Robot nail planting double-face spot welding device and method

Abstract

The invention relates to the technical field of electric resistance welding, in particular to a robot nail planting double-face spot welding device and method. The invention provides a robot nail planting double-face spot welding device which comprises a main body bearing frame fixed to the movable end of a welding robot and a nail planting welding assembly arranged on the main body bearing frame, and the nail planting welding assembly comprises an upper electrode column, a lower electrode column and a lower electrode column, the upper electrode cylinder is arranged below the workpiece and is used for bearing the planting nail; the lower electrode column is rotationally arranged at the lower end of the upper electrode cylinder. Based on the electric resistance welding principle, parameter self-adaptive matching is achieved through the welding current adjusting assembly and the welding pressure adjusting assembly. The current adjusting assembly converts a nail planting diameter signal into pneumatic drive, adjusts the electrode contact area, and ensures resistance thermal adaptation. The pressure adjusting assembly changes the lever fulcrum and dynamically adjusts the pressure. The problems of pseudo soldering, burning loss and the like caused by parameter unification of traditional equipment are solved, and the strength and stability of welding spots are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of resistance welding, in particular to a robot pin planting double-sided spot welding device and method. BACKGROUND

[0002] In modern industrial production, pin planting welding as an important connection process is widely used in many fields such as automobile manufacturing, electronic equipment production, aerospace, etc. Among them, the pin planting welding technology based on the principle of resistance welding has become the mainstream choice in the industry due to its advantages of high efficiency and reliability. Resistance welding generates resistance heat through the current flowing through the contact interface between the pin and the workpiece, heats the metal at the contact part to a plastic or molten state, and forms a firm welding spot under the action of pressure. The welding quality and efficiency directly affect the performance and production efficiency of the product.

[0003] Traditional resistance welding pin planting technology, such as ordinary electric arc stud welding and capacitor energy storage stud welding, has many drawbacks. On the one hand, these conventional welding methods often require the purchase of welding machines and matching special welding guns, and for different diameters of pins, multiple matching pin welding guns need to be equipped. When there are many types of pins, the operator has to frequently switch welding guns during the welding process, which not only greatly reduces the production efficiency, but also significantly increases the labor intensity, and also increases the equipment investment cost. For example, in the field of automobile manufacturing welding technology, due to the variety of pin diameters, the traditional welding method results in low production efficiency, which cannot meet the needs of large-scale production.

[0004] On the other hand, according to the principle of resistance welding (Q = I 2 Rt, where Q is heat, I is current, R is resistance, and t is time), the contact area and resistance value of pins of different diameters with the workpiece are significantly different, and different current sizes and welding forces need to be matched during welding to ensure welding quality. However, most existing welding equipment cannot adaptively adjust according to the diameter of the pin. For large-diameter pins, the contact area with the workpiece is large and the resistance value is relatively small. If uniform current and welding force parameters are used, the current may be too small to produce enough heat and pressure, making the welding interface unable to fully fuse, resulting in problems such as virtual welding, welding failure, etc., which seriously affects the structural strength of the product. For small-diameter pins, the contact area is small and the resistance value is large. Under uniform parameters, the large current and pressure will cause instantaneous overheating, causing the pin to burn and the workpiece to deform, also reducing product quality. SUMMARY

[0005] The present application provides a robot pin planting double-sided spot welding device and method, which can adaptively adjust the current size and welding force according to the diameter of the pin to improve the welding quality.

[0006] To achieve the above purpose, the present application is implemented by the following technical solutions:

[0007] A robot implanting double-sided spot welding device, comprising:

[0008] A welding robot, a main body carrier fixed to the active end of the welding robot, and an implant welding assembly arranged on the main body carrier, the implant welding assembly comprising: an upper electrode column arranged above the workpiece and driven to rotate relative to the main body carrier; an upper electrode cylinder arranged below the workpiece and carrying the implant; a lower electrode column rotatably arranged at the lower end of the upper electrode cylinder, the lower electrode cylinder is externally threaded connected with the lower electrode cylinder, the lower end of the lower electrode cylinder is fixedly connected with a sliding frame and a welding energy storage body in turn, and the sliding frame is fixedly connected with the main body carrier;

[0009] An implant fixing and diameter measuring assembly arranged in a ring array in the upper electrode cylinder, the implant fixing and diameter measuring assembly comprising: an insulating clamping rod in linear rolling contact with the outer peripheral surface of the implant;

[0010] A welding current adjusting assembly arranged on the sliding frame, the welding current adjusting assembly adaptively adjusts the contact area of the lower electrode column and the lower electrode cylinder after the multiple insulating clamping rods synchronously adaptively clamp the implant;

[0011] A welding pressure adjusting assembly arranged on the main body carrier, the welding pressure adjusting assembly comprising a lever and a fulcrum sliding seat capable of changing position relative to the lever, one side of the fulcrum sliding seat is embedded with a distance sensor, the welding pressure adjusting assembly adaptively adjusts the position of the fulcrum sliding seat relative to the lever after the multiple insulating clamping rods synchronously adaptively clamp the implant, one end of the lever is hinged with the welding energy storage body through a hinge seat, and the other end is hinged with a vertical telescopic driving member;

[0012] The implant welding assembly, the implant fixing and diameter measuring assembly, the welding current adjusting assembly, and the welding pressure adjusting assembly are electrically connected with a control assembly.

[0013] Further, the implant has a stem portion and a head portion connected with each other, the stem portion of the implant in the welding state is in contact with the inner bottom surface of the upper electrode cylinder, and the head portion is in contact with the upper end surface of the upper electrode cylinder.

[0014] Further, the implant fixing and diameter measuring assembly comprises an insulating horizontal cylinder fixed inside the upper electrode cylinder, a piston block is airtightly and slidably connected in the insulating horizontal cylinder, one end of the piston block is fixed with a rod body, one end of the rod body penetrates through the insulating horizontal cylinder and is fixedly connected with a support column, the insulating clamping rod is rotatably arranged on the support column, an elastic member is fixed between the piston block and the inner wall of the insulating horizontal cylinder, an electromagnet is fixed to the inner wall of the insulating horizontal cylinder, and the piston block is made of ferromagnetic material;

[0015] The outer surface of one of the piston blocks is embedded with an electrically-conductive block, which is electrically connected to an electrically-conductive strip embedded in the inner wall of the insulating horizontal cylinder.

[0016] The electrically-conductive block, the electrically-conductive strip and the control assembly are electrically connected, and the control assembly is electrically connected to an electromagnet.

[0017] Further, the welding current adjusting assembly comprises a fixed frame fixed to the sliding frame, the inner top end of the fixed frame is fixed with a gas cylinder, the gas cylinder is in gaseous communication with a plurality of insulating horizontal cylinders, the lower end of the gas cylinder is fixed with a mounting plate, the mounting plate is fixed with a contact switch, and the contact switch is electrically connected to the control assembly, and the welding current adjusting assembly further comprises a driving structure for driving the lower electrode column.

[0018] Further, the driving structure comprises a screw rod rotatably connected to the inner top end of the fixed frame, the lower end of the sliding frame is fixed with a rotary driving member for driving the screw rod, the screw rod is provided with a thick gear and a lifting plate in a top-to-bottom manner, the thick gear is fixed to the screw rod, and the lifting plate is threadedly connected to the screw rod, the lower end of the lifting plate is fixed with a limiting rod, the limiting rod is arranged through the mounting plate in a limiting manner, and the lower electrode column is fixed with a thin gear engaged with the thick gear.

[0019] Further, the welding pressure adjusting assembly further comprises a horizontal telescopic driving member fixed to the main body bearing frame, the telescopic end of the horizontal telescopic driving member is fixed with a pushing block, the pushing block is fixedly connected to the fulcrum sliding seat, and the horizontal telescopic driving member is electrically connected to the control assembly; one side of the main body bearing frame is fixed with a guide rail, and the guide rail is slidably connected to the sliding frame.

[0020] Further, the horizontal telescopic driving member is distributed in a staggered manner with the lever.

[0021] A spot welding method of a robot-based double-sided spot welding device for planting nails, comprising the following steps:

[0022] S1, when a plurality of insulating clamping rods are in a dispersed state, placing a nail into an upper electrode cylinder, and then making the plurality of insulating clamping rods self-adaptively and elastically fix the nail;

[0023] S2, placing a workpiece on the nail and making the workpiece be at the position of the nail, and rotating and driving the upper electrode column to make it correspond to the position of the nail;

[0024] S3, the control assembly adjusts the contact area of the lower electrode column and the lower electrode cylinder according to the radial displacement of the insulating clamping rod, and adjusts the position of the fulcrum sliding seat relative to the lever.

[0025] Compared with the known prior art, the technical scheme provided by the present application has the following beneficial effects:

[0026] 1. Based on the principle of resistance welding, the application realizes the self-adaptive matching of parameters through the welding current adjusting assembly and the welding pressure adjusting assembly. The welding current adjusting assembly drives the gas pressure by converting the diameter signal of the implanting nail into the gas pressure through the gaseous communication of the cylinder and the insulating horizontal cylinder, adjusts the contact area of the lower electrode column and the lower electrode cylinder through gear transmission, so that the large-diameter implanting nail obtains larger contact area to avoid insufficient heat production, and the small-diameter implanting nail reduces the contact area to prevent excessive current, thereby ensuring that the resistance heat Q=I 2 Rt always adapts to the welding requirements; the welding pressure adjusting assembly changes the position of the lever fulcrum through the horizontal telescopic driving piece, dynamically adjusts the welding pressure by using the force arm ratio relationship, and the large-diameter implanting nail corresponds to the labor-saving mode to provide sufficient pressure, and the small-diameter implanting nail switches to the distance-saving mode to avoid workpiece deformation, thereby fundamentally solving the quality problems such as virtual welding, welding, implanting nail burning and the like caused by the unified parameters of the traditional equipment, and significantly improving the welding strength and product structure stability.

[0027] 2. The application integrates the implanting nail fixing and diameter measuring assembly, uses the insulating clamping rods arranged in an annular array to adaptively gather and clamp implanting nails of different diameters under the action of elastic members, cooperates with the resistance change of the conductive block and the conductive strip to detect the diameter of the implanting nail in real time, and completes the positioning, fixing and size identification of the implanting nail without manual intervention, thereby effectively avoiding the problem of frequent switching of welding guns caused by the large number of implanting nail models in the traditional technology, significantly reducing the labor intensity of the operating personnel, reducing the equipment investment cost caused by the multiple welding guns, greatly improving the production efficiency, and being especially suitable for large-scale production scenes such as automobile manufacturing with various implanting nail diameters. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 is a structural schematic view of the application;

[0030] Figure 2 is a structural schematic view of the application after removing the welding robot;

[0031] Figure 3 is a sectional view of the application;

[0032] Figure 4 is Figure 3 is an enlarged view of A in FIG. 6;

[0033] Figure 5 is Figure 3Enlarged view at B;

[0034] Figure 6 For Figure 3 Enlarged view at B.

[0035] Reference signs: 1, welding robot; 2, main body carrier; 3, implant welding assembly; 31, upper electrode column; 32, upper electrode cylinder; 33, lower electrode column; 34, lower electrode cylinder; 35, sliding frame; 36, welding energy storage body; 4, implant fixation and diameter measurement assembly; 41, insulating clamping rod; 42, support column; 43, insulating horizontal cylinder; 44, rod body; 45, piston block; 46, electromagnet; 47, elastic member; 48, conductive block; 49, conductive strip; 5, welding current adjusting assembly; 51, fixed frame; 52, air cylinder; 53, mounting plate; 54, contact switch; 55, screw rod; 56, thin gear; 57, thick gear; 58, lifting plate; 59, limiting rod; 6, welding pressure adjusting assembly; 61, guide rail; 62, lever; 63, vertical telescopic driving member; 64, sliding groove; 65, fulcrum sliding seat; 66, pushing block; 67, horizontal telescopic driving member; 100, implant; 200, workpiece. DETAILED DESCRIPTION

[0036] In order to better understand the technical solutions, the technical solutions will be described in detail below in conjunction with the drawings in the specification and specific embodiments.

[0037] Embodiments:

[0038] Referring to Figures 1 to 6 A robot implant double-sided spot welding device, comprising a welding robot 1, the movable end of the welding robot 1 is fixedly connected with a main body carrier 2, the main body carrier 2 is integrated with an implant welding assembly 3, an implant fixation and diameter measurement assembly 4, a welding current adjusting assembly 5 and a welding pressure adjusting assembly 6, each assembly is electrically connected with a control assembly, and through cooperative action, automatic welding of implants 100 of different diameters is realized, and frequent switching of welding guns is not needed.

[0039] Referring to Figure 3, the pin implant welding assembly 3 as a welding execution core, including the upper electrode column 31 and the upper electrode cylinder 32: the upper electrode column 31 is located above the workpiece 200, and can be rotated through the driving mechanism of the main body bearing frame 2, without replacement, so as to accurately align the head of the pin implant 100 with different diameters; the upper electrode cylinder 32 is placed below the workpiece 200, and is used to bear the pin implant 100, the lower end of the upper electrode cylinder 32 is rotationally connected with the lower electrode column 33, the outer surface of the lower electrode column 33 is provided with external threads, and the lower electrode column 33 is connected with the lower electrode cylinder 34 through thread cooperation, the lower end of the lower electrode cylinder 34 is sequentially fixed with the sliding frame 35 and the welding energy storage body 36, the sliding frame 35 is fixed with the main body bearing frame 2, so as to form stable support, and the welding energy storage body 36 provides electric energy for welding, so that the overall structure avoids the positioning error and efficiency loss caused by the switching of multiple welding guns in the traditional equipment.

[0040] With reference to Figure 4 , the pin implant fixing and diameter measuring assembly 4 is distributed in the form of an annular array on the inner side of the upper electrode cylinder 32, so as to realize automatic positioning, fixing and diameter detection of the pin implant 100. The assembly includes an insulating horizontal cylinder 43 fixed on the inner side of the upper electrode cylinder 32, a piston block 45 made of ferromagnetic material is airtightly and slidably connected in the insulating horizontal cylinder 43, one end of the piston block 45 is fixed with a rod body 44, the rod body 44 penetrates through the insulating horizontal cylinder 43 and is connected with a support column 42, the support column 42 is rotationally provided with an insulating clamping rod 41, the insulating clamping rod 41 is in linear rolling contact with the outer circumferential surface of the rod portion of the pin implant 100, so as to ensure clamping stability and avoid electric conduction interference. An electromagnet 46 is fixed on the inner wall of the insulating horizontal cylinder 43, and an elastic member 47 (such as a compression spring) is fixed between the piston block 45 and the inner wall of the insulating horizontal cylinder 43; in the initial state, the control assembly controls the electromagnet 46 to be powered on, the piston block 45 is adsorbed to make the insulating clamping rod 41 dispersed, so as to facilitate the pin implant 100 to be put in; after being put in, the electromagnet 46 is powered off, the piston block 45 drives the insulating clamping rod 41 to gather to the center under the action of the elastic member 47, so as to automatically adapt to the pin implant 100 with different diameters and complete fixing without manual adjustment. The outer surface of one of the piston blocks 45 is embedded with a conductive block 48, which is in electrical contact with a conductive strip 49 on the inner wall of the insulating horizontal cylinder 43, and the effective resistance of the circuit is changed with the displacement of the piston block 45, so as to real-time transmit the diameter signal of the pin implant 100 to the control assembly, and replace the traditional manual identification and parameter setting.

[0041] With reference to Figure 5The welding current adjusting assembly 5 is arranged on the sliding frame 35, and the current is adaptively adjusted according to the resistance difference of the nails 100 with different diameters. The assembly comprises a fixed frame 51 fixed with the sliding frame 35, a gas cylinder 52 (a flexible telescopic rod structure with telescopic and self-resetting functions) fixed at the top end of the fixed frame 51, the gas cylinder 52 is in gaseous communication with a plurality of insulating horizontal cylinders 43 through a gas pipe, and can receive the gas pressure signal generated by the piston block 45 when the nail 100 is clamped; the lower end of the gas cylinder 52 is fixedly connected with a mounting plate 53, and the mounting plate 53 is fixedly connected with a contact switch 54, and the contact switch 54 is electrically connected with the control assembly. The welding current adjusting assembly 5 further comprises a driving structure: the top end of the fixed frame 51 is rotatably connected with a screw rod 55, and the lower end of the sliding frame 35 is fixedly connected with a rotary driving member (such as a servo motor) to drive the screw rod 55 to rotate; the screw rod 55 is provided with a thick gear 57 and a lifting plate 58 from top to bottom, the thick gear 57 is fixed with the screw rod 55, and the lifting plate 58 is threadedly connected with the screw rod 55, the lower end of the lifting plate 58 is fixedly connected with a limiting rod 59, and the limiting rod 59 penetrates through the mounting plate 53; the lower electrode column 33 is fixedly connected with a thin gear 56 engaged with the thick gear 57, and the thickness of the thick gear 57 is greater than that of the thin gear 56, so as to ensure the stable engagement of the lower electrode column 33 during the axial movement. When the diameter of the nail 100 is large, the piston block 45 is displaced, the gas pressure in the insulating horizontal cylinder 43 pushes the gas cylinder 52 to be more elongated, and the distance between the mounting plate 53 and the lifting plate 58 is greater; the control assembly drives the screw rod 55 to rotate, and drives the lower electrode column 33 to rotate through the engagement of the thick gear 57 and the thin gear 56, so that the lower electrode column 33 and the lower electrode cylinder 34 are threadedly connected to shorten the total length, and the lifting plate 58 moves downward along the limiting rod 59 until the contact switch 54 is contacted, and the control assembly stops driving, at this time, the contact area of the lower electrode column 33 and the lower electrode cylinder 34 is larger (according to the principle of resistance welding Q=I 2 Rt, the increase of the contact area can reduce the resistance, and the output current of the welding energy storage body 36 is matched, so as to ensure that the large-diameter nail 100 obtains sufficient heat and avoids false welding); on the contrary, the small-diameter nail 100 corresponds to a smaller contact area, which can prevent the nail from being burned due to excessive current.

[0042] Referring to Figure 6, the welding pressure adjusting assembly 6 is installed on the main body carrier 2 to realize self-adaptive adjustment of the welding pressure. The assembly comprises a lever 62, one end of the lever 62 is hingedly connected with a welding energy storage body 36 through a hinge seat, the other end of the lever 62 is hingedly connected with a vertical telescopic driving member 63 (such as a hydraulic cylinder), one side of the main body carrier is fixedly provided with a guide rail 61, the guide rail 61 is slidably connected with a sliding carrier 35, the sliding carrier 35 and the welding energy storage body 36 can only move vertically under the limitation of the guide rail 61, the hinge seat makes one end of the lever 62 and the welding energy storage body 36 which can only move vertically have a function of making up the motion interference, a sliding groove 64 is arranged in the middle of the lever 62, a fulcrum sliding seat 65 can slide along the sliding groove 64, one side of the fulcrum sliding seat 65 is embedded with a distance sensor, the distance sensor is electrically connected with a control assembly, and is used to send signals to the control assembly to make the control assembly know the moving direction and distance of the fulcrum sliding seat 65, so as to control the hydraulic pressure after the telescopic distance of the vertical telescopic driving member 63 is determined, so as to control the welding pressure; a horizontal telescopic driving member 67 is fixedly arranged on the main body carrier 2, a pushing block 66 is fixedly arranged at the telescopic end of the horizontal telescopic driving member 67, the pushing block 66 is fixed with the fulcrum sliding seat 65, the horizontal telescopic driving member 67 is electrically connected with the control assembly, and is distributed in a staggered manner with the lever 62 to avoid motion interference. When the diameter of the implant 100 changes, the control assembly adjusts the position of the fulcrum sliding seat 65 according to the resistance signal of the conductive block 48 and the conductive strip 49 through a preset formula “the telescopic amount L of the horizontal telescopic driving member 67 = L initial position + (R actual resistance - R initial resistance) × k” (k is a proportional coefficient): the larger the diameter of the implant 100, the greater the pressure required, the fulcrum moves to the power end, the power arm L1 decreases and the resistance arm L2 increases, according to the lever principle S2 = S1 × (L2 / L1), when the telescopic distance S1 of the vertical telescopic driving member 63 is fixed, the lifting distance S2 of the other end of the lever 62 is larger; the smaller the diameter of the implant 100, and the smaller S2 is realized by moving the fulcrum to the resistance end;

[0043] According to the static equilibrium formula F1×L1=F2×L2, the output welding pressure F2 can be represented as: F2=(F1×L1) / L2, wherein F1 is the driving force of the vertical telescopic driving member 63, L1 is the distance from the fulcrum sliding seat 65 to the power end, and L2 is the distance from the fulcrum sliding seat 65 to the resistance end. When the diameter of the implant 100 increases: the control assembly drives the fulcrum sliding seat 65 to move to the power end, so that L1 decreases and L2 increases, the L1 / L2 ratio decreases, at this time the control assembly increases the hydraulic pressure after the telescopic distance of the vertical telescopic driving member 63 is determined according to the signal sent by the distance sensor, so as to increase the welding pressure F2; on the contrary, when the diameter of the implant 100 decreases: the fulcrum sliding seat 65 moves to the resistance end, so that L1 increases and L2 decreases, the L1 / L2 ratio increases, at this time the control assembly reduces the hydraulic pressure after the telescopic distance of the vertical telescopic driving member 63 is determined according to the signal sent by the distance sensor, so as to reduce the welding pressure F2.

[0044] The spot welding method of the device is as follows: in the initial state, the electromagnet 46 is powered to disperse the insulating clamping rod 41, and the upper electrode column 31 is rotated to the non-interference position; S1, the implant 100 is placed in the upper electrode cylinder 32, the control assembly is powered off, the insulating clamping rod 41 is gathered to clamp the implant 100 under the action of the elastic member 47, and the diameter is detected through the resistance change of the conductive block 48 and the conductive strip 49; S2, the workpiece 200 is placed above the implant 100, and the upper electrode column 31 is driven to rotate to correspond to the head of the implant 100; S3, the control assembly changes the contact area of the lower electrode column 33 and the lower electrode cylinder 34 (adapts the current) through the welding current adjusting assembly 5 and changes the fulcrum position of the lever 62 (adapts the pressure) through the welding pressure adjusting assembly 6 according to the diameter signal; finally, the vertical telescopic driving member 63 pushes the lever 62, and the welding assembly applies the adapted current and pressure to the implant 100 and the workpiece 200, and completes the double-sided spot welding.

[0045] The entire device realizes automatic positioning and diameter detection through the implant fixation and diameter measurement assembly 4, and realizes parameter self-adaptive adjustment through the welding current adjusting assembly 5 and the welding pressure adjusting assembly 6, without the need to switch the welding gun to adapt to different diameter implants 100, solving the problems of low efficiency and unstable quality of traditional technology, and significantly improving the welding quality and production efficiency.

[0046] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all changes and modifications falling within the scope of the present application.

[0047] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A robot implant insertion double-sided spot welding device, characterized by, The application relates to a welding robot, a main body carrier fixed to the active end of the welding robot and a nail welding assembly arranged on the main body carrier, wherein the nail welding assembly comprises: an upper electrode column arranged above a workpiece and capable of being driven to rotate relative to the main body carrier; an upper electrode cylinder arranged below the workpiece and capable of bearing a nail; a lower electrode column rotatably arranged at the lower end of the upper electrode cylinder, wherein the lower electrode column is externally screwed with the lower electrode cylinder, the lower end of the lower electrode cylinder is fixedly connected with a sliding frame and a welding energy storage body in sequence, and the sliding frame is fixedly connected with the main body carrier; a nail fixing and diameter measuring assembly arranged in the upper electrode cylinder in a ring array, wherein the nail fixing and diameter measuring assembly comprises: an insulating clamping rod in linear rolling contact with the outer circumferential surface of the nail; a welding current adjusting assembly arranged on the sliding frame, wherein the welding current adjusting assembly is capable of adaptively adjusting the contact area between the lower electrode column and the lower electrode cylinder after the multiple insulating clamping rods synchronously adaptively clamp the nail; a welding pressure adjusting assembly arranged on the main body carrier, wherein the welding pressure adjusting assembly comprises a lever and a fulcrum sliding seat capable of changing position relative to the lever, one side of the fulcrum sliding seat is embedded with a distance sensor, the welding pressure adjusting assembly is capable of adaptively adjusting the position of the fulcrum sliding seat relative to the lever after the multiple insulating clamping rods synchronously adaptively clamp the nail, one end of the lever is hingedly connected with the welding energy storage body through a hinged seat, and the other end of the lever is hingedly connected with a vertical telescopic driving element; and the nail welding assembly, the nail fixing and diameter measuring assembly, the welding current adjusting assembly and the welding pressure adjusting assembly are electrically connected with a control assembly. The nail has a rod part and a head part connected with each other, the rod part of the nail in the welding state is in contact with the inner bottom surface of the upper electrode cylinder, and the head part is in contact with the upper end surface of the upper electrode cylinder. The nail fixing and diameter measuring assembly comprises an insulating horizontal cylinder fixed to the inner side of the upper electrode cylinder, the insulating horizontal cylinder is airtightly and slidably connected with a piston block, one end of the piston block is fixed with a rod body, one end of the rod body penetrates through the insulating horizontal cylinder and is fixedly connected with a support column, the insulating clamping rod is rotatably arranged on the support column, an elastic element is fixed between the piston block and the inner wall of the insulating horizontal cylinder, the inner wall of the insulating horizontal cylinder is fixed with an electromagnet, and the piston block is made of ferromagnetic material; The outer surface of one of the piston blocks is embedded with a conductive block, the conductive block is electrically connected with a conductive strip, and the conductive strip is embedded in the inner wall of the insulating horizontal cylinder; The conductive block, the conductive strip and the control assembly are electrically connected, and the control assembly is electrically connected with the electromagnet. The welding current adjusting assembly comprises a fixed frame fixed to the sliding frame, the inner top end of the fixed frame is fixed with an air cylinder, the air cylinder is in gaseous communication with the multiple insulating horizontal cylinders, the lower end of the air cylinder is fixed with a mounting plate, the mounting plate is fixed with a contact switch, the contact switch is electrically connected with the control assembly, and the welding current adjusting assembly further comprises a driving structure for driving the lower electrode column.

2. The robot implantation double-sided spot welding device according to claim 1, characterized in that, ​ 3. The robot implant screwing and spot welding device according to claim 1, characterized in that, ​ ​ ​ 4. The robot implant screwing and spot welding apparatus according to claim 1, wherein ​ 5. The robotically implanted bi-facial spot welding device of claim 4, wherein, The driving structure comprises a screw rod rotatably connected to the top end of the fixed frame, and a rotating driving member for driving the screw rod is fixed to the lower end of the sliding frame, the screw rod is provided with a thick gear and a lifting plate from top to bottom, the thick gear is fixed to the screw rod, and the lifting plate is threadedly connected to the screw rod, the lower end of the lifting plate is fixed with a limiting rod, and the limiting rod is arranged through the mounting plate, and a thin gear engaged with the thick gear is fixed to the lower electrode column.

6. The robot implant screwing and spot welding apparatus according to claim 1, wherein The welding pressure adjusting assembly further comprises a horizontal telescopic driving member fixed to the main body carrier, a pushing block is fixed to the telescopic end of the horizontal telescopic driving member, the pushing block is fixedly connected to the fulcrum sliding seat, and the horizontal telescopic driving member is electrically connected to the control assembly; one side of the main body carrier is fixed with a guide rail, and the guide rail is slidably connected to the sliding frame.

7. The robotically implanted bi-facial spot welding device of claim 6, wherein, The horizontal telescopic driving member is distributed in dislocation with the lever.

8. A spot welding method of the robot implantation double-sided spot welding apparatus according to any one of claims 1 to 7, characterized by, The method comprises the following steps: S1, when the plurality of insulation holding rods are in a dispersed state, the implant is placed in the upper electrode cylinder, and then the plurality of insulation holding rods are self-adapted to elastically fix the implant; S2, the workpiece is placed on the implant and is located at the implant of the workpiece, and the upper electrode column is rotated to correspond to the position of the implant; S3, the control assembly adjusts the contact area of the lower electrode column and the lower electrode cylinder according to the radial displacement of the insulation holding rod, and the implant welding assembly adjusts the position of the fulcrum sliding seat relative to the lever.

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