A depth setting method and system for resistance spot welding electrode caps

Abstract

The application discloses a depth-fixing milling method and system for a resistance spot welding electrode cap and relates to the technical field of metal material welding.The application establishes an absolute reference coordinate system of a grinder, determines an initial reference position according to the position of a calibrated electrode cap end face in the absolute reference coordinate system, determines a grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system based on a preset grinding depth, a grinding frequency of the electrode cap to be ground and the initial reference position, and realizes depth-accurate control of the grinding process, maintains the consistency of the cutting amount of each grinding, optimizes the end face state of the electrode cap, improves the stability of the welding process parameters and the reliability of the welding point quality, and further improves the grinding accuracy and efficiency.

Description

Technical Field

[0001] This invention relates to the field of metal materials technology, and in particular to a method and system for fixed-depth milling of resistance spot welding electrode caps. Background Technology

[0002] In the automotive body-in-white welding process, resistance spot welding robots are widely used. To maintain stable welding quality, the end faces of the resistance spot welding electrode caps need to be regularly ground to remove the alloying layer and oxides adhering to the end faces. This grinding operation mostly relies on a robot holding the welding clamp and sending the electrode cap to a fixed position for automatic grinding to complete the finishing process. It is a key link in the automotive welding production line to ensure welding quality.

[0003] The current mainstream electrode cap grinding method in the industry is mainly based on the timed grinding mode of automatic grinders. By preset a fixed motor rotation time or tool feed revolution, the grinder is controlled to perform feeding and cutting actions. The grinding process is completed entirely by the preset time and revolution parameters.

[0004] Due to variations in the wear of the electrode cap itself, wear of the regrinding tool, and changes in the size of the electrode cap with each regrinding cycle, the existing timed regrinding mode lacks a stable depth benchmark as the basis for regrinding. This makes it difficult to maintain a consistent regrinding depth, and the flatness of the electrode cap end face cannot be stably guaranteed, making it difficult to meet the requirements of high-precision welding operations for electrode cap trimming. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method and system for fixed-depth milling of resistance spot welding electrode caps, which solves the problems of poor grinding accuracy and inability to guarantee the flatness of the electrode cap end face due to the lack of depth reference in existing technologies.

[0006] The technical means employed in this invention are as follows:

[0007] In a first aspect, embodiments of the present invention provide a method for fixed-depth milling of a resistance spot welding electrode cap, comprising: Establish the absolute reference coordinate system of the grinding tool, and determine the initial reference position based on the position of the end face of the calibration electrode cap in the absolute reference coordinate system; Based on the preset grinding depth, the number of grinding cycles for the electrode cap to be ground, and the initial reference position, the grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system is determined. The target grinding position is determined based on the preset grinding depth and the grinding reference position; The end face of the electrode cap to be repaired is ground to the target repair position.

[0008] Furthermore, the formula for calculating the grinding reference position is as follows: Zk-1 =Z0-(k-1)d, Among them, Z k-1 Z0 is the reference position for the k-th grinding cycle, Z0 is the initial reference position, k is the number of grinding cycles for the electrode cap to be ground, and d is the preset grinding depth.

[0009] Furthermore, the calculation formula for the target grinding position is as follows: Z k =Z k-1 -d, Among them, Z k Z represents the target grinding position for the k-th grinding cycle. k-1 d represents the reference position for the k-th grinding cycle, and d represents the preset grinding depth.

[0010] Furthermore, the preset grinding depth is 0.08-0.12mm.

[0011] Furthermore, after grinding the end face of the electrode cap to be ground to the target grinding position, the process includes: controlling the grinding tool of the grinder to rotate for a preset time.

[0012] Furthermore, a contact sensor is used to detect the contact signal between the grinding tool of the grinder and the end face of the calibration electrode cap in order to determine the initial reference position.

[0013] In a second aspect, embodiments of the present invention also provide a fixed-depth milling system for a resistance spot welding electrode cap, used to perform a fixed-depth milling method for a resistance spot welding electrode cap as described in the first aspect, comprising: The initial reference position calibration module is used to establish the absolute reference coordinate system of the grinder and determine the initial reference position according to the position of the end face of the calibration electrode cap in the absolute reference coordinate system. The grinding reference position determination module is used to determine the grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system based on the preset grinding depth, the number of grinding cycles of the electrode cap to be ground, and the initial reference position. The target grinding position determination module is used to determine the target grinding position based on the preset grinding depth and the grinding reference position; The grinding execution module is used to grind the end face of the electrode cap to be ground to the target grinding position.

[0014] Compared with the prior art, the present invention has the following advantages: 1. This invention establishes an absolute reference coordinate system for the grinding tool, determines the initial reference position by calibrating the electrode cap end face position, and then dynamically calculates the grinding reference position and the target grinding position by combining the preset grinding depth and grinding number. This achieves precise control of the grinding depth during the grinding process, can stably maintain the consistency of the cutting amount in each grinding, optimize the electrode cap end face state, improve the stability of welding process parameters and the reliability of weld quality, and thus improve grinding accuracy and efficiency.

[0015] 2. By precisely controlling the amount removed in a single grinding cycle, the wear caused by excessive grinding can be effectively avoided, which can significantly increase the grinding frequency of the electrode cap and fully extend the overall service life of the electrode cap, thereby extending the service life of the electrode.

[0016] 3. Ensure that the electrode cap end face has good flatness, so that the contact state between the electrode and the plate is stable and reliable, which helps to reduce welding spatter, improve the uniformity and stability of the weld strength, and thus improve the quality of welding formation.

[0017] 4. Avoid electrode replacement due to poor grinding results, reduce equipment failure and standby frequency, and improve the overall operating efficiency of production line equipment to reduce equipment downtime.

[0018] Based on the above reasons, this invention can be widely applied in fields such as metallic materials. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of a method for fixed-depth milling of a resistance spot welding electrode cap according to the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] In the automotive body-in-white welding process, resistance spot welding robots are widely used. To maintain stable welding quality, the end faces of the resistance spot welding electrode caps need to be regularly ground to remove the alloying layer and oxides adhering to the end faces. This grinding operation mostly relies on a robot holding the welding clamp and sending the electrode cap to a fixed position for automatic grinding to complete the finishing process. It is a key link in the automotive welding production line to ensure welding quality.

[0024] The current mainstream electrode cap grinding method in the industry is mainly based on the timed grinding mode of automatic grinders. By preset a fixed motor rotation time or tool feed revolution, the grinder is controlled to perform feeding and cutting actions. The grinding process is completed entirely by the preset time and revolution parameters.

[0025] Due to differences in electrode cap wear and wear on regrinding tools, the existing timed regrinding mode lacks a stable depth benchmark as a basis for regrinding, making it impossible to guarantee consistent material thickness removal each time. Excessive regrinding of the electrode cap will excessively consume electrode life and change the flatness of the end face, while insufficient regrinding will fail to effectively remove the alloy layer with poor surface conductivity, resulting in welding spatter and unstable heat input.

[0026] In addition, as the number of grinding cycles increases, the total length of the electrode cap gradually shortens. Traditional grinding tools cannot detect this dimensional change, leading to confusion in the grinding reference system, which further exacerbates the error in grinding depth. The grinding accuracy is difficult to meet the requirements of precision operations, and the flatness of the electrode cap end face cannot be stably guaranteed, making it difficult to adapt to the requirements of high-precision welding operations for electrode cap trimming.

[0027] This invention provides a method and system for fixed-depth milling of resistance spot welding electrode caps, which solves the problem that the lack of depth reference in the prior art leads to poor grinding accuracy and inability to guarantee the flatness of the electrode cap end face.

[0028] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0029] Please see Figure 1 , Figure 1 This is a schematic flowchart of a method for fixed-depth milling of a resistance spot welding electrode cap according to the present invention.

[0030] This application provides a method for fixed-depth milling of resistance spot welding electrode caps, including the following steps: Step 101: Establish the absolute reference coordinate system of the grinding machine. Determine the initial reference position based on the position of the calibration electrode cap end face in the absolute reference coordinate system. Place the calibration electrode cap on the grinding station of the grinding machine, and set the position of the calibration electrode cap end face in the absolute reference coordinate system as the initial reference position, which will serve as the reference zero point for all subsequent grinding operations.

[0031] The specific execution process is as follows: Step 1011: The robot grips the welding clamp with the calibration electrode cap and moves it to the top of the grinder. The calibration electrode cap is vertically inserted into the grinding station of the grinder and kept stationary, ensuring that the axis of the calibration electrode cap is coaxial with the axis of the grinding tool.

[0032] Step 1012: The regrinder controller issues a control command to drive the servo motor to move the regrinding tool at a low speed (e.g., 10 mm / min) towards the end face of the calibration electrode cap. This low-speed feed avoids rigid impact between the tool and the end face of the calibration electrode cap, while ensuring the accuracy of the contact trigger response. The moment the tool tip physically contacts the end face of the calibration electrode cap, the contact sensor is triggered, sending a high-level transition signal to the controller. Upon receiving the trigger signal, the controller immediately latches the current encoder reading of the servo motor, denoted as Z. initial The absolute position of the electrode cap end face is digitally recorded. The controller sets this position as the reference zero point Z0, i.e., Z0 = Z. initial This establishes the absolute reference coordinate system for the grinding tool.

[0033] By using a contact sensor to detect the contact signal between the grinding tool and the end face of the calibration electrode cap, accurate and reliable calibration of the initial reference position can be achieved, providing hardware support for precise control of the subsequent grinding depth.

[0034] Step 1013: Quickly retract the tool to a safe position (e.g., Z0+5mm) to avoid secondary interference between the tool and the electrode cap, and to provide operating space for the robot to exit. The robot removes the electrode cap from the grinder, completing the benchmark calibration process.

[0035] The calibration process is performed only once after the calibration electrode cap is installed, or as needed in calibration mode. There is no need to repeat the calibration in each regrinding operation, which greatly improves the overall efficiency of the regrinding operation while ensuring the accuracy of the reference.

[0036] Step 102: Based on the preset grinding depth, the number of grinding cycles for the electrode cap to be ground, and the initial reference position, determine the grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system. As the number of grinding cycles increases, the length of the electrode cap gradually shortens. By dynamically updating the reference position, it is ensured that the amount of material removed during each grinding cycle remains consistent.

[0037] In some embodiments, the formula for calculating the grinding reference position is: Z k-1 =Z0-(k-1)d, where Z k-1 Let Z0 be the reference position for the k-th grinding cycle, Z0 be the initial reference position, k be the number of grinding cycles for the electrode cap to be ground, and d be the preset grinding depth. When grinding a certain electrode cap for the k-th time, the total amount removed compared to the initial reference position Z0 is kd. This helps to achieve quantifiable and traceable control of the grinding amount, keeping the amount removed in each grinding cycle relatively stable. This facilitates precise control of the grinding progress and final dimensional state of the electrode cap, reducing the impact of grinding amount fluctuations on the welding process.

[0038] In some embodiments, the preset grinding depth is 0.08-0.12mm. This parameter range can effectively remove the oxide layer and deformation layer on the electrode cap end face while relatively reducing the cutting wear of the electrode cap body in a single grinding, which helps to balance the grinding effect and the service life of the electrode cap and adapts to the conventional requirements of the resistance spot welding process for the state of the electrode cap end face; for example, the preset grinding depth can be 0.1mm.

[0039] Step 103: Determine the target grinding position based on the preset grinding depth and grinding reference position.

[0040] In some embodiments, the formula for calculating the target grinding position is: Z k =Z k-1 -d, where Z n Z represents the target grinding position for the k-th grinding cycle. n-1 d represents the reference position for the k-th grinding cycle, and d represents the preset grinding depth.

[0041] The amount removed each time the electrode cap is d is to avoid excessive grinding of the electrode cap, which would excessively consume the electrode life and change the flatness of the end face. Insufficient grinding will not effectively remove the alloy layer with poor surface conductivity, which will lead to welding spatter and unstable heat input. This will improve the quality of the weld and the service life of the electrode.

[0042] Step 104: Grind the end face of the electrode cap to be repaired to the target repair position.

[0043] In some embodiments, after grinding the end face of the electrode cap to be ground to the target grinding position, the process includes: controlling the grinding tool of the grinding machine to rotate for a preset time to perform a finishing grinding on the end face of the electrode cap, which helps to remove micro burrs, tool marks and residual oxide layers generated during the grinding process, improve the flatness and smoothness of the end face, and improve the contact state between the electrode cap and the workpiece.

[0044] This invention also provides a fixed-depth milling system for resistance spot welding electrode caps, used to execute the aforementioned fixed-depth milling method for resistance spot welding electrode caps, comprising: an initial reference position calibration module, used to establish an absolute reference coordinate system for the grinder and determine an initial reference position based on the position of the end face of the calibrated electrode cap in the absolute reference coordinate system; a grinder reference position determination module, used to determine the grinder reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system based on a preset grinder depth, the number of grindering cycles of the electrode cap to be ground, and the initial reference position; a target grinder position determination module, used to determine a target grinder position based on a preset grinder depth and the grinder reference position; and a grinder execution module, used to grind the end face of the electrode cap to be ground to the target grinder position.

[0045] This invention establishes an absolute reference coordinate system for the grinding tool to determine the initial reference position by calibrating the electrode cap end face position. Then, it dynamically calculates the grinding reference position and the target grinding position by combining the preset grinding depth and grinding number, thereby achieving precise control of the grinding depth during the grinding process. This can stably maintain the consistency of the cutting amount in each grinding, optimize the electrode cap end face condition, improve the stability of welding process parameters and the reliability of weld quality, and thus improve grinding accuracy and efficiency.

[0046] By precisely controlling the amount removed in a single grinding cycle, the wear caused by excessive grinding can be effectively avoided, significantly increasing the grinding frequency of the electrode cap and extending the overall service life of the electrode cap, thereby extending the service life of the electrode.

[0047] Ensuring the electrode cap end face has good flatness ensures stable and reliable contact between the electrode and the plate, which helps reduce welding spatter, improves the uniformity and stability of weld strength, and thus improves the quality of weld formation.

[0048] Avoiding electrode replacements due to poor grinding results reduces equipment failures and standby frequency, which helps improve the overall operating efficiency of production line equipment and reduces equipment downtime.

[0049] The relevant position parameters and execution information for the grinding process are fully recorded and stored, and can be retrieved and viewed through the upper-level system, enabling traceable management of the entire electrode cap grinding process and achieving process data traceability.

[0050] The technical solution of the present invention will be described below with reference to specific embodiments.

[0051] Example 1 The implementation environment and equipment parameters include: a spot welding robot for gripping servo welding clamps; electrode cap model: chromium zirconium copper electrode cap, end face diameter φ6mm, initial total length 25mm; an automatic regrinding device, specifically including: a Z-axis drive equipped with a 20-bit incremental encoder; a transmission mechanism using a precision ball screw with a lead of 5mm and a repeatability of ±0.002mm; a contact sensor using a contact displacement sensor with a repeatability of ±0.001mm; a controller using a Siemens S7-1200 PLC with a servo driver; communication method using a Profinet bus to interact with the robot controller; preset parameters: single regrinding depth d=0.10mm, rapid feed rate 100mm / min, feed regrinding speed 20mm / min, tool speed 3000rpm.

[0052] Specific implementation process: Step 101, Initial Calibration: Manually install a pair of calibration chromium-zirconium-copper electrode caps onto the welding clamp. The operator selects the "Grinder Calibration" program on the robot teach pendant. The robot automatically moves the welding clamp directly above the greaser, descends vertically, inserts the electrode caps into the greaser's grinding hole, and maintains the locked position. The robot sends an "Electrode in Position" signal to the greaser (I / O set to 1). The greaser controller receives the signal and transitions from IDLE state to calibration state. The tool starts from the initial safe position (Z=105.00mm, with the greaser's internal mechanical zero point as a reference) and feeds downwards at a speed of 10mm / min. When the tool contacts the electrode end face, the contact sensor is triggered, the servo driver latches the current encoder reading, and the controller converts it into the absolute position Z. initial =100.00mm. The controller sets the initial reference position Z0=100.00mm and stores it in the power-off holding register. The tool retracts to the safe position Z=105.00mm at a speed of 100mm / min. The regrinder sends a "calibration complete" signal to the robot, and the robot removes the welding clamp and returns to the working position.

[0053] Step 102: Determine the grinding reference position: According to formula Z k-1 =Z0-(k-1)d determines the reference position for the k-th grinding cycle. During the first grinding cycle, the reference position is Z0. During the 20th grinding cycle, the reference position is Z19=100-19. 0.1 = 98.10 mm.

[0054] Step 103: Determine the target grinding location: According to formula Z k =Z k-1 -d determines the target grinding position for the k-th grinding cycle. For example, in the 20th grinding cycle, the target grinding position is Z. 20 =98.01-0.1=98mm.

[0055] Step 104: Grind the end face of the electrode cap to be repaired to the target repair position. For example, grind the end face of the electrode cap to be repaired for the 20th time to 98mm. The target repair position of this repair is the repair reference position for the next repair. After this repair is completed, the controller can set the target repair position of this repair as the repair reference position for the next repair of the electrode cap.

[0056] When performing the first grinding of the electrode cap, steps 102-104 can be performed as follows: The robot runs the grinding program, moves the welding clamp to the grinding machine, inserts the electrode cap, and sends a "electrode in place" signal. The grinding machine performs fixed-depth grinding: the controller reads the current initial reference position Z0=100.00mm and calculates the target grinding position: Z1=100.00mm. 0.10mm = 99.90mm. The tool rapidly feeds from the initial safe position Z = 105.00mm to Z... approach =99.90mm + 0.50mm = 100.40mm. The tool moves from 100.40mm to 99.90mm at a feed rate of 20mm / min, while the spindle rotates at 3000rpm. Upon reaching 99.90mm, the tool stops feeding, maintains rotation for 0.2 seconds, then stops and retracts at 100mm / min to 105.00mm. The regrinder sends a "regrinding complete" signal, the robot removes the welding clamp, and returns to the working position.

[0057] To verify the technical effect of the present invention, an optical profilometer was used to measure the end face of the ground electrode cap. The measuring device was an optical profilometer with a Z-axis measurement accuracy of 0.001 mm.

[0058] The measurement subjects were divided into a control group and an experimental group. The control group consisted of 10 electrode cap samples that were traditionally ground at a fixed time (with a set rotation time of 2 seconds). The experimental group consisted of 10 electrode cap samples that were ground at a fixed depth (d=0.10mm) according to the present invention.

[0059] Measurement method: A 3D contour scan was performed on the end face of each electrode cap. Five evenly distributed points were selected on the end face, and the height difference between them and the reference plane was measured. The flatness error (the difference between the maximum and minimum values) was calculated, and the actual grinding depth (the distance between the center point of the end face and the ungrinded reference edge) was measured. The measurement results are shown in Table 1, which is a table of grinding effect measurement results for the control group and the experimental group.

[0060] Table 1. Measurement results of grinding effect in control group and experimental group

[0061] As shown in Table 1, this application achieves a significantly better flatness control, with an average electrode cap end-face flatness error of 0.019 mm, significantly superior to the 0.090 mm of the traditional timed grinding method. Furthermore, the standard deviation is only 0.0015, indicating less fluctuation and more stable end-face flatness. Regarding cutting depth accuracy, the actual average cutting depth of this application is 0.0998 mm, with a deviation of only 0.0002 mm from the preset value of 0.10 mm and a standard deviation of only 0.0008 mm. This demonstrates higher precision and better consistency in depth control; in contrast, the traditional method exhibits cutting depth fluctuations ranging from 0.07 to 0.14 mm, exhibiting poor stability. Quantitative verification confirms that this application can stably control the electrode cap end-face tolerance within ±0.02 mm, meeting design requirements, and the overall grinding effect is significantly better than the traditional timed grinding method.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for fixed-depth milling of resistance spot welding electrode caps, characterized in that, include: Establish the absolute reference coordinate system of the regulator. Determine the initial reference position based on the position of the end face of the calibration electrode cap in the absolute reference coordinate system. Move the welding clamp with the calibration electrode cap on it to the top of the regulator. Insert the calibration electrode cap vertically into the regulator's regulator position and keep it stationary to ensure that the axis of the calibration electrode cap is coaxial with the axis of the regulator tool. The dresser controller sends control instructions to drive the servo motor to bring the dresser tool to feed towards the end face of the calibration electrode cap at a speed of 10 mm / min; when the tool tip physically contacts the end face of the calibration electrode cap, the contact sensor is triggered to send a high-level jump signal to the controller; after receiving the trigger signal, the controller immediately latches the current encoder reading of the servo motor, denoted as Z initial , to complete the digital recording of the absolute position of the end face of the electrode cap; the controller sets this position as the reference zero point Z0, i.e. Z0=Z initial , to establish the absolute reference coordinate system of the dresser; Based on the preset grinding depth, the number of grinding cycles for the electrode cap to be ground, and the initial reference position, the grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system is determined. As the number of grinding cycles increases, the length of the electrode cap gradually shortens. By dynamically updating the reference position, the amount of material removed during each grinding cycle is ensured to remain consistent. The formula for calculating the grinding reference position is: Z k-1 =Z0-(k-1)d, where Z k-1 Z0 is the reference position for the k-th grinding, k is the initial reference position, d is the number of grinding cycles for the electrode cap to be ground, and d is the preset grinding depth. When grinding a certain electrode cap for the k-th time, the total amount removed compared to the initial reference position Z0 is kd; the preset grinding depth is 0.08-0.12mm. Based on the preset grinding depth and the grinding reference position, the target grinding position is determined; the calculation formula for the target grinding position is: Z k =Z k-1 -d, where Z k Z represents the target grinding position for the k-th grinding cycle. k-1 d is the reference position for the k-th grinding cycle, and d is the preset grinding depth; The end face of the electrode cap to be repaired is ground to the target grinding position, and the grinding tool of the grinder is controlled to rotate for a preset time to perform a smooth grinding on the end face of the electrode cap.

2. A constant-depth milling system for a resistance spot welding electrode cap, used to perform the constant-depth milling method for a resistance spot welding electrode cap as described in claim 1, characterized in that, include: The initial reference position calibration module is used to establish the absolute reference coordinate system of the grinder and determine the initial reference position according to the position of the end face of the calibration electrode cap in the absolute reference coordinate system. The grinding reference position determination module is used to determine the grinding reference position of the end face of the electrode cap to be ground in the absolute reference coordinate system based on the preset grinding depth, the number of grinding cycles of the electrode cap to be ground, and the initial reference position. The target grinding position determination module is used to determine the target grinding position based on the preset grinding depth and the grinding reference position; The grinding execution module is used to grind the end face of the electrode cap to be ground to the target grinding position.

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