved while the milling effect is ensured. And electrode waste and milling cutter abrasion caused by too large milling amount are avoided, the consumption number of the electrodes and the milling cutters and the total replacement time are reduced, and the production cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of resistance welding, and in particular to a milling control method for a resistance welding clamp electrode. Background Art

[0002] In the welding and manufacturing process of the white body in the automobile industry, resistance welding is usually used for welding. After welding a certain welding point, the electrode of the resistance welding clamp needs to be milled to grind the electrode and ensure the quality of the welding point.

[0003] In the current automotive industry, the milling parameters when milling electrodes are fixed, and lean control cannot be achieved. Electrodes and milling cutters need to be replaced frequently, resulting in waste of electrodes and milling cutters and low production efficiency. Summary of the invention

[0004] In order to at least partially solve the above-mentioned problems, an embodiment of the present application provides a milling control method for a resistance welding clamp electrode, comprising: obtaining a plurality of historical data when a milling cutter mills the electrode, the historical data including the milling amount of the electrode milled by the milling cutter each time; determining the average value of the milling amount of the electrode milled by the milling cutter each time contained in at least part of the plurality of historical data; based on the average value and the expected milling amount each time the electrode is milled, adjusting the milling parameters of the milling cutter when milling the electrode this time.

[0005] In some embodiments, the historical data also includes a feed pressure of a milling cutter corresponding to the milling amount of the electrode, and the milling parameters include the feed pressure; based on the average value and the expected milling amount each time the electrode is milled, the milling parameters of the milling cutter when milling the electrode this time are adjusted, including: in response to the average value being greater than the expected milling amount, reducing the feed pressure of the milling cutter when milling the electrode this time; in response to the average value being less than the expected milling amount, increasing the feed pressure of the milling cutter when milling the electrode this time.

[0006] In some embodiments, the method also includes: determining a feed pressure specification, the feed pressure specification includes multiple feed pressure values ​​of different sizes, and the milling cutter uses the feed pressure value in the milling specification to mill the electrode; wherein, based on the feed pressure value used by the milling cutter when milling the electrode last time, reducing the feed pressure of the milling cutter when milling the electrode this time, including: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is smaller than the reference and has the smallest absolute value of the difference with the reference; increasing the feed pressure of the milling cutter when milling the electrode this time, including: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is larger than the reference and has the smallest absolute value of the difference with the reference.

[0007] In some embodiments, the feed pressure specification is determined based on the feed pressure required when the milling cutter with different degrees of dullness rotates a predetermined number of times and the milling reaches a desired milling amount.

[0008] In some embodiments, the milling parameters also include the number of revolutions of the milling cutter when the milling cutter performs a single milling on the electrode, and the method also includes: when the benchmark is the maximum feed pressure value in the feed pressure specification and the average value is less than the expected milling amount, increasing the number of revolutions of the milling cutter when milling the electrode this time.

[0009] In some embodiments, an alarm message is issued when the number of revolutions of the milling cutter during milling of the electrode is increased; the number of alarm messages issued within a predetermined number of milling times is counted; and in response to the number of alarm messages issued within a predetermined number of milling times exceeding a threshold, a prompt message for replacing the milling cutter is generated.

[0010] In some embodiments, after replacing the milling cutter, the feed pressure used by the new milling cutter is adjusted to the minimum value of the feed pressure value in the feed pressure specification.

[0011] In some embodiments, at least part of the historical data is historical data obtained during the N most recent milling operations before the current milling operation, where N is a positive integer.

[0012] In some embodiments, multiple historical data are obtained when the milling cutter mills the electrode, including: obtaining the electrode wear amount Δ1 of the electrode after welding after the last milling, wherein the electrode wear amount is the difference between the initial length of the electrode and the length during measurement; obtaining the electrode wear amount Δ2 after the electrode is milled this time; obtaining the milling amount of the electrode milled by the milling cutter this time, wherein the milling amount of the electrode milled by the milling cutter this time Δ=Δ2-Δ1.

[0013] In some embodiments, in response to the average value being greater than or less than the expected milling amount and the electrode being replaced, the feed pressure of the milling cutter when milling the electrode this time is increased.

[0014] The milling control method for the resistance welding clamp electrode provided in the embodiment of the present application adjusts the milling parameters of the milling cutter when milling the electrode this time based on the average value of the milling amount in the historical data and the expected milling amount each time the electrode is milled. The method can realize dynamic adjustment of the milling parameters so that the milling amount of the milling cutter on the electrode this time returns to the expected milling amount, thereby realizing lean control of the milling process. While ensuring the milling effect, it avoids waste of electrodes and wear of the milling cutter caused by excessive milling amount, reduces the consumption of electrodes and milling cutters and the total replacement time, reduces production costs, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a schematic diagram of historical data recorded during the milling control process provided by an embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical scheme of the preferred embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection claimed in the present application.

[0018] The inventor of the present application found that in the welding and manufacturing process of the white body of the automobile industry, the robot resistance welding tongs are parameter-fixed milling, and the process control is unreasonable, that is, it does not meet the gradual passivation of the milling cutter (hereinafter also referred to as the milling blade, blade) during the application process, and the milling accuracy cannot be accurately controlled. At the same time, there is a risk of quality accidents after any parameter change. The milling effect of milling cutters with different passivation degrees is different. When the new blade is milling, the electrode (hereinafter also referred to as the electrode cap) has a large depth of penetration and poor heat dissipation, and the electrode is cut too much, resulting in serious wear of the blade surface, premature wear, and reduced milling blade life. Excessive milling also leads to waste of production costs of electrode caps, affecting the cost of a single vehicle. The electrode cap is replaced too quickly, and the manual intervention of the cap replacement process reduces the equipment start-up rate. A series of effects directly affect the production efficiency. The milling blade used for electrode cap milling cannot clearly identify the degree of wear with the naked eye, and there is a blind situation of directly replacing the milling blade, resulting in high spare parts costs. The on-site milling resistance measurement is affected by the new and old milling blades and parameters, and the range of jumps is large and cannot be controlled, which has lost the significance of monitoring. Moreover, if a milling quality accident occurs, the defective vehicles cannot be accurately traced.

[0019] In view of this, the embodiment of the present application provides a milling control method for the electrode of a resistance welding clamp. The method can be executed through the milling control system through the production site Ethernet as the device connection medium. The milling system related equipment includes a robot controller, a welding controller, a servo welding clamp controller, a field input and output module, etc. The above equipment is connected to the network through a switch, and data transmission control is performed through network configuration. The above equipment can perform parameter settings, standardize intelligent decision-making operations, data collection and analysis, report output and other functions. Based on the idea of ​​artificial intelligence, the method performs flexible decision-making processing on the continuous change law of the milling size of the robot welding clamp electrode and the influence of the number of milling times on the passivation of the milling blade, so as to achieve the consistency of the continuous work of the robot, and can ensure the qualified quality of the welding clamp electrode milling and achieve the purpose of doubling the life of the milling blade and reducing the cost of the electrode cap.

[0020] The method provided by an embodiment of the present application includes: obtaining multiple historical data when a milling cutter mills an electrode, the historical data including the milling amount of the electrode milled by the milling cutter each time; determining the average value of the milling amount of the electrode milled by the milling cutter each time contained in at least part of the multiple historical data; based on the average value and the expected milling amount each time the electrode is milled, adjusting the milling parameters of the milling cutter when milling the electrode this time.

[0021] Historical data can be collected continuously in real time during the robot milling process. The historical data may include milling data of each time the electrode is milled by the milling cutter, and the milling data may include parameters such as milling count, milling time, and milling amount. The historical data can be stored in a memory. For example, 2000 sets of historical data can be stored in the memory. In some embodiments, during the robot milling process, the latest 2000 sets of data of the milling process can be calculated and collected in real time to generate a milling amount change diagram and a corresponding standard data information diagram (such as Figure 1As shown), the information can be used to track the quality of the production process, and the historical data can be used to reverse and simulate the previous production quality, and the defect process tracking and defective weld quality tracking can be completed according to the number of groups of specific data. In this application, the milling amount of the electrode and the expected milling amount are used to evaluate the milling quality of the electrode, and the milling parameters are adjusted accordingly. The expected milling amount can be the expected milling amount each time the electrode is milled, that is, the amount of wear expected to be caused by the electrode each time through milling, and can also be considered as the expected length change of the electrode each time it is milled. The expected milling amount can be determined based on production needs. For example, under normal circumstances, the expected milling amount can be 0.025mm. 0.025mm usually cannot remove all oxide layers, but it can grind out the contour of the electrode end face, control the removal of the oxide layer thickness of 0.025mm, and ensure the quality of the next cycle welding point (100-120). For the use scenario of thick plates and high currents, the expected milling amount can be 0.033mm, 0.05mm, etc. In some embodiments, the desired milling amount can be adjusted automatically or manually. The milling parameters can be parameters that can affect the milling effect, such as the feed pressure during milling, the number of rotations of the milling cutter during milling, etc. mentioned below.

[0022] The milling control method for the electrode of the resistance welding tongs provided in the embodiment of the present application adjusts the milling parameters of the milling cutter when milling the electrode this time based on the average value of the milling amount in the historical data and the expected milling amount when the electrode is milled each time, and can realize dynamic adjustment of the milling parameters, so that the milling amount of the electrode by the milling cutter this time returns to the expected milling amount, thereby realizing lean control of the milling process, while ensuring the milling effect, avoiding waste of electrodes and wear of the milling cutter caused by excessive milling amount, reducing the consumption of electrodes and milling cutters and the total replacement time, reducing production costs, and improving production efficiency. The embodiment of the present application makes full use of digital tools and artificial intelligence methods to optimize and verify the effectiveness of parameters, realize intelligent milling of the electrode cap of the robot welding tongs, leanly control the milling amount of the electrode cap during milling, protect the milling blade, greatly reduce the manufacturing cost of the electrode cap per vehicle, further improve the equipment start-up rate, and intelligently avoid electrode application risks.

[0023] Combination Figure 1In some embodiments, the historical data also includes the feed pressure of the milling cutter corresponding to the milling amount of the electrode, and the milling parameters include the feed pressure; based on the average value and the expected milling amount each time the electrode is milled, the milling parameters of the milling cutter when milling the electrode this time are adjusted, including: in response to the average value being greater than the expected milling amount, reducing the feed pressure of the milling cutter when milling the electrode this time; in response to the average value being less than the expected milling amount, increasing the feed pressure of the milling cutter when milling the electrode this time. The feed pressure can be a component force along the feed direction of the milling cutter, that is, the pressure applied by the milling cutter to the electrode in the axial direction. In this embodiment, the milling amount of the electrode by the milling cutter this time is adjusted by adjusting the feed pressure. When the average value is greater than the expected milling amount, it means that the milling amount of the past several milling times is too large, and the milling amount of the electrode by the milling cutter this time is reduced by reducing the feed pressure; when the average value is less than the expected milling amount, it means that the milling amount of the past several milling times is too small, and the milling amount of the electrode by the milling cutter this time is increased by increasing the feed pressure. Figure 1 It can be seen that ( Figure 1 The horizontal axis is the milling count, and the vertical axis is the feed pressure or the milling amount. The feed pressure is also referred to as the milling pressure in this application). The intelligent milling method provided by the present invention changes the practice of fixing the milling pressure during traditional milling. The intelligent switching of the milling pressure not only reduces the milling impact force, but also achieves precise control of the milling accuracy, while having the effect of greatly reducing costs and increasing efficiency.

[0024] In some embodiments, the method also includes: determining a feed pressure specification, the feed pressure specification includes multiple feed pressure values ​​of different sizes, and the milling cutter uses the feed pressure value in the milling specification to mill the electrode; wherein, based on the feed pressure value used by the milling cutter when milling the electrode last time, reducing the feed pressure of the milling cutter when milling the electrode this time, including: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is smaller than the reference and has the smallest absolute value of the difference with the reference; increasing the feed pressure of the milling cutter when milling the electrode this time, including: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is larger than the reference and has the smallest absolute value of the difference with the reference.

[0025] The following table shows an example of feed pressure specification.

[0026] S1 S2 S3 S4 S5 S6 0.5KN 0.8KN 1.0KN 1.5KN 1.8KN 2.0KN

[0027] As shown in the table above, the feed pressure specification is divided into 6 gears from small to large, namely S1, S2, S3, S4, S5, and S6. Multiple feed pressure values ​​of different sizes may include: 0.5KN, 0.8KN, 1.0KN, 1.5KN, 1.8KN and 2.0KN. 0.5KN is the smallest feed pressure value in this feed pressure specification, which can ensure that the electrode is not unscrewed; 2.0KN is the largest feed pressure value in this feed pressure specification, which is determined based on empirical values. It can be understood that one or more of the above values ​​can be changed to form a new feed pressure specification, such as changing 1.5KN to 1.2KN or 1.5KN, etc.; at the same time, the number of feed pressure values ​​can also be increased or decreased. For example, the feed pressure specification may include more or less than 6 feed pressure values, which is not limited in this application.

[0028] In this embodiment, the feed pressure specification may include multiple discrete feed pressure values ​​of different sizes, and the multiple feed pressure values ​​may be arranged in order of size. After determining the feed pressure specification, the milling cutter uses a feed pressure value in the feed pressure specification for milling. After determining the size relationship between the average value and the expected milling amount, the feed pressure value used in the last milling is used as a reference. For example, the feed pressure value used in the last milling is 1.0KN. Taking 1.0KN as a reference, if it is necessary to reduce the feed pressure of the milling cutter when milling the electrode this time, the feed pressure this time is adjusted down by one gear compared to the feed pressure used in the last milling (adjusted to 0.8KN); if it is necessary to increase the feed pressure of the milling cutter when milling the electrode this time, the feed pressure this time is adjusted up by one gear compared to the feed pressure used in the last milling (adjusted to 1.5KN). In this embodiment, by setting the feed pressure specification, the control logic can be simplified and the feed pressure adjustment is facilitated. A self-designed learning program can be used to intelligently determine the milling quality and select the feed pressure value in the feed pressure specification based on the cumulative change value of the recent milling data. In some embodiments, the feed pressure specification can be determined based on the feed pressure required when the milling cutter with different degrees of bluntness rotates a predetermined number of times and the milling reaches the expected milling amount.

[0029] In some embodiments, the milling parameters also include the number of revolutions of the milling cutter when the milling cutter performs a single milling on the electrode, and the method further includes: when the benchmark is the maximum feed pressure value in the feed pressure specification, and the average value is less than the expected milling amount, increasing the number of revolutions of the milling cutter when milling the electrode this time. In this embodiment, the feed pressure is the primary control main line, and the number of milling revolutions is set as the control auxiliary line. When the feed pressure value used last time is the maximum value in the feed pressure specification, and the average value is still less than the expected milling amount, the number of revolutions of the milling cutter is further increased to ensure the milling effect of the electrode. For example, the number of milling circles in the milling parameters can be 3 circles, and the feed pressure is 1.0KN, wherein strategy S1 is to adjust the feed pressure to 1.5KN, and the number of milling circles remains unchanged; strategy S2 is to change the feed pressure to 1.8KN, strategy S3 is to change the feed pressure to 1.8KN, ..., when adjusted to strategy S4 (the feed pressure of strategy S4 is 2.0KN, which is the highest feed pressure value in the feed pressure specification of this embodiment), the milling is poor and cannot meet the precision control requirements. The start pressure and the number of circles are adjusted to increase the number of milling circles, for example, the number of milling circles can be doubled to 6 circles. According to actual operation monitoring, the implementation of the specification will fluctuate according to the control accuracy, and can advance or retreat. The system will record the milling adjustment and each milling data in real time, track the milling process, and perform data analysis through algorithms at the same time to display real-time precision control values, standard values ​​and actual execution values.

[0030] In some embodiments, when the number of revolutions of the milling cutter during milling the electrode is increased, an alarm message is issued; the number of alarm messages issued within a predetermined number of milling times is counted; in response to the number of alarm messages issued within a predetermined number of milling times exceeding a threshold, a prompt message for replacing the milling cutter is generated. It can be understood that when the number of milling revolutions of the milling cutter needs to be frequently increased to ensure the milling effect, it indicates that the degree of passivation of the milling cutter is high and can be replaced. Therefore, in this embodiment, an alarm message is issued while increasing the number of milling revolutions. When the number of alarms within a predetermined number of milling times exceeds a threshold, a prompt to replace the milling cutter is issued. At the same time, the entire process data is recorded in real time, and the quality vehicle can be accurately traced to avoid quality accidents. Exemplarily, the predetermined number of milling times can be 100, and the threshold can be 15 times. When an alarm message is issued for 15 milling times within 100 consecutive milling times, the milling cutter is replaced.

[0031] In some embodiments, when the number of alarms is less than or equal to the threshold, the milling cutter can be confirmed by on-site personnel. At this time, the alarm may be caused by other reasons. For example, when the milling cutter is blocked, in order to ensure the set accuracy, the milling force continues to increase, triggering the alarm; it may also be an electrode data error that causes the alarm. In this case, it is a measurement problem of the welding clamp controller; it may also be an electrode replacement error alarm. At this time, due to the proximity switch / track problem during automatic cap replacement, at least one side of the electrode in the robot welding clamp has not been replaced, resulting in milling leakage of the electrode cap; it may also be an alarm for loose components of the welding clamp body. At this time, the welding clamp cylinder or pole arm is loose, resulting in a zero point offset of more than 2mm, and the equipment needs emergency processing.

[0032] In some embodiments, after replacing the milling cutter, the feed pressure used by the new milling cutter is adjusted to the minimum value of the feed pressure value in the feed pressure specification. In this embodiment, after replacing the new milling cutter, the milling cutter is sharper. In order to prevent the new blade from over-milling the electrode and premature wear of the blade, the feed pressure value is adjusted to the minimum value in the feed pressure specification, and it is convenient for subsequent adjustments based on the average value of the milling amount. In some embodiments, after replacing the new milling cutter, the system resets the current number of operations of the milling cutter, and the milling cutter count starts from zero, and the lean milling control program begins to execute.

[0033] In some embodiments, at least part of the historical data is historical data obtained during the N most recent milling operations, where N is a positive integer. In this embodiment, the average value is obtained by using the historical data obtained during the N most recent milling operations to obtain the average value, which has a higher reference value. For example, N may be 5. It is understood that in other embodiments, historical data may be selected in other ways, and this application does not limit this.

[0034] In some embodiments, a plurality of historical data when the milling cutter mills the electrode includes: obtaining the electrode wear amount Δ1 of the electrode after the last milling after welding, wherein the electrode wear amount is the difference between the initial length of the electrode and the length at the time of measurement; obtaining the electrode wear amount Δ2 after the electrode is milled this time; obtaining the milling amount of the electrode milled by the milling cutter this time, wherein the milling amount of the electrode milled by the milling cutter this time Δ=Δ2-Δ1. During the welding process, the electrode will also be lost, resulting in a change in the length of the electrode. Therefore, in this embodiment, this method of obtaining the milling amount can avoid the influence of the electrode length change caused by the welding process on the measurement of the milling amount of the electrode milled by the milling cutter. In another embodiment, the electrode wear amount X1 after each milling of the robot can be measured, and the electrode wear amount Y1 after welding after the robot welds 100-120 points (determined according to the actual situation on site) before milling is collected. The electrode wear amount D1=Y1-X1 caused by welding of the electrode cap during the robot welding process is calculated using the data of these two measurements, and the electrode wear amount caused by welding is removed when calculating the single milling amount. All of the above data are collected in real time and stored in the device system, and are continuously updated and stored.

[0035] In some embodiments, in response to the average value being greater than or less than the expected milling amount and the electrode being replaced, the feed pressure of the milling cutter when milling the electrode this time is increased. In this embodiment, after the electrode is replaced, in order to ensure the formation of the milling shape of the electrode cross section at the initial stage of milling, the feed pressure of the milling cutter when milling the electrode this time is increased, and after waiting for a certain number of milling times (such as 5 times), intervention calculation is started and automatic adjustment is performed. The timing of electrode replacement can be determined based on the accumulated wear of the electrode. When the accumulated wear exceeds a certain predetermined value (such as Figure 1 4.8mm shown in the figure), the electrode can be replaced.

[0036] The method provided in the embodiment of the present application can be applied to new blades and old blades. Before applying the method provided in the embodiment of the present application to new blades and old blades, enter the test mode. In the test mode, the test specifications and the number of cycles are assigned respectively. The system specifies that the new blade cycles 8 times and the old blade cycles 5 times. After the test is completed, intelligent judgment is started to determine the feed pressure specifications under the premise of the current accuracy requirements. In addition, when the new blade is initially replaced, the milling control system can reset the current number of operations of the milling cutter, and the milling cutter count starts from zero to start executing the lean milling control program.

[0037] The milling control method of the resistance welding clamp electrode provided in the embodiment of the present application has the following beneficial effects:

[0038] (1) Artificial intelligence decision-making methods can be used for intelligent milling to control the electrode milling amount. The entire milling data collection is real-time, and the decision is also made in real time to ensure the milling accuracy during the milling process. At the same time, the design of variable parameters is also designed for the passivation process of the milling cutter during the milling process. The parameters are gradually strengthened, and ultimately it is guaranteed that the milling blade can no longer be used. A mode of replacing the milling blade is created by combining the switching frequency of the parameters and the peak height dimensional analysis to achieve accurate replacement.

[0039] (2) It can be automatically executed and has strong adaptability, and can be used with both new and old blades.

[0040] (3) The present invention is provided with a data tracking and recording function for intelligent milling, and performs relevant data analysis.

[0041] (4) The milling accuracy determined by the system can be set according to the on-site application conditions. Different control accuracies can be adopted for different welding plate conditions, and a milling method with accuracy determined by the welding plate thickness has been established.

[0042] (5) The traditional milling method has been innovated, which not only solves the industry's drawbacks of the new milling blade being too sharp, the electrode being over-milled, and the blade being worn too early, but also uses the passivation law of the milling blade to scientifically perform intelligent milling while taking into account the milling quality.

[0043] (6) During the process of adjusting the specifications, if any abnormal situation occurs, an alarm will be issued, and the data of the entire process will be recorded in real time. The quality vehicle can be accurately traced to avoid quality accidents.

[0044] In a specific application example in a workshop, compared with traditional milling, the cost control effect is outstanding. Compared with traditional control, the pressure of the milling blade is reduced by 44%. According to the thickness of the welding plate and welding materials, this system has created two-speed precision control mode. The milling times of 0.025mm gear can reach more than 170 times, and the milling times of 0.033mm gear can reach about 130 times, which is nearly doubled compared with the traditional milling control method.

[0045] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are only for illustration and not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A milling control method for a resistance welding clamp electrode, characterized in that: include: Acquire a plurality of historical data when the milling cutter mills the electrode, wherein the historical data includes the milling amount of the electrode each time the milling cutter mills the electrode; Determine an average value of the milling amount of the electrode each time the milling cutter comprises at least part of the historical data among the plurality of historical data; Based on the average value and the expected milling amount of the electrode each time it is milled, the milling parameters of the milling cutter when milling the electrode this time are adjusted.

2. The method according to claim 1, characterized in that The historical data also includes a milling cutter feed pressure corresponding to the milling amount of the electrode, and the milling parameters include the feed pressure; Based on the average value and the expected milling amount of the electrode each time it is milled, adjusting the milling parameters of the milling cutter when milling the electrode this time, including: In response to the average value being greater than the expected milling amount, reducing the feed pressure of the milling cutter when milling the electrode this time; In response to the average value being smaller than the expected milling amount, the feed pressure of the milling cutter when milling the electrode this time is increased.

3. The method according to claim 2, characterized in that Also includes: Determine a feed pressure specification, wherein the feed pressure specification includes a plurality of feed pressure values ​​of different sizes, and the milling cutter uses the feed pressure value in the milling specification to mill the electrode; wherein, Based on the feed pressure value used when the milling cutter milled the electrode last time, Reducing the feed pressure of the milling cutter when milling the electrode this time, comprising: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is smaller than the reference and has the smallest absolute value of the difference with the reference; Increasing the feed pressure of the milling cutter when milling the electrode this time includes: adjusting the feed pressure of the milling cutter when milling the electrode this time to a feed pressure value in the feed pressure specification that is greater than the benchmark and has the smallest absolute value of the difference with the benchmark.

4. The method according to claim 3, characterized in that The feed pressure specification is determined based on the feed pressure required when the milling cutter with different bluntness levels rotates a predetermined number of times and the milling reaches the expected milling amount.

5. The method according to claim 3, characterized in that: The milling parameters also include the number of revolutions of the milling cutter when the milling cutter performs a single milling on the electrode, and the method further includes: When the benchmark is the maximum feed pressure value in the feed pressure specification, and the average value is less than the expected milling amount, the number of revolutions of the milling cutter when milling the electrode this time is increased.

6. The method according to claim 5, characterized in that When the number of revolutions of the milling cutter for milling the electrode is increased, an alarm message is issued; Count the number of alarm messages issued within the scheduled milling times; In response to the alarm message being issued a number of times exceeding a threshold within a predetermined number of milling times, a prompt message for replacing the milling cutter is generated.

7. The method according to claim 6, characterized in that After replacing the milling cutter, the feed pressure used by the new milling cutter is adjusted to the minimum value of the feed pressure value in the feed pressure specification.

8. The method according to claim 1, characterized in that The at least part of the historical data is historical data respectively obtained during the N most recent milling operations before the current milling operation, wherein N is a positive integer.

9. The method according to claim 1, characterized in that: Acquire multiple historical data when the milling cutter mills the electrode, including: Obtaining the electrode wear amount Δ1 of the electrode after the last milling after welding, wherein the electrode wear amount is the difference between the initial length of the electrode and the length at the time of measurement; Obtaining the electrode wear amount Δ2 after the electrode is milled this time; The milling amount of the electrode milled by the milling cutter this time is obtained, wherein the milling amount of the electrode milled by the milling cutter this time is Δ=Δ2-Δ1.

10. The method according to claim 2, characterized in that In response to the average value being greater than or less than the expected milling amount and the electrode being replaced, the feed pressure of the milling cutter when milling the electrode this time is increased.

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