Milling control method for resistance welding electrode

Abstract

This application provides a milling control method for resistance welding electrode, comprising: acquiring multiple historical data points during the milling of the electrode by a milling cutter, 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, which is contained in at least a portion of the historical data; and adjusting the milling parameters of the milling cutter during the current milling of the electrode based on the average value and the expected milling amount of the electrode each time. The milling control method for resistance welding electrode provided in this application, by adjusting the milling parameters of the milling cutter during the current milling of the electrode based on the average value of the milling amount in the historical data and the expected milling amount of the electrode each time, achieves lean control of the milling process. While ensuring milling effect, it avoids excessive milling amount causing electrode waste and milling cutter wear, reduces the number of electrodes and milling cutters consumed and the total replacement time, and lowers production costs.

Description

Technical Field

[0001] This application relates to the field of resistance welding technology, specifically to a method for controlling the milling of resistance welding electrode. Background Technology

[0002] In the welding process of the automotive body-in-white, resistance welding is commonly used. After welding a certain number of weld points, the electrodes of the resistance welding gun need to be milled to re-grind them and ensure the quality of the weld points.

[0003] In the current automotive industry, the milling parameters are fixed when milling electrodes, which cannot achieve lean control. Frequent replacement of electrodes and milling cutters is required, resulting in waste of electrodes and milling cutters and low production efficiency. Summary of the Invention

[0004] To at least partially solve the above problems, embodiments of this application provide a milling control method for a resistance welding clamp electrode, comprising: acquiring multiple 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 a portion of the multiple historical data; and adjusting the milling parameters of the milling cutter when milling the electrode this time based on the average value and the expected milling amount of the electrode each time it is milled.

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

[0006] In some embodiments, the method further includes: determining a feed pressure specification, the feed pressure specification including multiple feed pressure values ​​of different magnitudes, the milling cutter using the feed pressure value in the milling specification to mill the electrode; wherein, based on the feed pressure value used by the milling cutter in the previous milling of the electrode, reducing the feed pressure of the milling cutter in the current milling of the electrode includes: adjusting the feed pressure of the milling cutter in the current milling of the electrode to a feed pressure value in the feed pressure specification that is less than the reference and has the smallest absolute value of the difference from the reference; increasing the feed pressure of the milling cutter in the current milling of the electrode includes: adjusting the feed pressure of the milling cutter in the current milling of the electrode to a feed pressure value in the feed pressure specification that is greater than the reference and has the smallest absolute value of the difference from the reference.

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

[0008] In some embodiments, the milling parameters further include the number of rotations of the milling cutter during a single milling operation on the electrode, and the method further includes: increasing the number of rotations of the milling cutter during this milling operation on the electrode when the reference is the maximum feed pressure value in the feed pressure specification and the average value is less than the desired milling amount.

[0009] In some embodiments, when the number of rotations of the milling cutter during the current milling of the electrode is increased, an alarm message is issued; the number of alarm messages issued within a predetermined number of milling operations is counted; and in response to the number of alarm messages issued within a predetermined number of milling operations exceeding a threshold, a prompt message to replace 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 feed pressure value in the feed pressure specification.

[0011] In some embodiments, at least a portion of the historical data consists of historical data obtained from the Nth milling operation most recent to the current milling operation, where N is a positive integer.

[0012] In some embodiments, acquiring multiple historical data when the end mill cutter mills the electrode includes: acquiring the electrode wear amount Δ1 after welding following the last milling, wherein the electrode wear amount is the difference between the initial length of the electrode and the length at the time of measurement; acquiring the electrode wear amount Δ2 after the current milling; and acquiring the milling amount of the electrode currently milled by the end mill cutter, wherein the milling amount of the electrode currently milled by the end mill cutter is Δ = Δ2 - Δ1.

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

[0014] The milling control method for resistance welding electrode provided in the embodiments of this application adjusts the milling parameters of the milling cutter when milling the electrode each time, based on the average milling amount in historical data and the expected milling amount each time the electrode is milled. This enables dynamic adjustment of the milling parameters, allowing the milling amount of the cutter to return to the expected milling amount, thereby achieving lean control of the milling process. While ensuring the milling effect, it avoids excessive milling amount that would cause electrode waste and cutter wear, reduces the number of electrodes and cutters consumed and the total replacement time, lowers production costs, and improves production efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of historical data recorded during the milling control process, provided by an embodiment of this application. Detailed Implementation

[0017] The preferred embodiments of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection claimed in this application.

[0018] The inventors of this application have discovered that in the welding manufacturing process of the automotive body-in-white, the robotic resistance welding clamp uses fixed-parameter milling, resulting in unreasonable process control. This means it does not conform to the gradual dulling process of the milling cutter (hereinafter referred to as the milling insert or insert) during application, nor can it precisely control the milling accuracy. Furthermore, there is a risk of quality accidents after any parameter change. Milling cutters with different degrees of dullness produce different milling effects. When new inserts are used for milling, the electrode (hereinafter referred to as the electrode cap) has a large depth of cut, poor heat dissipation, and excessive electrode material, leading to severe wear on the insert's vertical surface, premature wear, and reduced insert life. Over-milling also wastes the production cost of the electrode cap, affecting the cost per vehicle. Too rapid replacement of the electrode cap, requiring manual intervention, reduces equipment uptime. All these factors directly impact production efficiency. The wear degree of the milling inserts used for electrode cap milling cannot be clearly identified visually, leading to blind replacement of inserts and high spare parts costs. On-site milling resistance measurement is affected by the age and parameters of the milling insert, resulting in large fluctuations that are uncontrollable and render monitoring meaningless. Moreover, in the event of a milling quality accident, defective vehicles cannot be accurately traced.

[0019] In view of this, embodiments of this application provide a milling control method for resistance welding electrode. This method can use Ethernet as the device connection medium in the production site and is executed by a milling control system. The milling system includes a robot controller, a welding controller, a servo welding electrode controller, and field input / output modules. These devices are connected to the network via a switch and data transmission control is performed through network configuration. These devices can perform functions such as parameter setting, standardized intelligent decision-making, data collection and analysis, and report output. Based on the concept of artificial intelligence, this method uses flexible decision-making to process the continuous variation law of the milling dimensions of the robot welding electrode and the influence of the number of milling operations on the passivation of the milling cutter. This achieves consistent continuous robot operation, ensures qualified milling quality of the welding electrode, doubles the life of the milling cutter, and reduces the cost of electrode cap usage.

[0020] The method provided in the embodiments of this application includes: acquiring multiple historical data when a milling cutter mills an electrode, the historical data including the milling amount of the electrode being milled by the milling cutter each time; determining the average value of the milling amount of the electrode being milled by the milling cutter each time, which is included in at least a portion of the multiple historical data; and adjusting the milling parameters of the milling cutter when milling the electrode this time based on the average value and the expected milling amount of the electrode each time it is milled.

[0021] Historical data can be continuously collected in real time during the robotic milling process. Historical data may include milling data for each time the electrode is milled by the milling cutter, and this data may include parameters such as the number of milling passes, milling time, and milling depth. Historical data can be stored in a memory; for example, the memory can store 2000 sets of historical data. In some embodiments, during the robotic milling process, the latest 2000 sets of data from the milling process can be calculated and collected in real time to generate a schematic diagram of milling depth changes and corresponding standardized data information diagrams (such as...). Figure 1As shown, the information can be used for quality tracking of the production process. Historical data can be used to reverse-engineer and simulate past production quality, and defect process tracking and defect weld quality tracking can be completed based on the number of specific data sets. In this application, the milling quality of the electrode is evaluated by the milling amount and the expected milling amount, and the milling parameters are adjusted accordingly. The expected milling amount can be the expected milling amount for each time the electrode is milled, that is, the expected wear amount caused by each milling operation, or it can be considered as the expected length change of the electrode for each milling operation. 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 0.025mm of oxide layer thickness, and ensure the quality of the next cycle of welding points (100-120, etc.). For thick plate high-current applications, the expected milling amount can be 0.033mm, 0.05mm, etc. In some embodiments, it is desirable that the milling amount can be adjusted automatically or manually. Milling parameters can be parameters that can affect the milling effect, such as the feed pressure and the number of rotations of the milling cutter during milling, as mentioned below.

[0022] The milling control method for resistance welding electrode provided in this application adjusts the milling parameters of the milling cutter during the current milling operation based on the average milling amount in historical data and the expected milling amount each time the electrode is milled. This allows for dynamic adjustment of the milling parameters, ensuring that the milling amount of the current operation returns to the expected amount, thereby achieving lean control of the milling process. While ensuring milling effectiveness, it avoids excessive milling amounts that could lead to electrode waste and cutter wear, reducing the number of electrodes and cutters consumed and the total replacement time, thus lowering production costs and improving production efficiency. Furthermore, this application fully utilizes digital tools and artificial intelligence methods to optimize and verify parameter validity, enabling intelligent milling of the robotic welding electrode cap. It precisely controls the milling amount of the electrode cap during milling, protects the milling cutter, significantly reduces the per-car manufacturing cost of the electrode cap, further increases equipment uptime, and intelligently mitigates electrode application risks.

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

[0024] In some embodiments, the method further includes: determining a feed pressure specification, the feed pressure specification including multiple feed pressure values ​​of different magnitudes, the milling cutter using the feed pressure value in the milling specification to mill the electrode; wherein, based on the feed pressure value used by the milling cutter in the previous milling of the electrode, reducing the feed pressure of the milling cutter in the current milling of the electrode includes: adjusting the feed pressure of the milling cutter in the current milling of the electrode to a feed pressure value in the feed pressure specification that is less than the reference and has the smallest absolute value of the difference from the reference; increasing the feed pressure of the milling cutter in the current milling of the electrode includes: adjusting the feed pressure of the milling cutter in the current milling of the electrode to a feed pressure value in the feed pressure specification that is greater than the reference and has the smallest absolute value of the difference from the reference.

[0025] The following shows an example of a 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 specifications are divided into six levels from smallest to largest: S1, S2, S3, S4, S5, and S6. Multiple feed pressure values ​​of varying sizes can include: 0.5KN, 0.8KN, 1.0KN, 1.5KN, 1.8KN, and 2.0KN. 0.5KN is the minimum feed pressure value in this specification, ensuring the electrode cannot be unscrewed; 2.0KN is the maximum feed pressure value, determined based on empirical values. It is 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; the number of feed pressure values ​​can also be increased or decreased. For example, the feed pressure specification can include more or fewer than six 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 magnitudes, which can be arranged in ascending order. After determining the feed pressure specification, the milling cutter uses one of the feed pressure values ​​in the specification for milling. After determining the relationship between the average value and the desired milling amount, the feed pressure value used in the previous milling operation is used as a reference. For example, if the feed pressure value used in the previous milling operation was 1.0 kN, and 1.0 kN is used as the reference, if it is necessary to reduce the feed pressure of the milling cutter when milling the electrode this time, the feed pressure of this operation is lowered by one level compared to the feed pressure used in the previous operation (adjusted to 0.8 kN); if it is necessary to increase the feed pressure of the milling cutter when milling the electrode this time, the feed pressure of this operation is increased by one level compared to the feed pressure used in the previous operation (adjusted to 1.5 kN). In this embodiment, by setting the feed pressure specification, the control logic can be simplified and the adjustment of the feed pressure can be 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 changes in 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 dulling rotates a predetermined number of revolutions and the milling reaches the desired milling amount.

[0029] In some embodiments, the milling parameters further include the number of revolutions of the milling cutter during a single milling operation on the electrode. The method further includes: when the reference is the maximum feed pressure value in the feed pressure specification, and the average value is less than the desired milling amount, increasing the number of revolutions of the milling cutter during this milling operation on the electrode. In this embodiment, the feed pressure is the primary control parameter, and the number of milling revolutions is set as the secondary control parameter. When the previously used feed pressure value is the maximum value in the feed pressure specification, and the average value is still less than the desired milling amount, the number of revolutions of the milling cutter is further increased to ensure the effective milling of the electrode. For example, the milling parameters can include 3 milling revolutions and a feed pressure of 1.0 kN. Strategy S1 adjusts the feed pressure to 1.5 kN while keeping the number of milling revolutions unchanged; Strategy S2 changes the feed pressure to 1.8 kN; Strategy S3 keeps the feed pressure at 1.8 kN, and so on. When adjusting to Strategy S4 (where the feed pressure is 2.0 kN, the highest feed pressure value in this embodiment), milling defects occur, failing to meet accuracy control requirements. In this case, both the starting pressure and the number of revolutions are adjusted, increasing the number of milling revolutions, for example, doubling it to 6. Based on actual operation monitoring, the implementation of the specifications will fluctuate depending on the control accuracy, allowing for adjustments as needed. The system will record milling adjustments and data for each milling operation in real time, tracking the milling process. Simultaneously, it will perform data analysis through algorithms, displaying real-time accuracy control values, standard values, and actual execution values.

[0030] In some embodiments, an alarm is issued when the number of rotations of the milling cutter during the current milling of the electrode is increased; the number of alarms issued within a predetermined number of milling cycles is counted; and a prompt to replace the milling cutter is generated in response to the number of alarms issued within the predetermined number of milling cycles exceeding a threshold. It is understood that when the number of milling cycles needs to be frequently increased to ensure milling effect, it indicates that the milling cutter is highly dull and needs to be replaced. Therefore, in this embodiment, an alarm is issued while increasing the number of milling cycles. When the number of alarms within the predetermined number of milling cycles exceeds a threshold, a prompt to replace the milling cutter is made. Simultaneously, the entire process data is recorded in real time, allowing for precise traceability of the quality control system and preventing quality accidents. For example, the predetermined number of milling cycles can be 100, and the threshold can be 15. If an alarm is issued 15 times within 100 consecutive milling cycles, 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 checked by on-site personnel. At this time, the alarm may be caused by other reasons, such as the milling cutter being blocked. In order to ensure the set accuracy, the milling force is continuously increased, triggering the alarm. It may also be caused by incorrect electrode data, which is a measurement problem of the welding gun controller. It may also be an alarm for incorrect electrode replacement. In this case, due to the proximity switch / track problem during automatic cap replacement, at least one electrode of the robot welding gun has not been replaced, resulting in the electrode cap being milled out. It may also be an alarm for loose welding gun body components. In this case, the welding gun cylinder or electrode arm is loose, causing the zero point offset to exceed 2mm, and the equipment needs to be handled urgently.

[0032] In some embodiments, after replacing the milling cutter, the feed pressure used by the new cutter is adjusted to the minimum feed pressure value in the feed pressure specification. In this embodiment, after replacing the milling cutter, the cutter is relatively sharp. To prevent the new insert from over-milling the electrode and premature wear of the insert, the feed pressure value is adjusted to the minimum value in the feed pressure specification, which also facilitates subsequent adjustments based on the average milling amount. In some embodiments, after replacing the milling cutter, the system resets the current number of milling operations to zero, the milling cutter count starts from zero, and the lean milling control program begins execution.

[0033] In some embodiments, at least a portion of the historical data consists of historical data obtained from the Nth milling operation most recent to the current milling operation, where N is a positive integer. In this embodiment, obtaining the average value from the historical data obtained from the Nth milling operation most recent to the current milling operation provides higher reference value; exemplarily, N can be 5. It is understood that in other embodiments, historical data can be selected in other ways, and this application does not limit this selection.

[0034] In some embodiments, acquiring multiple historical data points during the milling of the electrode by the milling cutter includes: acquiring the electrode wear amount Δ1 after welding following the last milling, where the electrode wear amount is the difference between the initial length of the electrode and the length measured; acquiring the electrode wear amount Δ2 after the current milling; and acquiring the milling amount Δ = Δ2 - Δ1 for the current milling. During the welding process, electrode wear also occurs, causing changes in electrode length. Therefore, in this embodiment, this method of acquiring the milling amount avoids the influence of changes in electrode length during welding on the measurement of the milling amount. In another embodiment, the electrode wear amount X1 after each milling by the robot can be measured. The electrode wear amount Y1 after welding 100-120 points (determined according to actual site conditions) and before milling can be collected. The data from these two measurements are used to calculate the electrode wear amount D1 = Y1 - X1 caused by welding on the electrode cap during the robot's welding process, and the electrode wear amount caused by welding is removed when calculating the single milling amount. All of the above data is collected in real time and continuously updated in the device system.

[0035] In some embodiments, in response to an average value being greater than or less than the desired milling amount and the electrode being replaced, the feed pressure of the milling cutter during the current milling operation is increased. In this embodiment, after electrode replacement, to ensure the formation of the electrode cross-sectional milling shape in the initial milling stage, the feed pressure of the milling cutter during the current milling operation is increased. After a certain number of milling operations (e.g., 5 times), intervention calculations are initiated for automatic adjustment. The electrode replacement timing can be determined based on the cumulative wear of the electrode. When the cumulative wear exceeds a certain predetermined value (e.g., ...), the replacement is initiated when the cumulative wear exceeds a predetermined value (e.g., ...). Figure 1 The electrode can be replaced (as shown in the diagram, 4.8mm).

[0036] The method provided in the embodiments of this application can be applied to both new and old cutting tools. Before applying the method to new and old cutting tools, a test mode is entered. In the test mode, test specifications and cycle counts are assigned respectively. The system specifies 8 cycles for new cutting tools and 5 cycles for old cutting tools. After the test, intelligent judgment is performed to determine the feed pressure specification under the current accuracy requirements. In addition, when initially replacing with a new cutting tool, the milling control system can reset the current number of cutter operations to zero, and the cutter count starts from zero to begin executing the lean milling control program.

[0037] The milling control method for resistance welding clamp electrodes provided in the embodiments of this application has the following beneficial effects:

[0038] (1) Intelligent milling can be performed using artificial intelligence decision-making methods to control the amount of electrode milling. The collection of the entire milling data is real-time, and the decision-making is also done in real time, ensuring the milling accuracy during the milling process. At the same time, the design of variable parameters is also designed for the dulling process of the milling cutter during the milling process. The parameters are gradually strengthened, and the milling cutter is eventually used until it can no longer be used. A milling cutter replacement mode is established by combining the parameter switching frequency and peak height dimension analysis, and the replacement is precise.

[0039] (2) It can be implemented automatically and is highly adaptable, and can be used with ease regardless of whether the blade is new or old.

[0040] (3) The present invention includes 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. Different control accuracy is adopted for different welding plates, and a milling method based on the accuracy determined by the thickness of the welding plate is established.

[0042] (5) It innovates the traditional milling method, which not only solves the industry drawbacks of the sharpness of the new milling cutter in the early stage, which leads to excessive milling of the electrode and premature wear of the cutter, but also scientifically performs intelligent milling by using the dulling law of the milling cutter, while taking into account the milling quality.

[0043] (6) During the standard adjustment process, an alarm will be triggered if any abnormal situation occurs. The data is recorded in real time throughout the process, and the quality vehicle can accurately trace the data to avoid quality accidents.

[0044] In a specific application example in a workshop, the system demonstrated outstanding cost control compared to traditional milling, reducing the pressure on the milling cutter by 44% compared to traditional control methods. For different welding plate thicknesses and welding materials, the system established two precision control modes: a 0.025mm setting allows for over 170 milling passes, and a 0.033mm setting allows for approximately 130 milling passes, nearly doubling the number of passes compared to traditional milling control methods.

[0045] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A method of milling control of an electrode of a resistance welding tongs, characterized in that, The method comprises: obtaining a plurality of historical data of milling of the electrode by the milling cutter, the historical data comprising a milling amount of the electrode each time being milled by the milling cutter; determining an average value of the milling amount of the electrode each time being milled by the milling cutter in at least part of the historical data; adjusting a milling parameter of the milling cutter in the present milling of the electrode based on the average value and an expected milling amount of the electrode each time being milled; the historical data further comprises a feed pressure of the milling cutter corresponding to the milling amount of the electrode, and the milling parameter comprises the feed pressure; the adjusting of the milling parameter of the milling cutter in the present milling of the electrode based on the average value and the expected milling amount of the electrode each time being milled comprises: in response to the average value being greater than the expected milling amount, decreasing the feed pressure of the milling cutter in the present milling of the electrode; in response to the average value being less than the expected milling amount, increasing the feed pressure of the milling cutter in the present milling of the electrode; The method further comprises: determining a feed pressure specification comprising a plurality of feed pressure values of different sizes, the milling cutter using the feed pressure values in the feed pressure specification to mill the electrode; wherein, a last used feed pressure value of the milling cutter in the last milling of the electrode is used as a reference, the decreasing of the feed pressure of the milling cutter in the present milling of the electrode comprises: adjusting the feed pressure of the milling cutter in the present milling of the electrode to a feed pressure value in the feed pressure specification which is less than the reference and has a minimum absolute value of difference from the reference; the increasing of the feed pressure of the milling cutter in the present milling of the electrode comprises: adjusting the feed pressure of the milling cutter in the present milling of the electrode to a feed pressure value in the feed pressure specification which is greater than the reference and has a minimum absolute value of difference from the reference; the feed pressure specification is determined based on feed pressures required when milling cutters of different degrees of passivation rotate a predetermined number of revolutions and mill to the expected milling amount; the at least part of the historical data is historical data obtained in the last N times of milling closest to the present milling, wherein N is a positive integer; obtaining a plurality of historical data of milling of the electrode by the milling cutter comprises: obtaining an electrode wear amount Δ1 of the electrode after the last milling and after welding, wherein the electrode wear amount is a difference between an initial length of the electrode and a length measured at the time; obtaining an electrode wear amount Δ2 of the electrode after the present milling; obtaining a milling amount Δ of the electrode being milled by the milling cutter in the present time, wherein the milling amount Δ of the electrode being milled by the milling cutter in the present time is Δ2-Δ1.

2. The method of claim 1, wherein, The milling parameter further comprises a number of revolutions of the milling cutter in a single milling of the electrode by the milling cutter, and the method further comprises: when the reference is a 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 in the present milling of the electrode.

3. The method according to claim 2, wherein when the number of rotations of the milling cutter in this time of milling the electrode is increased, an alarm information is issued; the number of times of issuing the alarm information within a predetermined number of times of milling is counted; in response to the number of times of issuing the alarm information within the predetermined number of times of milling exceeding a threshold value, a prompt information for replacing the milling cutter is generated.

4. The method according to claim 3, wherein after the milling cutter is replaced, the feed pressure used by the new milling cutter is adjusted to the minimum value of the feed pressure values in the feed pressure specification.

5. The method according to claim 1, wherein in response to the average value being greater or smaller than the expected milling amount and the electrode being replaced, the feed pressure of the milling cutter in this time of milling the electrode is increased.

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