Spot welding parameter setting method, device and equipment for spot welding robot and storage medium

Abstract

The invention discloses a spot welding parameter setting method, device and equipment of a spot welding robot and a storage medium, and the spot welding parameter setting method of the spot welding robot comprises the steps that the combined spot welding process of different-type and different-thickness three-layer plates is divided into a welding preheating stage, a main welding stage and a welding tempering stage, and welding currents of the three stages are set in a differentiated mode. The combined spot welding process of the three-layer plates of different types and different thicknesses is divided into three stages, welding currents are set in a differentiated mode, the existing welding problem can be effectively solved, and in the preheating stage, the differentiated currents can relieve the nugget deviation problem caused by low resistance of the thin plates; in the main welding stage, effective welding of steel plates with different strengths is guaranteed through targeted current setting, splashing generated by large current is avoided, and both the quality and low splashing are considered; and the current setting in the tempering stage can eliminate residual stress, improve the welding quality, prevent open welding and improve the welding effect of the three-layer plates with different thicknesses in all directions.

Description

Technical Field

[0001] The present application relates to the field of spot welding in automobile body-in-white manufacturing, and specifically to a method, device, equipment and storage medium for setting spot welding parameters of a spot welding robot. Background Art

[0002] The spot welding robot performs spot welding operations according to the movements, sequence, and parameters specified in the teaching program. The process is fully automated. The robot has an alarm system. If the operator makes an error during the teaching process or a malfunction occurs during the robot's replay operation, the robot's computer system will issue an alarm signal, automatically shut down, and display the type of error or malfunction. The robot also has an interface for communicating with external devices, through which it receives control commands from the upper-level master control and management computer.

[0003] An automotive assembly is composed of numerous parts, large and small, assembled together. Each part has its own assembly order, and the corresponding parts are assembled step by step. Most automotive assembly welding is performed by spot welding robots. During operation, the robot first moves to the welding point of the part, then connects the welding gun to the current to complete the welding.

[0004] In the related art, among the sheet metal combinations for body-in-white welding, one type of combination with poor weldability is the welding of three-layer plates with different types and thicknesses. The conventional welding parameter setting method for such combinations of different types and thicknesses is to use strong specifications to increase the welding current and keep the current constant, generally above 9kA, to ensure the quality of the welds.

[0005] However, the problem with conventional parameter setting methods is that large currents cause large spatter, making it impossible to take into account both quality and low spatter. Summary of the Invention

[0006] The present application provides a method, device, equipment and storage medium for setting spot welding parameters of a spot welding robot, which can solve the problem in the related art that strong specifications are used to increase the welding current and keep the current constant, the large current causes large spatter, and it is impossible to take into account both quality and low spatter technology at the same time.

[0007] In a first aspect, an embodiment of the present application provides a method for setting spot welding parameters of a spot welding robot, the method comprising: The spot welding process of three-layer plates with different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding currents in the three stages are set differently.

[0008] In combination with the first aspect, in one embodiment, the spot welding process of the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding, and welding tempering, and the welding current in each stage is set differently, including: During the welding preheating stage, the preheating current is controlled to decrease from a first current value to a second current value after being maintained for a first set period of time.

[0009] In combination with the first aspect, in one embodiment, controlling the preheating current to decrease from a first current value to a second current value after maintaining the first current value for a first set time period includes: The preheating current is controlled to maintain a first current value for a first set time period and then decrease to a second current value along an arc curve or a straight line.

[0010] In combination with the first aspect, in one embodiment, the spot welding process of the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding, and welding tempering, and the welding current in each stage is set differently, including: The main welding stage is controlled to adopt a pulse welding mode, the main welding is performed in a heating-cooling cycle, and the third current value of the pulse welding mode is equal to the second current value.

[0011] In combination with the first aspect, in one embodiment, the spot welding process of the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding, and welding tempering, and the welding current in each stage is set differently, including: During the welding tempering stage, the preheating current is controlled to be a fourth current value and maintained for a second set time period, and the fourth current value is between the first current value and the second current value.

[0012] In combination with the first aspect, in one embodiment, the spot welding process of the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding, and welding tempering, and the welding current in each stage is set differently, including: The duration of the welding current in the welding preheating stage is controlled to be shorter than the duration of the welding current in the welding tempering stage.

[0013] In combination with the first aspect, in one embodiment, the spot welding process of the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding, and welding tempering, and the welding current in each stage is set differently, including: The duration of the welding current for controlling the welding tempering is shorter than the duration of the welding in the main welding stage and longer than the duration of the welding current in the welding preheating stage.

[0014] In a second aspect, an embodiment of the present application provides a spot welding parameter setting device for a spot welding robot, the spot welding parameter setting device for a spot welding robot comprising: The spot welding parameter setting module is used to divide the spot welding process of the three-layer plate combination of different types and thicknesses into three stages: welding preheating, main welding and welding tempering, and the welding currents of the three stages are set differently.

[0015] In a third aspect, an embodiment of the present application provides a spot welding parameter setting device for a spot welding robot, the spot welding parameter setting device comprising a processor, a memory, and a spot welding parameter setting program for a spot welding robot stored on the memory and executable by the processor, wherein when the spot welding parameter setting program for the spot welding robot is executed by the processor, the steps of the spot welding parameter setting method for the spot welding robot described in some of the above embodiments are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a spot welding robot spot welding parameter setting program is stored, wherein when the spot welding robot spot welding parameter setting program is executed by a processor, the steps of the spot welding robot spot welding parameter setting method as described in some of the above embodiments are implemented.

[0017] The beneficial effects of the technical solutions provided in the embodiments of the present application include: Dividing the combined spot welding process of three-layer plates of different types and thicknesses into three stages and setting the welding current differently can effectively solve existing welding problems. In the preheating stage, differentiated currents can alleviate the problem of molten core offset caused by low resistance of thin plates; in the main welding stage, targeted current settings can ensure effective welding of steel plates of different strengths while avoiding spatter caused by large currents, taking into account both quality and low spatter; the current setting in the tempering stage can eliminate residual stress, improve welding quality, prevent open welding, and comprehensively improve the welding effect of three-layer plates of different types and thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of an embodiment of a method for setting spot welding parameters for a spot welding robot according to the present application; Figure 2 This is a schematic diagram of the structure of the spot welding robot in this application for spot welding three-layer plates of different types and thicknesses; Figure 3 A schematic diagram of the current waveform of the spot welding parameter setting method of the spot welding robot in this application; Figure 4 This is a schematic diagram of the hardware structure of the spot welding parameter setting device of the spot welding robot involved in the embodiment of the present application.

[0019] In the figure: 1. Moving electrode; 2. Stationary electrode; 3. Sheet metal part 1; 4. Sheet metal part 2; 5. Sheet metal part 3. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 this application.

[0021] The spot welding robot performs spot welding operations according to the movements, sequence, and parameters specified in the teaching program. The process is fully automated. The robot has an alarm system. If the operator makes an error during the teaching process or a malfunction occurs during the robot's replay operation, the robot's computer system will issue an alarm signal, automatically shut down, and display the type of error or malfunction. The robot also has an interface for communicating with external devices, through which it receives control commands from the upper-level master control and management computer.

[0022] An automotive assembly is composed of numerous parts, large and small, assembled together. Each part has its own assembly order, and the corresponding parts are assembled step by step. Most automotive assembly welding is performed by spot welding robots. During operation, the robot first moves to the welding point of the part, then connects the welding gun to the current to complete the welding.

[0023] At present, the sheet metal combination of body-in-white welding, such as Figure 2 As shown, the spot welding robot's moving electrode 1 and stationary electrode 2 spot weld sheet metal 1 3, sheet metal 2 4, and sheet metal 3 5 stacked therebetween. When welding these three layers of dissimilar and varying thicknesses, especially when sheet metal 1 3 is the outermost and galvanized, the weld resistance is low, leading to nugget shifting, affecting the weld quality and even causing weld breakage. Furthermore, when welding sheet metal 2 4, made of low-strength steel, and sheet metal 3 5, made of high-strength (HSS) or even ultra-high-strength (UHSS) steel, the difference in carbon content between the low-strength and high-strength steels results in a significant difference in bulk resistance, resulting in a small overlap area in the weld window and a significant difference in applicable current. The current conventional parameter setting method for welding these dissimilar and varying thicknesses employs a strict standard to increase the welding current and maintain a constant current, generally above 9kA, to ensure weld quality. The problem with this conventional setting method is that the high current causes significant spatter, making it impossible to achieve both quality and low spatter.

[0024] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0025] In a first aspect, an embodiment of the present application provides a method for setting spot welding parameters of a spot welding robot.

[0026] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for setting spot welding parameters for a spot welding robot of this application. Figure 1 As shown, the spot welding parameter setting method of the spot welding robot includes: S100: The spot welding process of three-layer plates with different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding currents of the three stages are set differently.

[0027] In this embodiment, the combined spot welding process of three-layer plates of different types and thicknesses is divided into three stages and the welding current is set differently, which can effectively solve the existing welding problems. In the preheating stage, the differentiated current can alleviate the problem of molten core offset caused by low resistance of thin plates; in the main welding stage, the targeted current setting can ensure the effective welding of steel plates of different strengths and avoid the spatter caused by large currents, taking into account both quality and low spatter; the current setting in the tempering stage can eliminate residual stress, improve welding quality, prevent open welding, and comprehensively improve the welding effect of three-layer plates of different types and thicknesses.

[0028] Furthermore, in one embodiment, in S100, the following steps are included: S101: During the welding preheating stage, controlling the preheating current to decrease from a first current value to a second current value after being maintained for a first set period of time.

[0029] In this embodiment, during the welding preheating stage, the preheating current is controlled to decrease from a first current value to a second current value after being maintained for a first set time period, so that the initial welding conditions can be optimized in a hierarchical manner. While maintaining the first current value, a larger current can cause the sheet metal part 3 to heat up quickly, especially for thin plates with a galvanized layer on the outside and low resistance, which can accelerate the melting and vaporization of the galvanized layer on its surface, and at the same time promote the overall temperature of the sheet metal part 3 to be uniform, effectively reducing the possibility of molten core deviation caused by uneven temperature and resistance difference. Subsequently, the current is reduced to the second current value to avoid local overheating due to continuous high current, prevent the sheet metal part 3 from burning through, and create a stable temperature basis for the subsequent main welding stage, ensuring that the three-layer plates of different types and thicknesses are in a more suitable initial state when entering the main welding, laying a good foundation for improving the overall welding quality.

[0030] Furthermore, in one embodiment, in S101, the following steps are included: S101 - 1 : Control the preheating current to decrease from a first current value to a second current value along an arc curve or a straight line after maintaining the first current value for a first set period of time.

[0031] In this embodiment, Figure 3As shown, the time period from t1 to t2 is the welding preheating stage. After the preheating current is controlled to maintain the first current value for the first set time period, it is reduced to the second current value according to an arc curve or a straight line, which can achieve a smooth transition of the current and optimize the welding preheating process. The current decreases according to a specific curve or a straight line, which can avoid thermal shock caused by sudden current changes, prevent excessive thermal stress inside the sheet metal part 3 due to rapid temperature changes, and reduce the risk of deformation or even cracking of the thin plate due to thermal stress concentration. At the same time, the smooth current drop process makes the plate temperature change evenly, further improve the uniformity of the plate temperature distribution, reduce the probability of molten core offset, and more accurately control the vaporization and melting degree of the galvanized layer on the surface of the sheet metal part 3, providing more ideal temperature conditions and welding basis for the subsequent main welding stage, and ensuring the stability of the welding quality of three-layer plates with different types and thicknesses.

[0032] Furthermore, in one embodiment, in S100, the following steps are included: S102: Controlling the main welding stage to adopt a pulse welding mode, performing the main welding in a heating-cooling cycle, and making the third current value of the pulse welding mode equal to the second current value.

[0033] In this embodiment, Figure 3 As shown, the time period from t3 to t4 is the main welding stage. The pulse welding mode is used in the main welding stage, and the main welding is performed according to the heating-cooling cycle. The third current value of the pulse welding mode is equal to the second current value, which effectively improves the welding quality of three-layer plates with different types and thicknesses. The heating-cooling cycle can fully melt the welding area to form a molten nugget during heating and solidify it in time during cooling, avoiding problems such as metal overheating and burn-through of thin plates caused by continuous high temperature. At the same time, the range of the welding heat-affected zone is reduced, reducing plate deformation. The third current value is equal to the second current value, achieving a seamless current transition from the preheating stage to the main welding stage, maintaining the stability of the welding process, ensuring that steel plates of different strengths and thicknesses can be welded under appropriate heat input, and avoiding spatter caused by current fluctuations. In addition, the cyclic characteristics of the pulse welding mode can also alleviate the impact of the difference in bulk resistance caused by the difference in carbon content between sheet metal part 2 4 of low-strength steel plate and sheet metal part 3 5 of high-strength steel plate during the alternating heating and cooling processes, thereby expanding the welding window overlap area and ensuring the strength and quality of the weld.

[0034] Furthermore, in one embodiment, in S100, the following steps are included: S103: During the welding tempering stage, the preheating current is controlled to be a fourth current value and maintained for a second set time period, wherein the fourth current value is between the first current value and the second current value.

[0035] In this embodiment, Figure 3As shown, the time period from t5 to t6 is the main welding stage. In the welding tempering stage, the preheating current is controlled to be the fourth current value and maintained for the second set time period, and the fourth current value is between the first current value and the second current value, which can significantly optimize the welding effect of the three-layer plates of different types and thicknesses. The moderate fourth current value can generate just the right amount of heat at the welding joint, effectively eliminate the residual stress generated in the main welding process, and avoid the problem of weld cracking caused by stress concentration. By maintaining the second set time period, the heat has enough time to diffuse evenly, so that the microstructure and properties of the welding joint are fully improved, and the bonding strength between steel plates of different strengths and thicknesses is enhanced. At the same time, the current setting is in a reasonable range, and will not cause secondary damage to the already welded plates due to excessive current, nor will it fail to achieve the tempering purpose due to too small current, thereby ensuring the reliability and stability of the welding quality of the three-layer plates of different types and thicknesses, and further ensuring the strength and durability of the overall welding structure.

[0036] Furthermore, in one embodiment, in S100, the following steps are included: S104: Controlling the welding current duration in the welding preheating stage to be shorter than the welding current duration in the welding tempering stage.

[0037] In this embodiment, the welding current duration in the welding preheating stage is controlled to be shorter than the welding current duration in the welding tempering stage, which can better optimize the welding process of dissimilar and different-thickness three-layer plates. The preheating stage quickly increases the plate temperature in a shorter time to create suitable initial conditions for welding, avoiding overheating and deformation of the plate due to too long preheating. The relatively long current duration in the tempering stage can fully exert the tempering effect, and there is enough time to eliminate the residual stress generated by the main welding and improve the structural properties of the weld joint. This time difference setting makes the rhythm of the entire welding process reasonable, which not only ensures that the plate quickly enters the welding state, but also deeply optimizes the quality of the weld joint, reduces the risk of weld failure caused by stress and structural defects, ensures the overall structural strength and stability of the dissimilar and different-thickness three-layer plates after welding, and effectively improves the welding quality.

[0038] Furthermore, in one embodiment, in S100, the following steps are included: S105: Controlling the welding current duration of the welding tempering to be shorter than the welding duration of the main welding stage and longer than the welding current duration of the welding preheating stage.

[0039] In this embodiment, the welding current duration of the welding tempering is controlled to be less than the welding time of the main welding stage and greater than the welding current duration of the welding preheating stage, which can make the welding process of dissimilar and different-thickness three-layer plates more scientific and efficient. The longer duration of the main welding stage ensures that plates of different strengths and thicknesses are fully fused to form reliable welds; the tempering stage duration is moderate, which will not be too short to fully eliminate the residual stress generated by the main welding and improve the joint structure performance, nor will it be too long to cause adverse effects on the formed welds; the shorter preheating stage duration can quickly increase the plate temperature to an appropriate range, prepare for welding and avoid excessive heat deformation of the plate. The reasonable gradient setting of the three durations allows the entire welding process to be step-by-step and interconnected, ensuring stable welding quality, reducing welding defects, and improving the overall reliability of the welding of dissimilar and different-thickness three-layer plates.

[0040] Furthermore, in one embodiment, there is no specific sequence of steps S101, S102, S103, S104 and S105.

[0041] In summary, the present invention provides a parameter setting method for spot welding dissimilar and different-thickness body-in-white sheet metal parts, which can ensure welding quality and achieve a low spatter rate. The method specifically includes the following steps: Step 1: Ensure that the gap between the three-layer board with different thickness and the static electrode 2 is 0 to 2 mm; Step 2: The welding clamp and the three-layer board with different thicknesses are perpendicular to each other at 90±2 degrees; Step 3: Confirm the grinding stability.

[0042] Among them, step one ensures that the gap between the part to be welded and the static electrode 2 is 0 to 2 mm, which can ensure that the current passes smoothly through the part to be welded, reduce the increase in resistance, local overheating and spattering caused by excessive gap, and make the electrode pressure act more evenly on the plate, thereby improving the stability of the weld core formation; step two: the verticality of the welding clamp and the three-layer plate of different types and thicknesses is 90±2 degrees, which can avoid poor contact between the electrode and the plate due to angle deviation, resulting in uneven current distribution, and thus prevent spatter and weld core deviation caused by local high temperature, and ensure the consistency of weld quality; step three: grinding stability confirmation, by regularly checking the electrode grinding quality, ensuring the stability of the electrode head shape and size, avoiding changes in contact resistance and welding pressure fluctuations caused by electrode wear, maintaining the repeatability and reliability of the welding process, further reducing the spatter rate and improving the welding strength; the three work together to provide a stable physical condition basis for the welding process, and combined with the staged differentiated current control technology, comprehensively optimize the welding effect of the three-layer plate of different types and thicknesses.

[0043] Preferably, in step 2, the gap between the three-layer board of different types and thicknesses and the static electrode is 0 mm, and the qualified rate of the three-coordinate inspection of the white vehicle body remains stable.

[0044] Preferably, the relationship between the heat Q required for welding, the power-on time T, and the resistance R is as follows: Q = I 2 RT, where resistance R = R1 + R2, where R1 refers to the resistance of the three-layer plates of different types and thicknesses (i.e., the welding objects, such as sheet metal 1 3, sheet metal 2 4, and sheet metal 3 5 in the above technology), and R2 refers to the resistance generated by the contact between the electrode and the plates, and between the plates during spot welding.

[0045] Preferably, the dresser is arranged on one side of the three-layer board of different types and thicknesses and is fixedly installed on the ground.

[0046] Preferably, the method further includes the following specific steps before step 1: Confirm the overlap of three-layer plates of different types and thicknesses, and set the spot welding parameters of the spot welding robot.

[0047] Preferably, the spot welding parameter settings are specifically divided into a welding preheating stage, a main welding stage, and a welding tempering stage.

[0048] Preferably, pulse welding can be performed in the main welding stage, that is, a heating-cooling-heating-cooling cycle.

[0049] Preferably, the heating current of the main welding is set according to the characteristics when only two thick plates (sheet metal part 2 4 and sheet metal part 3 5 ) are welded, and the heating time is set according to the total time when only the two thick plates are welded.

[0050] Preferably, a reverse ramp current is set before the main welding heating current, that is, from a high current to the main welding stage heating current.

[0051] Preferably, the main welding heating current time is set according to the total time when only the two thick plates are welded divided by the number of pulses.

[0052] Preferably, the number of main welding pulses is 4 to 6.

[0053] Preferably, the preheating current in the welding preheating stage is high current and short time, which removes the zinc layer, eliminates the gap between the plates, and promotes the formation of the molten core on the outer thin plate.

[0054] Preferably, the current in the welding tempering stage is medium to high current and the time is long. The secondary welding promotes the growth of the molten core of the outer thin plate to ensure the welding quality.

[0055] Preferably, a set of welding parameters is set separately for each welding point.

[0056] The embodiment of the present application divides the spot welding process of the combination of three-layer plates of different types and thicknesses into three stages: welding preheating, main welding, and welding tempering. The welding current and time in each stage are different, and can be set as needed, which is different from the conventional current constant parameter setting method; the main welding is carried out according to the method of setting multiple pulses, and a cooling time is set in the middle, which can reduce spatter during the welding process; the current of the entire welding process changes from high to low to medium, avoiding the situation where the constant current heating power is too high and spatter is generated; the parameter setting is set independently for each welding point, which is different from the conventional situation where the parameters are set uniformly according to the plate combination.

[0057] That is, by setting three stages of welding preheating, main welding, and welding tempering, the spot welding process is artificially separated. The current size of each section can be set separately, thereby controlling the heating power to avoid high power and excessive growth of the molten core during long-term welding, which leads to the destruction of the plastic ring and the generation of spatter; in addition, in order to further control the heating power, the main welding is set to a pulse welding process to further control the heating power and avoid the generation of spatter; in order to ensure the quality of spot welding of three-layer plates of different types and thicknesses and reduce the influence of molten core offset, high current and high heating power are used when setting the welding preheating and welding tempering currents, which eliminates the galvanized layer, softens the plate to ensure the fit of the thin plate, and helps to ensure the welding quality; and ensure that the verticality between the surface of the part to be welded and the electrode of the welding clamp is 90±2°. The better the verticality between the surface of the part to be welded and the electrode of the welding clamp, the larger the contact area will be, the smaller the contact resistance will be, and the smaller the heat generated will be; the worse the verticality between the part to be welded and the static electrode of the welding clamp, the smaller the contact area will be, the greater the current density will be, the greater the power to generate heat will be, and the greater the spatter will be. Therefore, when the perpendicularity between the surface of the part to be welded and the electrode of the welding clamp is 90°, the contact area will be the largest, the contact resistance will be the smallest, and the heat generated will be the smallest. This can minimize the heat and the sparks during spot welding by the spot welding robot without affecting the welding function of the spot welding robot. When setting the parameters of the spot welding robot, set the welding parameters for each welding point separately, and do not use a set of parameters that are shared by several welding points. This can avoid the adjustment of a single spot welding parameter affecting other welding points.

[0058] In the second aspect, an embodiment of the present application also provides a spot welding parameter setting device for a spot welding robot, and the spot welding parameter setting device for the spot welding robot includes: a spot welding parameter setting module, which is used to divide the combined spot welding process of three-layer plates of different types and thicknesses into three stages: welding preheating, main welding and welding tempering, and the welding currents of the three stages are set differently.

[0059] Among them, the functional implementation of each module in the above-mentioned spot welding parameter setting device for spot welding robots corresponds to the steps in the above-mentioned embodiment of the spot welding parameter setting method for spot welding robots, and their functions and implementation processes are not repeated here one by one.

[0060] In a third aspect, an embodiment of the present application provides a spot welding parameter setting device for a spot welding robot. The spot welding parameter setting device for a spot welding robot can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0061] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the spot welding parameter setting device of the spot welding robot involved in the embodiment of the present application. In the embodiment of the present application, the spot welding parameter setting device of the spot welding robot may include a processor, a memory, a communication interface and a communication bus.

[0062] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0063] Communication interfaces include input / output (I / O), physical, and logical interfaces, which interconnect components within the spot welding robot's spot welding parameter setting device and other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[0064] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0065] The processor may be a general-purpose processor that can call a spot welding robot spot welding parameter setting program stored in a memory and execute the spot welding robot spot welding parameter setting method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the spot welding robot spot welding parameter setting program is called can be referenced to the various embodiments of the spot welding robot spot welding parameter setting method of the present application and will not be further described here.

[0066] Those skilled in the art will understand that Figure 4The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0067] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0068] The readable storage medium of the present application stores a spot welding parameter setting program for the spot welding robot, wherein when the spot welding parameter setting program for the spot welding robot is executed by the processor, the steps of the spot welding parameter setting method for the spot welding robot as described above are implemented.

[0069] Among them, the method implemented when the spot welding parameter setting program of the spot welding robot is executed can refer to the various embodiments of the spot welding parameter setting method of the spot welding robot in this application, and will not be repeated here.

[0070] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0071] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0072] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0073] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0074] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0075] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0076] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for setting spot welding parameters of a spot welding robot, characterized in that: The spot welding parameter setting method of the spot welding robot includes: The spot welding process of three-layer plates with different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding currents in the three stages are set differently.

2. The method for setting spot welding parameters of a spot welding robot according to claim 1, wherein: The process of spot welding the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding current in each stage is set differently, including: During the welding preheating stage, the preheating current is controlled to decrease from a first current value to a second current value after being maintained for a first set period of time.

3. The method for setting spot welding parameters of a spot welding robot according to claim 2, wherein: The controlling the preheating current to decrease from the first current value to the second current value after maintaining the first set time period includes: The preheating current is controlled to maintain a first current value for a first set time period and then decrease to a second current value along an arc curve or a straight line.

4. The method for setting spot welding parameters of a spot welding robot according to claim 2, wherein: The process of spot welding the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding current in each stage is set differently, including: The main welding stage is controlled to adopt a pulse welding mode, the main welding is performed in a heating-cooling cycle, and the third current value of the pulse welding mode is equal to the second current value.

5. The method for setting spot welding parameters of a spot welding robot according to claim 2, wherein: The process of spot welding the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding current in each stage is set differently, including: During the welding tempering stage, the preheating current is controlled to be a fourth current value and maintained for a second set time period, and the fourth current value is between the first current value and the second current value.

6. The method for setting spot welding parameters of a spot welding robot according to claim 1, wherein: The process of spot welding the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding current in each stage is set differently, including: The duration of the welding current in the welding preheating stage is controlled to be shorter than the duration of the welding current in the welding tempering stage.

7. The method for setting spot welding parameters of a spot welding robot according to claim 1, wherein: The process of spot welding the three-layer plate combination of different types and thicknesses is divided into three stages: welding preheating, main welding and welding tempering, and the welding current in each stage is set differently, including: The duration of the welding current for controlling the welding tempering is shorter than the duration of the welding in the main welding stage and longer than the duration of the welding current in the welding preheating stage.

8. A spot welding parameter setting device for a spot welding robot, characterized in that: The spot welding parameter setting device of the spot welding robot comprises: The spot welding parameter setting module is used to divide the spot welding process of the three-layer plate combination of different types and thicknesses into three stages: welding preheating, main welding and welding tempering, and the welding currents of the three stages are set differently.

9. A spot welding parameter setting device for a spot welding robot, characterized in that: The spot welding robot spot welding parameter setting device includes a processor, a memory, and a spot welding robot spot welding parameter setting program stored in the memory and executable by the processor, wherein when the spot welding robot spot welding parameter setting program is executed by the processor, the steps of the spot welding robot spot welding parameter setting method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a spot welding parameter setting program for a spot welding robot, wherein when the spot welding parameter setting program for a spot welding robot is executed by a processor, the steps of the spot welding parameter setting method for a spot welding robot according to any one of claims 1 to 7 are implemented.

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