Control mechanism, spindle system, and spot welding apparatus

Abstract

This application discloses a control mechanism, a spindle system, and a spot welding apparatus, the spot welding apparatus comprising a spindle body (400) and a hybrid drive mechanism (300), wherein a pressing sleeve mechanism (700) is installed on the spindle body (400), a stirring sleeve mechanism (600) is installed inside the pressing sleeve mechanism (700) that is rotatable and movable in the axial direction along the axis of the spindle body (400), a stirring pin mechanism (500) is installed coaxially inside the stirring sleeve mechanism (600) that is rotatable and movable in the axial direction along the axis of the spindle body (400), and the hybrid drive mechanism (300) comprises a stirring pin control mechanism (310) stoichiometrically connected to the stirring pin mechanism (500) and a stirring sleeve control mechanism (320) stoichiometrically connected to the stirring sleeve mechanism (600), and drives the stirring pin mechanism (500) and the stirring sleeve mechanism (600) to move in the axial direction along the axis of the spindle body (400). This spot welding device has a large axial force for penetration and refilling, does not require pre-reserving space for C-clamp mounting, offers a high degree of freedom, can achieve spot welding over an infinitely wide range, can achieve automatic release or engagement, and is highly efficient.

Description

Technical Field

[0001] This specification relates to the technical field of spot welding, and particularly to a control mechanism, a spindle system, and a spot welding device.

[0002] [Incorporation by Reference] This application claims the priority of Chinese Patent Application No. 202322723339.1 filed on October 11, 2023, and Chinese Patent Application No. 202311308000.3 filed on October 11, 2023, and all of their contents are incorporated herein by reference.

Background Art

[0003] In modern manufacturing, spot welding, as an efficient metal connection technology, is widely applied in many fields such as automobile manufacturing, aerospace, and electronic manufacturing. Conventional spot welding devices mainly rely on the simple resistance welding principle to achieve metal fusion through the high heat generated by the current at the metal contact surface. Friction stir welding is a new solid-phase connection technology developed based on the friction stir welding technology. By using the friction stir spot welding technology, an overlap joint similar to resistance spot welding and rivet joint can be formed, which has the advantages of high joint quality, stable welding quality, small deformation, high efficiency, and energy saving, effectively compensating for the disadvantages of resistance spot welding and rivet joint. The emergence of refill friction stir spot welding has successfully solved the problem that a keyhole remains at the center of the weld point after conventional friction stir spot welding is completed, enabling the obtainment of an overlap joint without a keyhole at once and with better mechanical performance, high production efficiency, and easy automation. However, with the development of materials science and the improvement of the requirements in the manufacturing industry, refill friction stir electric welding devices are facing various challenges including requirements in aspects such as welding accuracy, degree of automation, and reliability of the device.

[0004] On the other hand, the complex structure of refill friction stir spot welding equipment makes it difficult to achieve precise control of the welding process and automation of release or engagement. Furthermore, when refill friction stir spot welding equipment malfunctions, manual inspection is often required, which is not only time-consuming and labor-intensive but also impacts production efficiency.

[0005] Therefore, it is desirable to provide a control mechanism, spindle system, and spot welding apparatus that enable precise control of the welding process and automation of release or engagement. [Overview of the project] [Means for solving the problem]

[0006] A control mechanism according to one or more embodiments of this specification includes a drive member, a conduit, and an execution member, wherein the drive member forms a sealed circuit with the execution member by the conduit, and the sealed circuit is filled with a filling medium, the drive member includes a drive cylinder and a first piston, the execution member includes an execution cylinder and a second piston, the volume of the filling medium in the drive cylinder changes when the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the execution cylinder changes by the sealed circuit, and the second piston is driven to move along the axis of the execution cylinder when the volume of the filling medium in the execution cylinder changes.

[0007] A spindle system according to one or more embodiments of this specification includes a spindle body, at least one moving member connected to the spindle body, and at least one control mechanism connected to the spindle body, the control mechanism including a drive member, a conduit and an execution member, the drive member forming a sealed circuit with the execution member by the conduit, the sealed circuit being filled with a filling medium, the drive member including a drive cylinder and a first piston, the execution member including an execution cylinder and a second piston, the execution cylinder being connected to the at least one moving member, the volume of the filling medium in the drive cylinder changing when the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the execution cylinder changing by the sealed circuit, and when the volume of the filling medium in the execution cylinder changes, the second piston is driven to move along the axis of the execution cylinder, driving the at least one moving member to move, each moving member including at least two motion strokes, the different motion strokes corresponding to different execution operations.

[0008] A spot welding apparatus according to one or more embodiments of this specification includes a spindle body and a hybrid drive mechanism, wherein a pressing sleeve mechanism is installed on the spindle body, a stirring sleeve mechanism is installed inside the pressing sleeve mechanism, and a stirring pin mechanism is installed inside the stirring sleeve mechanism, the hybrid drive mechanism includes a stirring pin control mechanism stoichiometrically connected to the stirring pin mechanism and a stirring sleeve control mechanism stoichiometrically connected to the stirring sleeve mechanism, and drives the stirring pin mechanism and the stirring sleeve mechanism in correspondence to move axially along the axis of the spindle body, the stirring pin mechanism includes a first interchangeable member, and when the stirring pin mechanism moves axially, a release or engagement operation of the stirring pin is automatically performed under the action of the first interchangeable member, the stirring sleeve mechanism includes a second interchangeable member, and when the stirring sleeve mechanism moves axially, a release or engagement operation of the stirring sleeve is automatically performed under the action of the second interchangeable member, and the pressing sleeve mechanism includes a third interchangeable member for automatically performing a release or engagement operation of the pressing sleeve.

[0009] Some embodiments of this specification include at least the following beneficial effects: (1) By setting a hybrid drive mode, the accuracy of the servo motor is maintained while obtaining large penetration and refilling axial forces in a hydraulic manner. (2) By controlling the robot arm, the limitation on the depth of the throat portion of the C-clamp is removed, eliminating the need to reserve space in advance for mounting the C-clamp, allowing for a high degree of freedom and an infinitely wide range of spot welding operations. (3) The stirring pin mechanism includes a first replacement member for automatically replacing the stirring pin, the stirring sleeve mechanism includes a second replacement member for automatically replacing the stirring sleeve, and the pressing sleeve mechanism includes a third replacement member for automatically replacing the pressing sleeve. These automatic replacement members eliminate the need for manual release or engagement, enabling automatic release or engagement, resulting in high efficiency and applicability to mass production lines for spot welding. Furthermore, the design structure of the automatic replacement members is simple and rational, easy to implement, and has low production costs. (4) The motion of at least one moving member can be controlled by a set of circuits (i.e., a sealed circuit consisting of a drive member, a conduit and an execution member), and the moving member can be made to perform at least two execution operations, with different motion strokes corresponding to different execution operations. By applying this control mechanism to the field of spot welding, a set of circuits can be used to control the axial movement of a welding jig during welding and the axial movement during release or engagement, while maintaining the accuracy of the motor and obtaining large axial forces for penetration and refilling using a hydraulic system. Furthermore, the filling medium in the circuit (e.g., gas or hydraulic oil) is sealed and driven by the motor during the actual welding process, and the sealed filling medium performs the transmission function, resulting in high accuracy and stability.

[0010] This specification further illustrates exemplary embodiments, which are described in detail with reference to the drawings. These embodiments are not limiting, and in these embodiments, the same numbers indicate the same structure. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic diagram of a spot welding apparatus according to some embodiments of this specification. [Figure 2] This is a schematic diagram of the internal structure of a spindle body according to some embodiments of this specification. [Figure 3] This is a schematic diagram of another internal structure of a spindle body according to some embodiments of this specification. [Figure 4] This is a schematic diagram of a hybrid drive mechanism according to some embodiments of this specification. [Figure 5] This is a schematic diagram of the first and second power members according to some embodiments of this specification. [Figure 6] This is a schematic diagram of the spindle body according to some embodiments of this specification. [Figure 7] This is a timing chart for welding operations and welding jig changes according to some embodiments of this specification. [Figure 8] This is a schematic diagram of a drive hydraulic cylinder and an execution hydraulic cylinder according to some embodiments of this specification. [Modes for carrying out the invention]

[0012] To more clearly illustrate the technical means of the embodiments described herein, the drawings necessary for describing the embodiments are briefly described below. Clearly, the drawings described below are only a part of the examples or embodiments of this specification, and those skilled in the art can apply this specification to other similar scenarios based on these drawings without requiring any creative effort. Unless otherwise stated or otherwise evident from the context, the same numbers in the figures represent the same structure or operation.

[0013] In the prior art, technologies related to refill friction stir spot welding can be found in patent documents with publication numbers CN105364298A, CN108817641A, CN108857044A, CN114273772A, CN105665917A, and CN108213690A. The friction stir spot welding apparatus disclosed in these patent documents all control the vertical movement of the stirring pin and stirring sleeve by a servo motor, and all are paraxial drive. Such drive systems have large bending moments, large volume, and low output. In the patent document with publication number CN108213690A, the friction stir is transmitted by rack and pinion, while the others are all transmitted by screw type.

[0014] Furthermore, in the patent documents with publication numbers CN111069762A, CN111069763A, CN107511583A, CN109202264A, and CN206405600U, the bottom of the spot welding apparatus is a C-clamp or a structure similar to a C-clamp, and because there is a limit to the depth of its throat, there are requirements for the position of the welding point, and the welding point must be located on the edge of the workpiece, and space for the C-clamp is required at the bottom of the workpiece to prevent interference. Of these, CN109202264A is a robot type, but the robot only performs the function of conveying, and its essence is still a C-clamp structure. In addition, the spot welding apparatuses in the above-disclosed patent documents all lack an automatic release or engagement function, and release or engagement is performed manually, and include a stirring pin, a stirring sleeve and a pressing sleeve, resulting in low efficiency and high demands on the operator's skill.

[0015] Based on this, the embodiments of this specification provide a spot welding apparatus that can achieve precise control of the welding process and automation of release or engagement.

[0016] Figure 1 is a schematic diagram of the configuration of a spot welding apparatus according to some embodiments of this specification, Figure 2 is a schematic diagram of the internal structure of a spindle body according to some embodiments of this specification, and Figure 3 is a schematic diagram of another internal structure of a spindle body according to some embodiments of this specification.

[0017] In some embodiments, as shown in Figure 1, the spot welding apparatus includes a spindle body 400 and a hybrid drive mechanism 300.

[0018] The spindle body 400 is a structure that mounts the main components of the spot welding apparatus. In some embodiments, the spindle body 400 may be an electric spindle or a mechanical spindle. In some embodiments, a mandrel is coaxially rotatably connected inside the spindle body 400, and a power source that drives the rotation of the mandrel is connected to it.

[0019] In some embodiments, the power source that provides the power necessary for rotation to the mandrel inside the spindle body 400 is preferably a servo motor. During operation, the power source supplies power to the mandrel inside the spindle body 400, driving the mandrel connected to the stirring pin and the mandrel connected to the stirring sleeve to rotate together with respect to the axis of the spindle body 400, and further driving the stirring pin and the stirring sleeve to rotate together with respect to the pressing sleeve.

[0020] In some embodiments, as shown in FIG. 3, a pressing sleeve mechanism 700 is installed on a spindle body 400, a stirring sleeve mechanism 600 is installed inside the pressing sleeve mechanism 700, and a stirring pin mechanism 500 is installed inside the stirring sleeve mechanism 600. The stirring sleeve mechanism 600 connected inside the pressing sleeve mechanism 700 is rotatable and axially movable along the axis of the spindle body 400, and the stirring pin mechanism 500 coaxially connected inside the stirring sleeve mechanism 600 is rotatable and axially movable along the axis of the spindle body 400. The hybrid drive mechanism 300 includes a stirring pin control mechanism 310 drivably connected to the stirring pin mechanism 500 and a stirring sleeve control mechanism 320 drivably connected to the stirring sleeve mechanism 600, and drives the stirring pin mechanism 500 and the stirring sleeve mechanism 600 to move axially along the axis of the spindle body 400 correspondingly.

[0021] The stirring pin mechanism 500 is a mechanism that drives the stirring pin 580 to move. In some embodiments, the stirring pin mechanism 500 may include a stirring pin and a mandrel connected to the stirring pin. In some embodiments, when the mandrel connected to the stirring pin is connected to the hybrid drive mechanism 300, it can move axially under the action of the hybrid drive mechanism 300. For more descriptions about the stirring pin 580, refer to FIG. 2 and its related descriptions.

[0022] In some embodiments, the stirring pin mechanism 500 includes a first exchange member 510, and when the stirring pin mechanism 500 moves axially, an automatic release or engagement operation is performed under the action of the first exchange member 510. The first exchange member 510 is a member involved in the exchange operation of the stirring pin 580 in the stirring pin mechanism 500. For more descriptions about the stirring pin mechanism 500 and the first exchange member 510, refer to FIG. 2 and its related descriptions.

[0023] The stirring sleeve mechanism 600 is a mechanism that supports the stirring pin 580. In some embodiments, the interior of the stirring sleeve mechanism 600 may be hollow, and the stirring sleeve mechanism 600 is coaxially fitted to the outside of the stirring pin mechanism 500. In some embodiments, the stirring sleeve mechanism 600 may include a stirring sleeve and a mandrel connected to the stirring sleeve. The stirring sleeve is coaxially fitted to the outside of the stirring pin mechanism 500. In some embodiments, the mandrel connected to the stirring sleeve may be connected to the hybrid drive mechanism 300 so as to move along the axial direction under the action of the hybrid drive mechanism 300.

[0024] In some embodiments, the stirring sleeve mechanism 600 includes a second interchangeable member 610, which automatically performs a release or engagement operation under the action of the second interchangeable member 610 when the stirring sleeve mechanism 600 moves axially. For a further description of the stirring sleeve mechanism 600 and the second interchangeable member 610, refer to Figure 3 and its related description.

[0025] The pressing sleeve mechanism 700 is a mechanism for pressing the workpiece to be welded. During welding, the pressing sleeve mechanism 700 comes into contact with the workpiece to be welded, does not rotate, and presses and fixes the workpiece to be welded. In some embodiments, the pressing sleeve mechanism 700 may include a pressing sleeve. The pressing sleeve may have an annular structure and is fitted to the outside of the stirring sleeve mechanism 600. For example, the pressing sleeve may have a structure such as a fixing ring.

[0026] In some embodiments, the pressing sleeve mechanism 700 includes a third interchangeable member that automatically performs a release or engagement operation when moving axially along the axis of the spindle body 400. In some embodiments, the third interchangeable member may be connected to the hybrid drive mechanism 300 so as to move axially under the action of the hybrid drive mechanism 300. For a further description of the pressing sleeve mechanism 700 and the third interchangeable member, refer to Figure 3 and its related description.

[0027] The stirring pin control mechanism 310 is a component that drives the stirring pin 580 to move axially along the axis of the spindle body 400. The stirring sleeve control mechanism 320 is a component that drives the stirring sleeve 660 to move axially along the axis of the spindle body 400.

[0028] In some embodiments, the stirring pin control mechanism 310 and the stirring sleeve control mechanism 320 may include a screw, a screw nut that engages with the screw, a power source, etc. The screw may be mounted parallel to the spindle body 400. When the stirring pin control mechanism 310 and the stirring sleeve control mechanism 320 are operating, the power source supplies power to the corresponding screw, causing the screw to rotate relative to the spindle body 400, driving the mandrel connected to the stirring pin or the mandrel connected to the stirring sleeve to move along the axial direction of the spindle body 400, and further driving the stirring pin or the stirring sleeve connected to the mandrel to move along the axial direction, thereby enabling the downward thrusting and withdrawal of the stirring pin or stirring sleeve. In some embodiments, the power source may be at least one of a pneumatic cylinder, a hydraulic cylinder, or a motor, or any combination thereof.

[0029] Since the axial movement of the stirring pin and stirring sleeve is driven by two control members, respectively, the axial movement of the stirring pin and stirring sleeve is independent of each other. In actual use, the amount of axial movement of the stirring pin and stirring sleeve can be arbitrarily adjusted according to the actual needs, resulting in high movement accuracy, clear work divisions, and easy inspection. Furthermore, since the power required for the axial movement of the stirring pin and stirring sleeve is provided by two power sources, the power transmission system is simple, power transmission is stable, welding effect is good, and service life is long. For more details on the stirring pin control mechanism 310 and the stirring sleeve control mechanism 320, please refer to Figures 4 and 5 and their related descriptions.

[0030] The operation process of a spot welding apparatus according to some embodiments of this specification mainly includes the following steps.

[0031] At the start of welding, the hybrid drive mechanism 300 drives the stirring sleeve mechanism 600 and the stirring pin mechanism 500 to rotate synchronously, generating frictional heat by rubbing against the workpiece to be welded, and softening the material to a plastic state.

[0032] During the welding process, the first power member 311 drives the stirring pin 580 to perform axial movement along the axial direction of the spindle body 400, and the second power member 321 drives the stirring sleeve 660 to perform axial movement along the axial direction of the spindle body 400, driving the welding jig to repeatedly pierce downwards and refill, thereby forming a good welding point on the surface of the workpiece to be welded.

[0033] When replacement, release, or locking is required, the hybrid drive mechanism 300 drives at least one of the first replacement member 510, the second replacement member 610, and the third replacement member to perform the release or locking operation. For a more detailed explanation of release or locking, see Figure 4 and its related description.

[0034] The spot welding apparatus according to the embodiments of this specification is applicable to refill friction stir spot welding and also to keyhole-less friction stir welding, and can realize a spindle withdrawal function. For example, after the stirring sleeve is inserted into the material, the stirring pin is withdrawn, the material enters the cavity formed by the withdrawal of the stirring pin, and then the spindle moves forward to realize friction stir welding. When welding is completed, the stirring sleeve is withdrawn upward and at the same time the stirring pin refills downward, finally realizing keyhole-less friction stir welding. According to the spot welding apparatus according to the embodiments of this specification, defect repair can be realized. For example, if there is a defect on the surface of the material, the defect is machined and removed, the same material is filled into the machined area, and then welding is performed at that location by the refill friction stir spot welding method, and after welding is completed, defect repair can be realized.

[0035] The spot welding apparatus according to the embodiments described herein can also realize the manufacture of aluminum / copper electrodes. By overlapping and joining aluminum / copper plates, placing the aluminum on top and the copper on the bottom, inserting a welding jig into the aluminum plate to reach the surface of the copper plate, performing keyhole-less spot welding, and removing the remaining material after welding is complete, the manufacture of aluminum / copper electrodes can be realized. The spot welding apparatus according to the embodiments described herein can also realize the manufacture of aluminum / copper electrodes using a general annular groove defect. That is, the welding process is controlled so that an annular groove defect exists at the welding point after the aluminum / copper overlap welding is completed, allowing the remaining material to be easily removed after welding is complete, effectively welding the aluminum alloy and copper substrate only at the position of the circular welding point, and obtaining aluminum / copper electrodes after post-processing.

[0036] In some embodiments, as shown in Figure 1, the spot welding apparatus further includes a robotic arm 100 and a pipeline package 200, and the spindle body 400 and hybrid drive mechanism 300 are attached to the robotic arm 100.

[0037] The robot arm 100 is a component that drives the spindle body 400 and the hybrid drive mechanism 300 to move. The robot arm 100 may be of various types. For example, the robot arm 100 may be a 4-axis robot arm, a 6-axis robot arm, etc. In some embodiments, the robot arm 100 can be positioned relative to the spindle body 400, and the spot welding position is not limited, providing a higher degree of freedom and enabling welding operations at different positions and angles within an infinitely wide range.

[0038] In some embodiments, the spindle body 400 is detachably connected to the robot arm 100. For example, the spindle body 400 may be detachably connected to the robot arm 100 by engagement between flange bolts and connecting flanges to facilitate replacement of the spindle body.

[0039] The pipeline package 200 is a pipeline for supplying air or oil. In some embodiments, the pipeline package 200 may include an air supply pipeline and / or an oil supply pipeline. In some embodiments, the pipeline package 200 (e.g., an oil supply pipeline) can supply oil into the spindle body 400 to drive the movement of a hydraulic cylinder within the spindle body 400. In some embodiments, the pipeline package 200 (e.g., an air supply pipeline) can introduce gas into the spindle body 400 to drive the movement of a pneumatic cylinder within the spindle body 400.

[0040] The robot arm 100 and pipeline package 200 are common machines in the prior art, so their description will be omitted.

[0041] The spot welding apparatus according to the embodiments of this specification is controlled by a robotic arm, eliminates the limitation on the depth of the throat portion of the C-clamp, does not require prior reservation of space for mounting the C-clamp, offers a high degree of freedom, enables spot welding operations over an infinitely wide range, and does not restrict the position of the welding point.

[0042] In some embodiments, as shown in Figure 2, the stirring pin mechanism 500 includes a first bearing 530 and a first module housing 540, a first mandrel 531 mounted on the inner ring of the first bearing 530, a first connecting rod 520 inserted inside the first mandrel 531 along the central axis direction, a first holder 570 connected to the lower end of the first connecting rod 520 by a pull claw 560, and a stirring pin 580 connected to the lower end of the first holder 570. The first mandrel 531, the first connecting rod 520, the pull claw 560, the first holder 570, and the stirring pin 580 constitute the stirring pin motion member. The stirring pin motion member is a combination of the movable members in the stirring pin mechanism 500.

[0043] The first module housing 540 is structured to house the stirring pin mechanism 500. In some embodiments, the first bearing 530 is installed inside the first module housing 540.

[0044] The first bearing 530 is a component that reduces rotational friction. In some embodiments, there may be multiple first bearings 530, which are fitted to the outside of the first mandrel 531 along the axial direction. The first execution member 314 does not rotate with the stirring pin mechanism 500 because it only provides power that displaces in the axial direction. Therefore, by installing the first bearing 530, friction between the first mandrel 531 and the first execution member 314 can be reduced when the first mandrel 531 rotates following the first connecting rod 520, thereby extending the life of the spot welding apparatus.

[0045] The first mandrel 531 is a member that drives the first connecting rod 520 and the pull claw 560 installed thereon to move along the axial direction. When the piston of the first execution member 314 moves along the axial direction, the first mandrel 531 is driven to move along the axial direction as well, and the first connecting rod 520 is also driven to move along the axial direction.

[0046] The first holder 570 is connected to the lower end of the first connecting rod 520 by a claw 560. The claw 560 is used to connect the first holder 570. In some embodiments, as the first connecting rod 520 moves axially following the first mandrel 531, the claw 560 moves axially following the first connecting rod 520.

[0047] The claw 560 has two states: open and closed. When the claw 560 is open, the first holder 570 disengages from the tension of the claw 560 and disengages from the first connecting rod 520. When the claw 560 is closed, the first holder 570 is fixed to the first connecting rod 520 by the claw 560. When the first connecting rod 520 moves axially following the first mandrel 531 and the claw 560 is closed, the first holder 570 moves axially following the first connecting rod 520.

[0048] The first holder 570 is used to connect the stirring pin 580. In some embodiments, the tip of the first holder 570 is located inside the first mandrel 531 and connected to the lower end of the first connecting rod 520. In some embodiments, a connecting head for gripping the stirring pin 580 is connected to the bottom end of the first holder 570 and connected to the stirring pin 580 by the connecting head. When the first connecting rod 520 moves axially following the first mandrel 531 and the claws 560 close, the first holder 570 moves axially following the first connecting rod 520, and the stirring pin 580 is further driven to move axially.

[0049] The stirring pin 580 is a welding material used in friction stir welding, such as a welding rod. In some embodiments, the stirring pin 580 includes a connecting head at the top and a welding rod at the bottom, the connecting head being held in a first holder 570, and the welding rod extending outside the spot welding apparatus through the stirring sleeve mechanism 600 and the pressing sleeve mechanism 700.

[0050] In some embodiments, as shown in Figure 2, the first replacement member 510 includes a first spring assembly 511 and a first position limiting assembly 512. The first spring assembly 511 is fitted onto a first connecting rod 520 and located inside a first mandrel 531, with both ends of the first spring assembly 511 fixedly connected to the first mandrel 531 and the first connecting rod 520, respectively. The upper end (i.e., fixed end) of the first spring assembly 511 is fixedly connected to the first mandrel 531, and the lower end (i.e., movable end) is fixedly connected to the first connecting rod 520. The first position limiting assembly 512 is positioned above the first connecting rod 520 and has a certain movable distance between itself and the first connecting rod 520.

[0051] In some embodiments, when the stirring pin 580 is released or engaged, the stirring pin moving member is controlled to move upward in the axial direction, and after the tip of the first connecting rod 520 contacts the first position limiting assembly 512, the first connecting rod 520 and the pull claw 560 cease to move upward in the axial direction, the first mandrel 531 continues to move upward in the axial direction, the first connecting rod 520 and the pull claw 560 move downward in the axial direction relative to the first mandrel 531, and the upper end of the first spring assembly 511 moves toward the lower end of the first spring assembly 511. As it moves, the first spring assembly 511 is compressed, the pull claw 560 opens, the first holder 570 detaches from the pull claw 560, the stirring pin 580 detaches from the stirring pin mechanism 500, and a release operation is achieved. After the new stirring pin reaches its predetermined position (i.e., the replacement is complete), as the stirring pin moving member moves downward in the axial direction, the lower end of the first spring assembly 511 moves away from the upper end of the first spring assembly 511, thereby pulling the first spring assembly 511, the pull claw 560 closes, and a locking operation is achieved.

[0052] In some embodiments, an annular gap exists between the first mandrel 531 and the inner ring of the first bearing 530 in order to drive the first mandrel 531 to move axially upward by the first execution member 314.

[0053] Due to the action of the first sealed circuit, the first mandrel 531, the first connecting rod 520, the pull claw 560, the first holder 570, and the stirring pin 580 (these components constitute the stirring pin motion member) can all move upward in the axial direction. When the first connecting rod 520 and the pull claw 560 move downward relative to the first mandrel 531, the first spring assembly 511 is compressed. When the first mandrel 531 moves downward in the axial direction under the action of the first sealed circuit, the first spring assembly 511 gradually releases its compressed state, and under the action of elastic force, the first mandrel 531 is driven to continue moving downward in the axial direction. When the first spring assembly 511 returns to its initial configuration (i.e., the configuration of the first spring assembly 511 before the first connecting rod 520 and the pull claw 560 come into contact with the first position limiting assembly 512), and the stirring pin mechanism 500 continues to move downward in the axial direction, the first spring assembly 511 is pulled.

[0054] In some embodiments, the first spring assembly 511 may be in various forms such as a coil spring, a gas spring, or elastic rubber.

[0055] In some embodiments, the number of first spring assemblies 511 may be one, and the first spring assembly 511 abuts against the upper part of the first connecting rod. In some embodiments, the number of first spring assemblies 511 may be multiple, which can increase the elastic force of the first spring assembly 511, and the number of elastic members 122 is not limited in the embodiments herein. In some embodiments, multiple first spring assemblies 511 may be connected in a manner such as nested, in series, or in parallel. In some embodiments, multiple first spring assemblies 511 may be installed at intervals along the extending direction of the first connecting rod 520.

[0056] The first position limiting assembly 512 is an assembly that limits the range of motion of the first connecting rod 520. When the first connecting rod 520 comes into contact with the first position limiting assembly 512, the first position limiting assembly 512 can stop the movement of the first connecting rod 520. For example, the first position limiting assembly 512 may be a columnar object, with its tip fixed to the internal structure of the spindle body 400.

[0057] In some embodiments, when the first spring assembly 511 is in its natural state, there is a certain range of motion between the first connecting rod 520 and the first position limiting assembly 512. In some embodiments, when the first spring assembly 511 is in its natural state, the maximum distance between the tip of the first connecting rod 520 and the first position limiting assembly 512 is less than the maximum stroke of the first execution member 314. With this configuration, the first execution member 314 can drive the first connecting rod 520 to move upward until the tip of the first connecting rod 520 contacts the bottom end of the first position limiting assembly 512, and the first execution member 314 can drive the first mandrel 531 to continue moving upward, thereby compressing the first spring assembly 511, causing the first connecting rod 520 and the first mandrel 531 to shift axially, and the first mandrel 531 to move upward relative to the first connecting rod 520 and the pawl 560.

[0058] In some embodiments, as shown in Figure 3, the stirring sleeve mechanism 600 includes a second bearing 620 and a second module housing 630, with a second mandrel 621 mounted on the inner ring of the second bearing 620, the second mandrel 621 positioned outside the first mandrel 531, a second connecting rod positioned at the upper end of the second mandrel 621, a second holder 650 connected to the lower end of the second mandrel 621 by a first support assembly 640, a stirring sleeve 660 connected to the lower end of the second holder 650, and a stirring pin 580 inserted into the stirring sleeve 660. The second mandrel 621, the second connecting rod, the second holder 650, the stirring sleeve 660, and the first support assembly 640 constitute the stirring sleeve moving member. The stirring sleeve moving member is a combination of the movable members in the stirring sleeve mechanism 600.

[0059] The second module housing 630 is structured to house the stirring sleeve mechanism 600. In some embodiments, a second bearing 620 is installed inside the second module housing 630.

[0060] In some embodiments, the top of the second module housing 630 may be connected to the bottom of the first module housing 540. In some embodiments, the second module housing 630 and the first module housing 540 may be connected by a housing connecting member 550.

[0061] In some embodiments, a position limiting structure is installed within the second module housing 630 to limit the axial movement range of the second execution member 324.

[0062] The second bearing 620 is a component that reduces rotational friction. In some embodiments, there may be multiple second bearings 620, which are fitted to the outside of the second mandrel 621 along the axial direction. The second execution member 324 does not rotate with the stirring sleeve mechanism 600 because it only provides power that displaces it in the axial direction. Therefore, by installing the second bearing 620, friction between the second mandrel 621 and the second execution member 324 can be reduced when the second mandrel 621 rotates following the second connecting rod, thereby extending the life of the spot welding apparatus.

[0063] The second mandrel 621 is a member that drives the second connecting rod and the first support assembly 640 installed thereon to move along the axial direction. When the piston of the second execution member 324 moves along the axial direction, the second mandrel 621 is driven to move along the axial direction together with it, and the second connecting rod is also driven to move along the axial direction.

[0064] A second connecting rod is installed at the upper end of the second mandrel 621, and a second holder 650 is connected to the lower end of the second mandrel 621 by a first support assembly 640. In some embodiments, as the second connecting rod moves axially following the second mandrel 621, the first support assembly 640 moves axially following the second connecting rod.

[0065] The first support assembly 640 is used to connect the second holder 650. The first support assembly 640 may have various structural forms. For example, the first support assembly 640 may be a support assembly consisting of multiple support balls. In some embodiments, the second holder 650 may be detachably fixed to the second mandrel 621 by the first support assembly 640. For example, the second holder 650 may be engaged with the second mandrel 621 by the first support assembly 640. If there is a large gap between the first support assembly 640 and the second mandrel 621, the second holder 650 will detach from the first support assembly 640 (or from the second mandrel 621). If the first support assembly 640 is in close contact with the second mandrel 621, the second holder 650 will be fixed between the first support assembly 640 and the second mandrel 621.

[0066] The second holder 650 is an assembly that clamps and secures the stirring sleeve 660. In some embodiments, the top of the second holder 650 is connected to the second mandrel 621 by the first support assembly 640, and the bottom of the second holder 650 is connected to the stirring sleeve 660.

[0067] The stirring sleeve 660 is a component that protects the stirring pin 580. In some embodiments, the tip of the stirring sleeve 660 is held by the second holder 650, and the bottom end of the stirring sleeve 660 is located inside the pressing sleeve 740. By inserting the stirring pin 580 into the stirring sleeve 660, the lower end of the stirring pin 580 can be enclosed, ensuring that it does not bend when subjected to force.

[0068] In some embodiments, the contact surfaces between the stirring sleeve 660 and the pressing sleeve 740, and the contact surfaces between the stirring sleeve 660 and the stirring pin 580, are both set to a mirror finish, and their surface roughness is less than a predetermined value, for example, 0.08 μm, thereby reducing friction generated when the stirring sleeve 660 rotates.

[0069] In some embodiments, as shown in Figure 3, the stirring sleeve mechanism 600 includes a second replacement member 610. The second replacement member 610 is a member of the stirring sleeve mechanism 600 that is involved in the replacement operation of the stirring sleeve 660. In some embodiments, the second replacement member 610 causes an axial displacement between the second connecting rod and the second mandrel 621, thereby separating the second mandrel 621 from the second holder 650 and enabling the release of the stirring sleeve 660.

[0070] As shown in Figure 3, in some embodiments, the second replacement member 610 includes a second spring assembly 611 and a second position limiting assembly 612, the second spring assembly 611 being fitted onto a second mandrel 621, the lower end of the second spring assembly 611 being connected to the second mandrel 621, and the second position limiting assembly 612 being installed above the second connecting rod.

[0071] In some embodiments, when the stirring sleeve 660 is released or engaged, the stirring sleeve moving member is controlled to move upward in the axial direction, and after the top of the second connecting rod contacts the second position limiting assembly, the second connecting rod and the first support assembly 640 cease to move upward in the axial direction, the second mandrel 621 continues to move upward in the axial direction, the second connecting rod and the first support assembly 640 move downward in the axial direction relative to the second mandrel 621, the lower end of the second spring assembly 611 moves toward the upper end of the second spring assembly 611, thereby compressing the second spring assembly 611, loosening the first support assembly 640, the second holder 650 detaches from the first support assembly 640, and the release operation is achieved. After the new stirring sleeve 660 reaches its predetermined position, the stirring sleeve moving member moves downward in the axial direction, causing the lower end of the second spring assembly 611 to move away from the upper end of the second spring assembly 611, thereby pulling the second spring assembly 611, closing the first support assembly 640 and achieving a locking action, reconnecting the second holder 650 and the first support assembly 640.

[0072] In some embodiments, an annular gap exists between the second mandrel 621 and the inner ring of the second bearing 620 in order to drive the second mandrel 621 to move axially upward by the second execution member 324.

[0073] Due to the action of the oil passages in the stirring sleeve, the second mandrel 621, the second connecting rod, the first support assembly 640, the second holder 650, and the stirring sleeve 660 all move upward in the axial direction. When the second connecting rod and the first support assembly 640 move downward relative to the second mandrel 621, the second spring assembly 611 is compressed. As the second mandrel 621 moves downward in the axial direction under the action of the oil passages in the stirring pin, the second spring assembly 611 gradually releases its compressed state, and under the action of elastic force, the second mandrel 621 is driven to continue moving downward in the axial direction. When the second spring assembly 611 returns to its initial state (i.e., the state of the second spring assembly 611 before the second connecting rod abuts the second position limiting assembly 612) and the stirring sleeve mechanism 600 continues to move downward in the axial direction, the second spring assembly 611 is stretched.

[0074] In some embodiments, the second spring assembly 611 may be in various forms such as a coil spring, a gas spring, or elastic rubber. In some embodiments, the number of second spring assemblies 611 may be one or more.

[0075] The second position limiting assembly 612 is an assembly that limits the range of movement of the second connecting rod. When the top of the second connecting rod comes into contact with the second position limiting assembly 612, the second position limiting assembly 612 can stop the movement of the second connecting rod. The second position limiting assembly 612 is similar in structure to the first position limiting assembly 512, so its description is omitted here.

[0076] In some embodiments, as shown in Figure 3, the pressing sleeve mechanism 700 includes a third module housing 710, which is connected to a second module housing 630, and a third replacement member is installed inside the third module housing 710, which includes a second support assembly 720, a third holder 730 is installed at the lower end of the second support assembly 720, and a pressing sleeve 740 is connected to the lower end of the third holder 730, and the pressing sleeve 740 is fitted onto the stirring pin 580 and the stirring sleeve 660.

[0077] In some embodiments, when releasing or engaging the pressing sleeve 740, the second support assembly 720 is controlled to move, the second support assembly 720 is loosened, the third holder 730 detaches from the second support assembly 720, achieving a release operation, and after the new pressing sleeve 740 reaches a predetermined position, the second support assembly 720 returns to its original position, engaging the third holder 730 and achieving a engagement operation.

[0078] The third module housing 710 is structured to house the pressing sleeve mechanism 700. In some embodiments, the third exchange mechanism, the third holder 730, and the pressing sleeve 740 are installed inside the third module housing 710. In some embodiments, the top of the third module housing 710 may be connected to the bottom of the second module housing 630.

[0079] The third replacement member is a member of the pressing sleeve mechanism 700 that is involved in the replacement operation of the pressing sleeve 740. In some embodiments, the third replacement member is driven by a drive motor (e.g., a servo motor, an electric cylinder, etc.) to connect to or disconnect from the third holder 730, thereby enabling the connection or disconnection of the pressing sleeve 740. In some embodiments, the third replacement member may be driven by a pneumatic or hydraulic mechanism.

[0080] The second support assembly 720 is used to connect the third holder 730. The second support assembly 720 may have various structural forms. For example, the second support assembly 720 may be a support assembly consisting of multiple support balls. In some embodiments, the third holder 730 may be detachably fixed to the third module housing 710 by the second support assembly 720. In some embodiments, if it is necessary to replace the pressing sleeve 740, the drive motor can be controlled to move the second support assembly 720 along the axial direction, thereby controlling the second support assembly 720 to loosen and lock the third holder 730.

[0081] In some embodiments, the second support assembly 720 can be driven by a pneumatic or hydraulic mechanism to achieve axial movement. In some embodiments, the gas passage of the pressing sleeve is connected to the pressing sleeve mechanism 700, and the second support assembly 720 can achieve axial movement under the action of the gas passage of the pressing sleeve. For more information regarding the gas passage of the pressing sleeve, see the related descriptions below.

[0082] The third holder 730 is an assembly that clamps and secures the pressing sleeve 740. In some embodiments, the top of the third holder 730 is connected to the lower end of the second support assembly 720, and the bottom of the third holder 730 is connected to the pressing sleeve 740.

[0083] The pressing sleeve 740 is a component that presses the workpiece to be welded in a spot welding apparatus. In some embodiments, the pressing sleeve 740 may be fixedly connected to the third holder 730. For example, it may be fixedly connected by bolting, integral molding, or other methods. In some embodiments, the pressing sleeve 740 can be engaged with the third module housing 710 to fix the pressing sleeve 740 to the third module housing 710 and prevent rotation. For example, the pressing sleeve 740 may be engaged with the third module housing 710 by groove engagement or other methods.

[0084] The stirring pin mechanism 500, the stirring sleeve mechanism 600, and the pressing sleeve mechanism 700 may perform release or engagement operations simultaneously, or they may perform release or engagement operations independently according to a set sequence. For example, the pressing sleeve may be released first, then the stirring sleeve may be released, and finally the stirring pin may be released. Alternatively, for example, the stirring pin may be engaged first, then the stirring sleeve may be engaged, and finally the pressing sleeve may be engaged.

[0085] The stirring pin mechanism according to the embodiments of this specification includes a first interchangeable member that automatically releases or engages with the stirring pin, the stirring sleeve mechanism includes a second interchangeable member that automatically releases or engages with the stirring sleeve, and the pressing sleeve mechanism includes a third interchangeable member that automatically releases or engages with the pressing sleeve. These automatic interchangeable members eliminate the need for manual release or engagement, enabling automatic release or engagement, resulting in high efficiency and applicability to mass production lines for spot welding. Furthermore, the design structure of the automatic interchangeable members is simple and rational, making them easy to implement and resulting in low production costs.

[0086] In some embodiments, the third replacement member enables the release or engagement of the pressing sleeve 740 via a gas passage or an oil passage. Here, the gas passage or oil passage may be open or closed. For example, the third replacement member can enable the release or engagement of the pressing sleeve 740 by controlling the position in which a medium (e.g., gas or hydraulic oil) is introduced. For example, when gas is introduced through the first medium inlet 462, the release function of the pressing sleeve 740 can be achieved, and when gas is introduced through the second medium inlet 463, the engagement function of the pressing sleeve 740 can be achieved.

[0087] As a simple example, when releasing the pressing sleeve 740, under the action of a gas or oil passage, the second support assembly 720 moves axially, the second support assembly 720 is loosened, the third holder 730 detaches from the second support assembly 720, and the release operation of the pressing sleeve 740 is realized. After the new pressing sleeve 740 reaches the predetermined position, under the action of a gas or oil passage, the second support assembly 720 moves axially back to its original position, then the third holder 730 is locked, and the locking operation of the pressing sleeve 740 is realized.

[0088] For more details regarding the first media inlet 462 and the second media inlet 463, please refer to the related explanations below.

[0089] Figure 4 is a schematic diagram of a hybrid drive mechanism according to some embodiments of this specification, and Figure 5 is a schematic diagram of a first power member and a second power member according to some embodiments of this specification.

[0090] In some embodiments, the hybrid drive mechanism 300 includes a stirring pin control mechanism 310 that is ductilely connected to a stirring pin mechanism 500, and a stirring sleeve control mechanism 320 that is ductilely connected to a stirring sleeve mechanism 600.

[0091] In some embodiments, as shown in Figure 4, the stirring pin control mechanism 310 includes a first power member 311, a first drive member 312, a first conduit 313, and a first execution member 314. The first drive member 312 forms a first sealed circuit with the first execution member 314 via the first conduit 313, and the first sealed circuit is filled with a filling medium. The filling medium may be a liquid (e.g., hydraulic oil) or a gas.

[0092] The first power member 311 is a member that provides power to move the stirring pin 580 axially along the axis of the spindle body 400. For example, the first power member 311 may be a motor or the like.

[0093] In some embodiments, the first power member 311 includes a first drive motor 311-1. The first drive motor 311-1 may be a servo motor or the like. The first drive motor 311-1 may be directly connected to the drive cylinder of the first drive member 312, and the first piston of the first drive member 312 moves along the axis of the drive cylinder of the first drive member 312 by the driving force of the first drive motor 311-1.

[0094] In some embodiments, the first power member 311 further includes a first reduction gear 311-2 and a first electric cylinder 311-3.

[0095] In some embodiments, as shown in Figure 5, the first power member 311 includes a first drive motor 311-1, a first reduction gear 311-2, and a first electric cylinder 311-3 connected in series in order, with the input terminal of the first reduction gear 311-2 connected to the output terminal of the first drive motor 311-1, the input terminal of the first electric cylinder 311-3 connected to the output terminal of the first reduction gear 311-2, and the output terminal of the first electric cylinder 311-3 connected to the first piston of the first drive member 312, thereby driving the first piston of the first drive member 312 to move along the axis of the drive cylinder of the first drive member 312.

[0096] The first drive motor 311-1 is the power source for the stirring pin control mechanism 310. In some embodiments, the first drive motor 311-1 may be a servo motor or the like. When the first drive motor 311-1 operates, it transmits power to the first reduction gear 311-2.

[0097] The first reduction gear 311-2 performs the function of matching rotational speed and transmitting torque between the first drive motor 311-1 and the first electric cylinder 311-3. For example, the first reduction gear 311-2 converts the power transmitted from the first drive motor 311-1 into power more suitable for driving the movement of the stirring pin 580, and increases the output torque, ensuring stability and efficiency in the driving process. The first reduction gear 311-2 can then send the output power to the first electric cylinder 311-3.

[0098] The first electric cylinder 311-3 can convert the rotational motion of the first drive motor 311-1 into linear motion. In some embodiments, the first electric cylinder 311-3 may be of various types, such as a linear electric cylinder or a parallel electric cylinder. In some embodiments, the output shaft (e.g., piston rod) of the first electric cylinder 311-3 moves along its axial direction and then transmits power to the first piston of the first drive member 312.

[0099] The first drive member 312 is a member that drives the stirring pin 580 to move axially along the axis of the spindle body 400. In some embodiments, the first drive member 312 includes a drive cylinder and a first piston. In some embodiments, the drive cylinder of the first drive member 312 may be a drive hydraulic cylinder or a drive pneumatic cylinder. For example, the drive hydraulic cylinder of the first drive member 312 may be a hydraulic cylinder. For example, it may be a hydraulic cylinder of various structural forms such as a piston type, plunger type, multi-stage telescopic sleeve type, or rack and pinion type. The hydraulic cylinder of the first drive member 312 can convert hydraulic energy into mechanical energy to drive the first piston of the first drive member 312 to move in a linear reciprocating motion.

[0100] In some embodiments, the first drive member 312 is connected to the first power member 311, which drives the first piston of the first drive member 312 to move along the axis of the drive cylinder of the first drive member 312.

[0101] In some embodiments, the first drive member 312 can transmit power to the first execution member 314 so that the first execution member 314 can perform the corresponding operation.

[0102] The first conduit 313 may include two conduits, one of which has one end connected to the first drive member 312 and the other end connected to the first execution member 314, and the other conduit 313 has one end connected to the first execution member 314 and the other end connected to the first drive member 312, forming a first sealed circuit. Depending on the type of filling medium, the first conduit 313 may be an oil passage or a gas passage.

[0103] The first execution member 314 is an execution mechanism that drives the stirring pin motion member to move along the axial direction. The first execution member 314 includes an execution cylinder and a second piston.

[0104] In some embodiments, the execution cylinder of the first execution member 314 may be an execution hydraulic cylinder or an execution pneumatic cylinder. For example, the execution hydraulic cylinder may be a hydraulic cylinder. When the execution cylinder of the first execution member 314 is a hydraulic cylinder, the first sealed circuit is filled with sealed hydraulic fluid.

[0105] In some embodiments, the first execution member 314 is installed between the first bearing 530 and the first module housing 540, and the execution cylinder of the first execution member 314 is connected to a stirring pin motion member. In some embodiments, a position limiting structure is installed within the first module housing 540 to limit the axial range of movement of the first execution member 314.

[0106] In some embodiments, the first drive member 312 is connected to the output terminal of the first power member 311, and the first execution member 314 is connected to the output terminal of the first drive member 312 by the first conduit 313.

[0107] During the actual welding process and the release or engagement process, the first execution member 314 can perform the function of transmitting force and displacement. The downward thrusting and refilling of the stirring pin mechanism 500 during the welding process are both driven by the first power member 311.

[0108] When the first power member 311 is driven, the first piston of the first drive assembly 312 moves along the axial direction of the drive cylinder of the first drive member 312 (i.e., the direction indicated by the bidirectional arrow A in Figure 4), changing the volume of the filling medium in the drive cylinder of the first drive member 312. The first sealed circuit changes the volume of the filling medium in the execution cylinder of the first execution member 314. When the volume of the filling medium in the execution cylinder of the first execution member 314 changes, the second piston of the first execution member 314 is driven to move along the axial direction of the execution cylinder of the first execution member 314 (i.e., the direction indicated by the bidirectional arrow B in Figure 4). The stirring pin moving member is driven to move along the axial direction of the spindle body 400, and finally the welding jig, i.e., the stirring pin 580, is controlled to move up and down along the axis of the spindle body 400.

[0109] As a simple example, if the drive cylinder of the first drive member 312 is a drive hydraulic cylinder and the execution cylinder of the first execution member 314 is an execution hydraulic cylinder, then when the first power member 311 drives the first piston of the drive hydraulic cylinder of the first drive member 312 to move in the direction toward the interior of the drive hydraulic cylinder along the axial direction of the drive hydraulic cylinder of the first drive member 312, the presence of the first sealed circuit causes the hydraulic fluid inside the drive hydraulic cylinder to flow into the execution hydraulic cylinder of the first execution member 314 under the action of pressure, and the volume of hydraulic fluid inside the execution hydraulic cylinder of the first execution member 314 changes. At this time, the second piston of the execution hydraulic cylinder of the first execution member 314 moves away from the interior of the execution hydraulic cylinder of the first execution member 314 under the action of pressure.

[0110] In some embodiments, the stirring pin mechanism 500 can perform axial movement during welding or axial movement during release or engagement by controlling the movement position of the second piston of the first execution member 314 by program, which includes controlling the second piston of the first execution member 314 to move within a first movement stroke, thereby enabling the stirring pin mechanism 500 to perform axial movement during welding, and controlling the second piston of the first execution member 314 to move within a second movement stroke, thereby enabling the stirring pin mechanism 500 to perform axial movement during release or engagement, wherein the first and second movement strokes do not overlap. For further explanation of the first and second movement strokes, see Figure 7 and its related description.

[0111] Since the hydraulic pressure or atmospheric pressure in the first sealed circuit changes with temperature, in some embodiments, a pressure stabilizer is installed in the stirring pin control mechanism 310 to ensure the pressure stability of the first sealed circuit. For example, a pressure stabilizer may be installed in the first pipeline.

[0112] In some embodiments, the pressure stabilizer is either a hydraulic stabilizer or a pneumatic stabilizer, and its type may be determined according to the type of filling medium in the first sealed circuit. For example, if the filling medium in the first sealed circuit is hydraulic oil, the pressure stabilizer is a hydraulic stabilizer, and if the filling medium in the first sealed circuit is gas, the pressure stabilizer is a pneumatic stabilizer.

[0113] In some embodiments, the pressure stabilizer can automatically adjust the pressure of the first sealed circuit in a feedback adjustment manner. For example, if the pressure of the first sealed circuit increases, the pressure stabilizer can decrease the pressure of the first sealed circuit, and if the pressure of the first sealed circuit decreases, the pressure stabilizer can increase the pressure of the first sealed circuit. In the embodiments herein, the boosting and bucking methods of the pressure stabilizer are not particularly limited, and any operation well known to those skilled in the art may be used.

[0114] In some embodiments of this specification, the motion of the stirring pin moving member can be controlled using a single circuit (i.e., a first sealed circuit consisting of a first drive member, a first conduit, and a first execution member), allowing the stirring pin moving member to perform axial movements during welding and axial movements during release or engagement, while maintaining motor accuracy and obtaining large axial forces for penetration and refilling using a hydraulic system. Furthermore, the hydraulic fluid in the circuit is sealed, and it plays a role in transmitting force and displacement during the actual welding process, resulting in high stability. The pressure in the first sealed circuit can be automatically feedback-adjusted by a pressure stabilizer, ensuring the pressure stability of the first sealed circuit.

[0115] In some embodiments, as shown in Figure 4, the stirring sleeve control mechanism 320 includes a second power member 321, a second drive member 322, a second conduit 323, and a second execution member 324. The second drive member 322 forms a second sealed circuit with the second execution member 324 via the second conduit 323, and the second sealed circuit is filled with a filling medium. The filling medium may be a liquid (e.g., hydraulic oil) or a gas.

[0116] The second power member 321 is a member that provides power to move the stirring sleeve 660 axially along the axis of the spindle body 400. For example, the second power member 321 may be a motor or the like.

[0117] In some embodiments, the second power member 321 includes a second drive motor 321-1. The second drive motor 321-1 may be a servo motor or the like. The second drive motor 321-1 may be directly connected to the drive cylinder of the second drive member 322, and the first piston of the second drive member 322 moves along the axis of the drive cylinder of the second drive member 322 by the driving force of the second drive motor 321-1.

[0118] In some embodiments, the second power member 321 further includes a second reduction gear 321-2 and a second electric cylinder 321-3.

[0119] In some embodiments, as shown in Figure 5, the second power member 321 includes a second drive motor 321-1, a second reduction gear 321-2, and a second electric cylinder 321-3 connected in series in order, with the input terminal of the second reduction gear 321-2 connected to the output terminal of the second drive motor 321-1, the input terminal of the second electric cylinder 321-3 connected to the output terminal of the second reduction gear 321-2, and the first piston of the second drive member 324 connected to the output terminal of the second electric cylinder 321-3, thereby driving the first piston of the second drive member 324 to move along the axis of the drive cylinder of the second drive member 324.

[0120] Since the structural type, connection method, and operating principle of each component included in the first power member 311 are similar to those of each other, their explanation is omitted here.

[0121] The second drive member 322 is a member that drives the stirring sleeve 660 to move axially along the axis of the spindle body 400. The second drive member 322 includes a drive cylinder and a first piston. In some embodiments, the drive cylinder of the second drive member 322 may be a drive hydraulic cylinder or a drive pneumatic cylinder. For example, the drive hydraulic cylinder of the second drive member 322 may be a hydraulic cylinder. The hydraulic cylinder of the second drive member 322 can convert hydraulic energy into mechanical energy to drive the first piston of the second drive member 322 to move in a linear reciprocating motion.

[0122] In some embodiments, the second drive member 322 is connected to the second power member 321, which drives the first piston of the second drive member 322 to move along the axis of the drive cylinder of the second drive member 322.

[0123] The second conduit 323 may include two conduits, one of which has one end connected to the second drive member 322 and the other end connected to the second execution member 324, and the other conduit 323 has one end connected to the second execution member 324 and the other end connected to the second drive member 322, forming a second sealed circuit. Depending on the type of filling medium, the second conduit 323 may be an oil passage or a gas passage.

[0124] The second execution member 324 is an execution mechanism that drives the stirring sleeve mechanism 600 to move along the axial direction. The second execution member 324 includes an execution cylinder and a second piston.

[0125] In some embodiments, the execution cylinder of the second execution member 324 may be an execution hydraulic cylinder or an execution pneumatic cylinder.

[0126] In some embodiments, the execution cylinder of the second execution member 324 may be a hydraulic cylinder. In some embodiments, when the execution cylinder of the second execution member 324 is a hydraulic cylinder, the second sealed circuit is filled with sealed hydraulic fluid.

[0127] In some embodiments, the second execution member 324 is installed between the second bearing 620 and the second module housing 630, and the execution cylinder of the second execution member 324 is connected to the stirring sleeve moving member. In some embodiments, a position limiting structure is installed within the second module housing 630 to limit the axial range of movement of the second execution member 324.

[0128] In some embodiments, the second drive member 322 is connected to the output terminal of the second power member 321, and the second execution member 324 is connected to the output terminal of the second drive member 333 by the second conduit 323.

[0129] During the actual welding process and release or engagement, the second execution member 324 can perform the function of transmitting force and displacement. The downward thrusting and refilling of the agitation sleeve mechanism 600 during the welding process are both driven by the second power member 321. Driven by the second power member 321, the first piston of the second drive member 322 moves along the axis of the drive cylinder of the second drive member 322. When the first piston of the second drive member 322 moves along the axis of the drive cylinder of the second drive member 322, the volume of the filling medium in the drive cylinder of the second drive member 322 changes. The second sealed circuit changes the volume of the filling medium in the execution cylinder of the second execution member 324. When the volume of the filling medium in the execution cylinder of the second execution member 324 changes, the second piston of the second execution member 324 moves along the axis of the execution cylinder of the second execution member 324. The agitation sleeve moving member is driven to move along the axial direction of the spindle body 400, and finally the welding jig, i.e., the agitation sleeve 660, is controlled to move up and down along the axis of the spindle body 400. For further explanation, please refer to Figure 6 and its related explanations.

[0130] In some embodiments, the stirring sleeve mechanism 600 can perform axial movement during welding or axial movement during release or engagement by controlling the movement position of the second piston of the second execution member 324 by program, which includes controlling the second piston of the second execution member 324 to move within a third movement stroke, thereby enabling the stirring sleeve mechanism 600 to perform axial movement during welding, and controlling the second piston of the second execution member 324 to move within a fourth movement stroke, thereby enabling the stirring sleeve mechanism 600 to perform axial movement during release or engagement, wherein the third and fourth movement strokes do not overlap. For further explanation of the third and fourth movement strokes, see Figure 7 and its related description.

[0131] Since the hydraulic pressure or atmospheric pressure in the second sealed circuit changes with temperature, in some embodiments, a pressure stabilizer is installed in the stirring sleeve control mechanism 320 to ensure the pressure stability of the second sealed circuit. For example, a pressure stabilizer may be installed in the second pipeline.

[0132] In some embodiments, the pressure stabilizer is either a hydraulic stabilizer or a pneumatic stabilizer, and its type may be determined according to the type of filling medium in the second sealed circuit. For example, if the filling medium in the second sealed circuit is hydraulic fluid, the pressure stabilizer is a hydraulic stabilizer, and if the filling medium in the second sealed circuit is gas, the pressure stabilizer is a pneumatic stabilizer.

[0133] In some embodiments, the pressure stabilizer can automatically adjust the pressure in the second sealed circuit in a feedback adjustment manner. For example, if the pressure in the second sealed circuit increases, the pressure stabilizer can decrease the pressure in the second sealed circuit, and if the pressure in the second sealed circuit decreases, the pressure stabilizer can increase the pressure in the second sealed circuit. In the embodiments herein, the boosting and bucking methods of the pressure stabilizer are not particularly limited, and any operation well known to those skilled in the art may be used.

[0134] In some embodiments of this specification, the motion of the stirring sleeve moving member can be controlled using a single circuit (i.e., a second sealed circuit consisting of a second drive member, a second conduit, and a second execution member), allowing the stirring sleeve moving member to perform axial movements during welding and axial movements during release or engagement, while maintaining motor accuracy and obtaining large axial forces for penetration and refilling using a hydraulic system. Furthermore, the hydraulic fluid in the circuit is sealed, and it plays a role in transmitting force and displacement during the actual welding process, resulting in high stability. The pressure in the second sealed circuit can be automatically feedback-adjusted by a pressure stabilizer, ensuring the pressure stability of the second sealed circuit.

[0135] Figure 6 is a schematic diagram of the spindle body according to some embodiments of this specification.

[0136] In some embodiments, as shown in Figure 6, a first media inlet 462 and a second media inlet 463 are attached to the outside of the spindle body 400.

[0137] The first medium inlet 462 and the second medium inlet 463 are connection ports for connecting the gas passage or oil passage of the pressing sleeve 740.

[0138] In some embodiments, the first medium inlet 462 and the second medium inlet 463 control the release and engagement operations of the third replacement member, respectively.

[0139] In some embodiments, the release and engagement of the pressing sleeve 740 can be controlled by the gas passage or oil passage by introducing gas or hydraulic oil into the first medium inlet 462 and the second medium inlet 463.

[0140] In some embodiments, as shown in Figure 6, a first connection port 431 and a second connection port 432 are attached to the outside of the spindle body 400. The first connection port 431 and the second connection port 432 are used to control the stirring pin mechanism 500 and the stirring sleeve mechanism 600 so that they perform axial movement during welding operations or axial movement during release or engagement operations, respectively.

[0141] The first connection port 431 is a pipeline connection port of the first pipeline 313. In some embodiments, if the first pipeline 313 is an oil pipeline, the first connection port 431 may be an oil pipeline connection port, and if the first pipeline 313 is a gas pipeline, the first connection port 431 may be a gas pipeline connection port. In some embodiments, the first connection port 431 comprises two ports, each connected to two connection ports of the execution cylinder of the first execution member 314 (for example, if the execution cylinder is an execution hydraulic cylinder, the connection ports are oil pipeline connection ports). In some embodiments, the number of first connection ports 431 is not limited to two. In some embodiments, the first connection port 431 is installed on the outer wall of the first module housing 540.

[0142] The second connection port 432 is a pipeline connection port of the second pipeline 323. In some embodiments, if the second pipeline 323 is an oil pipeline, the second connection port 432 may be an oil pipeline connection port, and if the second pipeline 323 is a gas pipeline, the second connection port 432 may be a gas pipeline connection port. In some embodiments, the second connection port 432 comprises two ports, each connected to two connection ports of the execution cylinder of the second execution member 324. In some embodiments, the number of second connection ports 432 is not limited to two. In some embodiments, the second connection port 432 is installed on the outer wall of the second module housing 630.

[0143] In some embodiments, as shown in Figure 6, one or more of the following are attached to the outside of the spindle body 400: a spindle wiring port 410, a water channel connection port 420, a signal line adapter box 440, a displacement sensor 450, and a cooling gas inlet 461.

[0144] In some embodiments, the spindle wiring port 410 is used to supply power to the power source of the spindle body 400 (e.g., an electric spindle). In some embodiments, the spindle wiring port 410 is further used to provide a communication interface to the encoder of the spindle body 400 (e.g., an electric spindle).

[0145] The water channel connection port 420 is a connection port for connecting water channels. In some embodiments, a liquid (e.g., cooling water) can be introduced into the water channel connection port 420 to cool some components. In some embodiments, the water channel connection port 420 includes a motor water channel and a non-motor water channel. The motor water channel is used to cool the motor, and the non-motor water channel is used to cool the stirring pin mechanism 500, the stirring sleeve mechanism 600, and the pressing sleeve mechanism 700.

[0146] The signal line adapter box 440 is a box that relays signal lines. In some embodiments, the signal line adapter box 440 can convert electrical signals input to the spindle body 400, for example, signals that control the rotational speed of the spindle body 400.

[0147] The cooling gas inlet 461 is a connection port for connecting the cooling gas passage. The cooling gas passage contains a cooling medium. In some embodiments, the cooling medium may be a gas, such as nitrogen gas. In some embodiments, the cooling medium may be a liquid, such as cooling water or cooling oil. The rotation of the stirring pin 580 and stirring sleeve 660 in the spindle body generates heat through friction with the fixed member, so the welding jig and workpiece can be cooled by installing the cooling gas inlet 461.

[0148] The displacement sensor 450 is a sensor that monitors the displacement of each assembly in the spindle body.

[0149] In some embodiments, the displacement sensor 450 includes a first displacement sensor 451 and a second displacement sensor 452. The first displacement sensor 451 is installed in the first module housing 540 and is used to detect the displacement of the stirring pin mechanism 500. The second displacement sensor is installed in the second module housing 630 and is used to detect the displacement of the stirring sleeve mechanism 600. By installing the first displacement sensor 451 and the second displacement sensor 452, the motion accuracy of the stirring pin mechanism 500 and the stirring sleeve mechanism 600 when they move in the axial direction can be fed back, respectively.

[0150] Figure 7 is a timing chart of welding operations and welding jig changes according to some embodiments of this specification.

[0151] In Figure 7, the horizontal axis represents the time spent on welding operations and welding jig changes by the spot welding device, and the vertical axis represents the movement data of the components or the ventilation / exhaust conditions. As shown in Figure 7, the vertical axis includes the rotational status of the spindle body during welding operations and welding jig changes, the movement status of the stirring pins during welding operations and welding jig changes, the movement status of the stirring sleeves during welding operations and welding jig changes, the ventilation and exhaust conditions of the first gas inlet during welding operations and welding jig changes, the ventilation and exhaust conditions of the second gas inlet during welding operations and welding jig changes, sensing data of the first displacement sensor during welding operations and welding jig changes, and sensing data of the second displacement sensor during welding operations and welding jig changes.

[0152] As shown in Figure 7, the axial movement of the welding jig during the welding process and the automatic release or engagement of the welding jig share a single sealed circuit, and the piston position of the execution hydraulic cylinder or pneumatic cylinder is controlled by a program to achieve welding and automatic release or engagement. In some embodiments, the origin position can be set when the lower end faces of the stirring pin 580, stirring sleeve 660, and pressing sleeve 740 are on the same plane. During the welding process, the stirring pin 580 has a maximum upward movement distance of a and a maximum downward movement distance of b, i.e., the first movement stroke is (-b, a), and the stirring sleeve 660 has a maximum upward movement distance of c and a maximum downward movement distance of d, i.e., the third movement stroke is (-d, c).

[0153] In some embodiments, if the release or engagement distance of the stirring pin 580 is e and the release or engagement distance of the stirring sleeve 660 is f, the stirring pin 580 can achieve the release function by moving upward from the origin position (a+e). After attaching a new holder (for example, a new first holder) at a distance of (a+e) from the origin position, the engagement function can be achieved by moving again to a distance from the origin position, i.e., the second movement stroke is (a, a+e).

[0154] Similarly, the release function can be achieved when the stirring sleeve 660 moves upward from the origin position (c+f). After attaching a new holder (for example, a new second holder) at a distance of (c+f) from the origin position, the locking function can be achieved when it moves again to a distance of c from the origin position, i.e., the fourth movement stroke is (c, c+f). (a+1), (b+1), (c+1), and (d+1) are all reserve positions for safety, i.e., the limit distances for the vertical movement of the welding jig during normal welding operations, and the rated distances are a, b, c, and d, respectively.

[0155] Compared to conventional methods that use a servo motor to drive the axial movement of the stirring pin and stirring sleeve, setting a hybrid drive mode maintains the accuracy of the servo motor while increasing the axial output of the spot welding device using a hydraulic system to obtain a large axial force for penetration and refilling.

[0156] The stirring pin mechanism 500, the stirring sleeve mechanism 600, and the pressing sleeve mechanism 700 may perform release or engagement operations simultaneously, or they may perform release or engagement operations independently according to a set sequence. For example, the pressing sleeve 740 may be released first, then the stirring sleeve 660 may be released, and finally the stirring pin 580 may be released, and / or the stirring pin 580 may be engaged first, then the stirring sleeve 660 may be engaged, and finally the pressing sleeve 740 may be engaged.

[0157] In some embodiments, a temperature sensor and a thermographic component are further installed on the spindle body 400.

[0158] The temperature sensor can detect the temperature of the weld bead and surrounding material during the welding process, and obtain the weld bead temperature and workpiece temperature. In some embodiments, the temperature sensor may include an infrared temperature sensor.

[0159] In some embodiments, the temperature sensor may be installed at the end of the spindle body 400 adjacent to the stirring pins 580. In some embodiments, a first temperature sensor is installed in the stirring pin mechanism 500 and / or a second temperature sensor is installed in the stirring sleeve mechanism 600. The first temperature sensor and the second temperature sensor may each include one or more sensors that acquire temperature data for the stirring pin mechanism 500 and temperature data for the stirring sleeve mechanism 600.

[0160] The thermographic component is used to collect information on the heat distribution of the weld bead and the surrounding workpiece during the welding process. In some embodiments, the thermographic component may be installed on a component that does not participate in the rotation of the spindle body 400. For example, the thermographic component may be installed on the third module housing 710 of the pressing sleeve mechanism 700.

[0161] In some embodiments, the spindle body 400 is further equipped with a cooling component. The cooling component is a component that cools the workpiece. For example, it may be a power-adjustable fan, a compressor, etc. In some embodiments, the cooling component may be installed at a predetermined position on the spindle body 400.

[0162] In some embodiments, the predetermined position may include one or more locations. In some embodiments, the predetermined position may be a location point in the spindle body 400 that is not involved in rotation. For example, the predetermined position may be located in the third module housing 710 of the pressing sleeve mechanism 700.

[0163] By installing a cooling component, heat can be dissipated from the workpiece surrounding the weld bead in a timely manner, lowering the workpiece temperature and preventing deformation due to excessive temperature.

[0164] In some embodiments, the spot welding apparatus further includes an early warning member and a pressure sensor.

[0165] An early warning component is a component capable of issuing a warning, such as a buzzer, speaker, or warning lamp. In some embodiments, the early warning component may issue an early warning, and the type of early warning may include an early warning for refueling and an early warning for sealing component failure.

[0166] A pressure sensor is a sensor that measures the oil pressure in an oil passage, and examples include differential pressure sensors and liquid level sensors. In some embodiments, the pressure sensor may be installed in the first oil passage and / or the second oil passage.

[0167] In some embodiments, one or more sealing members may be installed in the oil passage to achieve sealing of the oil passage. A sealing member is a member that performs a sealing function in the oil passage. The sealing members may be installed in locations where leakage is likely to occur or in locations where parts move relative to each other.

[0168] In some embodiments, the pressure sensor may be positioned in close proximity to a sealing member within the oil passage. For example, between the first execution member 314 and the first module housing 540, or between the second execution member 324 and the second module housing 630.

[0169] In a sealed oil passage, the pressure at each point in the passage should be stable. However, if a leak occurs, there will be pressure fluctuations (e.g., a pressure drop) at the leak point. By installing a pressure sensor, pressure fluctuations within the oil passage can be detected in a timely manner.

[0170] In some embodiments, the spot welding apparatus further includes a voiceprint sensor. The voiceprint sensor is a sensor that detects the sound of a malfunction in the apparatus. In some embodiments, the voiceprint sensor may be installed on the spindle body 400, for example, on the outer surface of the spindle body 400. In some embodiments, the voiceprint sensor may be installed near the first oil passage connection port and / or the second oil passage connection port. By installing the voiceprint sensor, sound data can be collected during the operation of the spot welding apparatus.

[0171] In some embodiments, the spot welding apparatus may further include a position sensor. The position sensor is a sensor that detects the position of a member, and for example, the position sensor can determine the distance between the stirring pin 580 and the first support assembly 640, stirring sleeve 660, pressing sleeve 740 and second support assembly 720. In some embodiments, the position sensor may be installed on a member inside the spindle body 400, for example, a member such as the first connecting rod 520, the first mandrel 531 or the second mandrel 621.

[0172] In some embodiments, the spot welding apparatus further includes a control host. The control host can process data and / or information obtained from the components of the spot welding apparatus. Based on this data, information, and / or processing results, the control host can execute program instructions to perform one or more functions described in the present application.

[0173] In some embodiments, the control host may include one or more processing devices (e.g., a single-core processing device or a multi-core multi-chip processing device). As just one example, the control host may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), a microprocessor, or any combination thereof.

[0174] In some embodiments, the control host may be communicatively connected to the first temperature sensor, the second temperature sensor, and the thermographic component in the spot welding apparatus. For more details regarding the first temperature sensor, the second temperature sensor, and the thermographic component, please refer to the relevant descriptions above.

[0175] In some embodiments, the control host is configured to adjust the welding parameters of the spot welding apparatus based on temperature data collected by a first temperature sensor and / or a second temperature sensor, and thermographic data collected by a thermographic member.

[0176] The temperature data includes temperature data for the stirring pin mechanism 500 and temperature data for the stirring sleeve mechanism 600. For example, temperature data for the stirring sleeve 660 and temperature data for the stirring pin 580.

[0177] Thermographic data represents the heat distribution within the welding area, such as a thermographic image. The welding area is the region surrounding the weld gap.

[0178] Welding parameters are the operating parameters of the spot welding apparatus during the welding process. In some embodiments, welding parameters may include the rotational speed of the stirring pin 580 and / or the rotational speed of the stirring sleeve 660.

[0179] In some embodiments, the control host can adjust welding parameters based on temperature data and thermographic data in various ways. For example, if the temperature data is higher than a temperature threshold, the rotation speed of the stirring pin and / or the stirring sleeve can be reduced. If the thermographic data indicates that the temperature of the stirring pin and / or the stirring sleeve is higher than the temperature of other location areas, the rotation speed of the stirring pin and / or the stirring sleeve can be reduced.

[0180] In some embodiments, the control host can determine the heat absorption characteristics based on thermographic data and adjust the welding parameters in response to the heat absorption characteristics not meeting predetermined conditions.

[0181] The heat absorption characteristics are features related to the heat absorption conditions of the welding location area. For example, the heat absorption characteristics may include at least one of the following: the average temperature of the welding location area, the maximum temperature difference, the highest temperature, and the lowest temperature. The maximum temperature difference is the difference between the highest and lowest temperatures of the welding location area.

[0182] In some embodiments, the control host can determine the highest temperature within the welding location range, calculate the average temperature and temperature difference within the welding location range, and determine the heat absorption characteristics based on thermographic images collected by a thermographic device. For example, if the welding location range corresponds to the image range in the thermographic image, the control host can randomly select multiple points, calculate the average temperature and maximum temperature difference of the multiple points, and obtain the average temperature within the welding location range.

[0183] In some embodiments, a predetermined condition can be used to determine whether or not to adjust the welding parameters. In some embodiments, the predetermined condition may include the average temperature of the welding position range being higher than a temperature threshold.

[0184] In some embodiments, the control host can adjust welding parameters in response to the heat absorption characteristics not meeting predetermined conditions. For example, in response to the average temperature of the welding position range being higher than a temperature threshold, the control host can reduce the rotational speed of the welding fixture (e.g., the stirring pin 580 and / or stirring sleeve 660).

[0185] In some embodiments, the temperature threshold may be set by the control host or manually.

[0186] In some embodiments, the temperature threshold may be determined by the control host based on a failure probability distribution. For example, the temperature threshold may have a negative correlation with the mean of multiple failure probabilities in the failure probability distribution. For more information on failure probability distributions, see the related explanations below.

[0187] In some embodiments, the control host can adjust welding parameters in various ways based on the average temperature of the welding position range. For example, the control host can determine the amount of rotational speed adjustment using a predetermined rotational speed meter based on the amount by which the average temperature exceeds a temperature threshold.

[0188] In some embodiments, a predetermined tachometer includes a correspondence between the excess temperature and the amount of rotational speed adjustment. For example, the excess temperature is positively correlated with the amount of rotational speed adjustment. The amount of rotational speed adjustment may include adjustments made to the stirring pin 580 and / or stirring sleeve 660. In some embodiments, the control host can determine the amount of rotational speed adjustment by querying a predetermined tachometer based on the average temperature and temperature threshold in the current welding process.

[0189] A predetermined tachometer can be constructed based on various methods. For example, it can be constructed based on historical data, experimental results, or simulations and predictions. For instance, a predetermined tachometer can be constructed based on past adjustment conditions, and the adjustment amount that improves the quality of the welded workpiece after adjustment in various scenarios can be the adjustment amount of the rotational speed in each scenario.

[0190] In some embodiments, the control host generates a certain number of candidate adjustment parameters, determines each candidate adjustment parameter using a machine learning model, determines the heat absorption characteristics for future time periods corresponding to the candidate adjustment parameters using an evaluation model, and the candidate adjustment parameters whose heat absorption characteristics for future time periods satisfy the requirements can be set as the final welding parameters.

[0191] In some embodiments, the evaluation model may be one or a combination of various executable models, such as deep neural network (DNN) models and convolutional neural network (CNN) models. In some embodiments, the input to the evaluation model may include one or more candidate tuning parameters, current temperature data, current heat absorption characteristics, and the material type of the workpiece to be welded, and the output may be future heat absorption characteristics corresponding to each of the future time periods of the multiple candidate tuning parameters.

[0192] The material type of the workpiece to be welded may include the composition, mixing ratio, and crystal shape of the materials constituting the workpiece. The current temperature data refers to the temperature data currently acquired by the first and second temperature sensors. The current heat absorption characteristics refer to the heat absorption characteristics determined based on the currently acquired thermographic data.

[0193] An adjustment parameter is an adjustment amount used to adjust welding parameters. For example, an adjustment parameter may be an amount used to adjust the rotational speed. In some embodiments, the control host can determine candidate adjustment parameters in various ways. For example, the control host may determine historical adjustment parameters as candidate adjustment parameters. Alternatively, for example, the control host may determine candidate adjustment parameters by querying a predetermined rotational speed meter.

[0194] In some embodiments, the evaluation model can be obtained by training a plurality of first training samples having a first label in various ways. For example, it may be trained based on gradient descent. As just one example, a plurality of first training samples having a first label can be input into an initial evaluation model, a loss function can be constructed based on the first label and the results of the initial evaluation model, and the parameters of the initial evaluation model can be iteratively updated based on the loss function. If the loss function of the initial evaluation model satisfies predetermined conditions, the model training is complete and a trained evaluation model is obtained. The predetermined conditions may be that the loss function converges, or that the number of iterations reaches a threshold, etc.

[0195] In some embodiments, the first training sample may include one or more sample adjustment parameters, sample temperature data at the first sample time, sample heat absorption characteristics of the sample weld position range of the sample workpiece to be welded at the first sample time, and the material type of the sample workpiece to be welded, and the first label may be the actual heat absorption characteristics of the sample weld position range at the second sample time after the first sample time. The first training sample and the first label may be determined based on historical data.

[0196] In some embodiments, the control host can also determine the adjusted welding parameters using a first determination model based on temperature data, heat absorption characteristics, material type of the workpiece to be welded, and target temperature.

[0197] In some embodiments, the first decision model may be one of the following: DNN, CNN, etc., or a combination thereof.

[0198] In some embodiments, the input to the first decision model may include temperature data, heat absorption characteristics, material type of the workpiece to be welded, and target temperature, and the output may include adjusted welding parameters.

[0199] The target temperature is the average temperature expected to be reached within the welding position range. The target temperature may be determined by the control host based on historical data, or it may be determined by human input.

[0200] In some embodiments, the first decision model can be obtained by training it in various ways based on a large number of second training samples having second labels. The training process for the first decision model is similar to that of the evaluation model, so it will not be described here.

[0201] In some embodiments, the second training sample may include sample temperature data from the sample temperature sensor at the third sample time, sample heat absorption characteristics of the sample welding position range of the sample workpiece at the third sample time, the material type of the sample workpiece, and the sample target temperature of the sample workpiece, while the second label may be welding parameters used for actual adjustment at the fourth sample time after the third sample time. The second training sample and the second label may be determined based on historical data. When determining the second label, it is necessary to ensure that the heat absorption characteristics of the sample welding position range can satisfy predetermined conditions using the welding parameters used for actual adjustment at the fourth sample time of the second training sample.

[0202] In some embodiments, the training process for the evaluation model and / or the first decision model may be performed by a control host. In some embodiments, the training process for the evaluation model and / or the first decision model may be performed by an external server, which transmits the trained evaluation model and / or first decision model to the control host.

[0203] In some embodiments of this specification, the welding process of a spot welding apparatus is precisely monitored by adjusting welding parameters based on temperature data and thermographic data, preventing excessive heat generation during welding that deforms the material around the weld gap and improving the quality of the workpiece after welding.

[0204] In some embodiments, the control host may be communicatively connected to a cooling member in the spot welding apparatus. For a further description of the cooling member, see the relevant description above.

[0205] In some embodiments, the control host is further configured to determine cooling parameters in response to the heat absorption characteristics not meeting predetermined conditions, and to control the cooling member based on the cooling parameters to adjust the temperature.

[0206] In some embodiments, the predetermined conditions may also include determining whether or not to control the cooling element to perform cooling. In some embodiments, the predetermined conditions may include the average temperature of the welding position range being higher than a temperature threshold. For more details regarding the predetermined conditions, refer to the related descriptions above.

[0207] Cooling parameters are the operating parameters of the cooling components. For example, cooling parameters include cooling power and fan rotation speed.

[0208] In some embodiments, the control host can determine cooling parameters in various ways in response to the current heat absorption characteristics not meeting predetermined conditions, and then control the cooling member to perform cooling based on the cooling parameters.

[0209] In some embodiments, in response to the current heat absorption characteristics not meeting predetermined conditions, the control host can determine the operating parameters of the cooling element using a predetermined cooling parameter table, based on the fact that the average temperature is higher than the amount exceeding the temperature threshold.

[0210] In some embodiments, a predetermined cooling parameter table includes a correspondence between temperature excess and cooling parameters. In some embodiments, the control host can determine the cooling parameters by querying the predetermined cooling parameter table based on the average temperature and temperature threshold in the current welding process. In some embodiments, the predetermined cooling parameter table may be predetermined based on historical data or prior knowledge.

[0211] In some embodiments, in response to the current heat absorption characteristics not meeting predetermined conditions, the control host can determine cooling parameters using a machine learning model.

[0212] In some embodiments, the control host can determine cooling parameters using a second determination model based on welding parameters, temperature data, heat absorption characteristics, material type of the workpiece to be welded, and target temperature.

[0213] In some embodiments, the second decision model may be one of the following, such as DNN and CNN, or a combination thereof.

[0214] In some embodiments, the input to the second decision model may include welding parameters, temperature data, heat absorption characteristics, material type of the workpiece to be welded, and target temperature, and the output may include cooling parameters of the cooling component. For more information regarding the target temperature, see the related explanation above.

[0215] In some embodiments, the second decision model can be obtained by training it in various ways based on a large number of third training samples having a third label. The training process for the second decision model is similar to that of the evaluation model, so it will not be described here.

[0216] In some embodiments, the third training sample may include sample welding parameters, sample temperature data, sample heat absorption characteristics of the sample welding position range of the workpiece to be welded, the material type of the workpiece to be welded, and the sample target temperature of the workpiece to be welded. The third training sample can be obtained based on historical data. The third label may be the operating parameters of a cooling component actually used in the past that correspond to the third training sample. The third label can be obtained in various ways, such as manual annotation. When determining the third label, it is necessary to ensure that the heat absorption characteristics of the sample welding position range can satisfy the predetermined conditions based on the operating parameters of the cooling component actually used in the past that correspond to the third training sample.

[0217] In some embodiments of this specification, by determining cooling parameters and controlling the cooling member based on these parameters to adjust the temperature, the temperature of the workpiece around the weld bead can be effectively controlled, heat can be dissipated in a timely manner, material deformation can be further reduced, and the quality of the material after welding can be improved.

[0218] In some embodiments, the control host may be communicatively connected to an early warning member and a pressure sensor in the spot welding apparatus. For more information regarding the early warning member and pressure sensor, see the relevant descriptions above.

[0219] In some embodiments, the control host is configured to determine the rate of change of the oil passage pressure force based on the oil passage pressure force detection sequence acquired by the pressure sensor, and in response to the rate of change being greater than a first rate of change threshold, generate a control command for an early refueling alarm and send it to the early alarm module, thereby controlling the early alarm module to issue an early refueling alarm.

[0220] An oil passage pressure detection sequence is a sequence consisting of multiple oil passage pressure values ​​detected within a predetermined time. The multiple oil passage pressure values ​​in the oil passage pressure detection sequence are arranged sequentially according to their detection time. In some embodiments, the oil passage pressure detection sequence is automatically acquired within a predetermined time by pressure sensors installed in the first and / or second oil passages, and recorded and analyzed by a control host. The predetermined time may be a historical time period.

[0221] The rate of change of oil channel pressure is the ratio of the decrease in oil channel pressure over a predetermined period of time to the time interval. In some embodiments, the rate of change of oil channel pressure can be calculated based on the difference between the oil channel pressures corresponding to the start and end times in the oil channel pressure detection sequence, and the time interval between the start and end times.

[0222] The rate of change in oil passage pressure can reflect the severity of oil passage system problems; a large decrease may indicate the presence of a serious leak or other malfunction.

[0223] The first rate of change threshold is the maximum allowable percentage decrease in oil passage pressure under normal operating conditions. In some embodiments, the first rate of change threshold can be calculated and determined based on historical operating data, manufacturer-recommended values, or empirical formulas.

[0224] An early refueling warning is an early warning signal that prompts refueling. When the pressure drop rate of the oil passage system exceeds the first rate of change threshold, the control host instructs the early warning module to issue an early refueling warning, notifying maintenance staff to refuel in a timely manner, thereby preventing system failure due to insufficient oil.

[0225] In some embodiments, the control host is further configured to determine the probability of component failure in response to the rate of change of the oil passage pressure being greater than a second rate of change threshold, and to generate and transmit a control command for an early fault alarm to an early alarm module in response to the probability of component failure being greater than a probability threshold, thereby controlling the early alarm module to issue an early fault alarm.

[0226] The second rate of change threshold is the minimum rate of decrease in oil passage pressure when a component (e.g., an oil passage) fails.

[0227] When hydraulic fluid is lost normally, the loss of pressure in the sealed oil passage over a given period of time should be constant. If the loss of oil passage pressure exceeds a certain range, it indicates a leak in the oil passage. Therefore, if the rate of change of oil passage pressure exceeds the second rate of change threshold, it is considered that there may be a risk of leakage in the oil passage. In some embodiments, the second rate of change threshold can be calculated and determined based on past operating data, manufacturer recommended values, or empirical formulas. In some embodiments, the second rate of change threshold is greater than the first rate of change threshold.

[0228] The component failure probability is the probability that a component (e.g., a sealing component in an oil passage) has failed (e.g., has a risk of leakage). In some embodiments, the control host can determine the component failure probability based on the rate of change of the oil passage pressure. For example, the rate of change of the oil passage pressure is proportional to the component failure, meaning that the greater the decrease in oil passage pressure, the higher the probability of component failure.

[0229] The probability threshold is a threshold corresponding to the probability of component failure, used to determine whether or not to issue an early fault warning. The probability threshold can be calculated and determined based on past operating data, manufacturer-recommended values, or empirical formulas.

[0230] Early fault warning is an early warning signal that notifies of the possibility of a fault. If the probability of component failure is greater than a probability threshold, the control host instructs the early warning module to issue an early fault warning, alerting maintenance staff to immediately inspect the system, identify potential fault points, and repair them.

[0231] In some embodiments, if the rate of pressure drop in the oil passage system exceeds a second rate of change threshold, the control host instructs the early alarm module to issue a fault early alarm.

[0232] In some embodiments, the control host is further configured to determine the current oil passage pressure using a pressure sensor in response to the rate of change of the oil passage pressure being greater than a second rate of change threshold, and to determine the probability of sealant failure based on the current oil passage pressure, the cumulative service time of the sealant, the rated service life of the sealant, and the first rate of change threshold. The current oil passage pressure is the oil passage pressure value obtained after it is determined that the rate of change of the oil passage pressure within a predetermined time is greater than the second rate of change threshold. The cumulative service time of the sealant and the rated service life of the sealant may be determined by the control host querying the sealant usage record, or by manual input. The sealant usage record is pre-stored in the storage unit of the spot welding apparatus. The storage unit of the spot welding apparatus may be installed in the control host.

[0233] In some embodiments, the control host can determine that the probability of sealing member failure is the cumulative service time of the sealing member / the rated service life of the sealing member + the current oil passage pressure at the corresponding location / a first rate of change threshold.

[0234] By installing an early warning module and pressure sensor, the spot welding equipment can automatically monitor changes in oil passage pressure and issue timely early warnings for refueling or malfunctions. This helps in the timely detection and resolution of oil passage problems, avoiding equipment failures due to oil passage issues and improving the reliability and safety of the equipment. Furthermore, by reducing equipment downtime due to malfunctions, production efficiency can be improved and maintenance costs can be reduced, thereby bringing significant economic benefits to the company.

[0235] In some embodiments, the control host may be communicatively connected to a voiceprint sensor in the spot welding apparatus. For more information on the voiceprint sensor, see the related description above.

[0236] In some embodiments, the control host is configured to determine the failure probability distribution of the spot welding machine based on voice data collected by a voiceprint sensor.

[0237] Audio data is sound wave data generated during the operation of the device, captured by a voiceprint sensor. For example, a properly functioning device may emit stable, continuous sound wave data, but if a malfunction occurs, it may generate intermittent or abnormally high-frequency sound wave data.

[0238] The failure probability distribution is the probability distribution of failures in each component of a spot welding apparatus. There may be multiple failure types. For example, failure types may include oil passage failures (e.g., oil passage blockage, sealing component leakage, etc.), transmission failures (e.g., failures of components such as gears, bearings, connecting rods, and mandrels), electrical system failures, locking failures, and release failures.

[0239] In some embodiments, the failure probability distribution includes multiple failure types present in the spot welding apparatus and their corresponding failure probabilities.

[0240] In some embodiments, the control host can determine the failure probability distribution of the spot welding equipment in various ways based on voice data collected by a voiceprint sensor.

[0241] In some embodiments, the control host can embed the audio data using an embedding model, obtain embedding vectors, perform matching in a vector database based on the embedding vectors, determine one or more target vectors whose matching similarity is higher than a similarity threshold, and construct a failure probability distribution based on the historical failure types corresponding to one or more target vectors. For example, the number of target vectors for each historical failure type can be statistically analyzed, the ratio of the number of target vectors for each historical failure type can be determined based on the total number of target vectors, and a failure probability distribution can be constructed based on the ratio of the number of target vectors for each historical failure type.

[0242] In some embodiments, an embedding vector can be obtained by inputting audio data into an embedding model, analyzing the spectral features, time-domain features, and energy distribution features of the audio data, and converting them into points in a high-dimensional space.

[0243] In some embodiments, the vector database includes multiple reference embedding vectors and a fault type corresponding to each reference vector. The reference embedding vectors are constructed based on audio data where faults have actually occurred in the past, and each reference vector corresponds to a specific fault type.

[0244] In some embodiments, the vector database and embedded model may be constructed by a remote server and pre-stored in the storage unit of the spot welding equipment.

[0245] In some embodiments, the control host is further configured to determine the failure probability distribution based on audio data and the welding jig state corresponding to the audio signal in each time interval of the audio data.

[0246] A time interval is a segment divided within the time period corresponding to the audio data. Time intervals may be divided in various ways. For example, the time period corresponding to the audio data can be evenly divided into time intervals of a specific length according to a specific time length.

[0247] In some embodiments, the welding fixture state may include the welding fixture being in an operating state, a replacement state, and a shut-down state. When the welding fixture is in an operating state, the welding fixture state may further include the stirring pin being inserted, the stirring pin being withdrawn, the stirring sleeve being inserted, and the stirring sleeve being withdrawn. When the welding fixture is in a replacement state, the welding fixture state may further include the distance of the stirring pin, stirring sleeve, and pressing sleeve from their respective origin positions. For a more detailed explanation of the origin positions, see Figure 7 and its related description.

[0248] There is a certain correspondence between the audio signal and the welding jig state in each time interval. In some embodiments, the correspondence between the welding jig state and the audio signal may be predetermined based on historical data. For example, audio signals from different welding jig states can be collected in advance and a one-to-one correspondence can be established.

[0249] In some embodiments, the control host determines the failure probability for each time interval based on the audio signal in the audio data, determines the failure type corresponding to the audio signal based on the welding jig state corresponding to the audio signal, and obtains a failure probability distribution by establishing a one-to-one correspondence between the failure type and the failure probability based on the time interval to which the audio signal belongs.

[0250] For example, if there is an abnormal audio signal, it can be determined that there is a possibility of component failure. The higher the proportion of abnormal audio signals within a time interval, the higher the probability of failure. Also, for example, if the welding jig state corresponding to an audio signal that may indicate a component failure is in the replacement state, it can be determined that the failure type is a locking failure or a release failure. If the welding jig state corresponding to an audio signal that may indicate a component failure is in the operating state, it can be determined that the failure type is a transmission failure.

[0251] In some embodiments, the failure probability distribution may be determined by matching in a vector database, and since the determination method is similar to that described above, it will not be explained here. For example, a control host can construct an embedded vector based on audio signals in a time interval and the corresponding welding jig state, and determine the failure probability distribution by matching in a vector database.

[0252] In some embodiments of this specification, a failure probability distribution is determined based on audio data and the welding state corresponding to the audio signal for each time interval. This allows for more accurate fault diagnosis, prediction and warning before failures occur, thereby reducing equipment downtime and improving production efficiency.

[0253] In some embodiments, when a voiceprint sensor is installed near a first and / or second oil passage connection port, the control host is further configured to determine the probability of an oil passage failure based on the oil passage voice data and oil passage characteristics collected by the voiceprint sensor.

[0254] In some embodiments, the oil passage features include at least one of the rate of change of the oil passage pressure and the installation location of the pressure sensor. For example, the installation location of the pressure sensor may be in the first oil passage and / or the second oil passage.

[0255] In some embodiments, the control host can construct an embedding vector based on oil channel voice data and oil channel features collected by a voiceprint sensor, and then determine the probability of oil channel failure by matching the embedding vector in a vector database.

[0256] Since the voice data collected by the voiceprint sensor differs depending on whether the oil passage is malfunctioning or functioning normally, the voice data can reflect whether the oil passage is operating normally or not. The method for determining the probability of oil passage failure based on matching in a vector database is similar to the above, so it will not be explained here.

[0257] In some embodiments of this specification, by installing a voiceprint sensor, the control host can perform comprehensive fault monitoring and prediction of the device based on voice data analysis, significantly improving maintenance efficiency and device reliability. Furthermore, by analyzing the voice data of the first and second oil passages in combination with the corresponding oil passage pressures, it is possible to more accurately determine whether or not an oil passage is failing. For example, if the sealed oil passage pressure is within a threshold range, but the voice data exceeds an abnormal value, an abnormality can be detected in this embodiment.

[0258] In some embodiments, the control host may be communicatively connected to a position sensor in the spot welding apparatus. For more information on the position sensor, see the relevant description above.

[0259] In some embodiments, the control host is configured to determine the welding jig position based on sensing data from a position sensor, determine the welding jig mounting state based on the welding jig position, and, in response to the welding jig mounting state being loose, control the rotation of the spindle body to stop and issue an early alarm.

[0260] In some embodiments, the sensing data from the position sensor may include the position coordinates of each component, such as the stirring pin, the claw, the stirring sleeve, the first support assembly, the pressing sleeve, and the second support assembly.

[0261] The welding jig position is the relative position between welding jigs. For example, the welding jig position may include at least one of the relative distances between the stirring pin and the draw jaw, the relative distance between the stirring sleeve and the first support assembly, and the relative distance between the pressing sleeve and the second support assembly.

[0262] In some embodiments, when a position sensor confirms the position coordinates of each component, the control host can ensure data accuracy by comparing the sensing data from the position sensor multiple times.

[0263] In some embodiments, the number of checks may be related to the component failure probability corresponding to the part. For example, the number of checks may be positively correlated with the component failure probability. In some embodiments, the number of checks may be related to at least one of the sealing component failure probability, oil passage failure probability, and transmission failure probability corresponding to the part.

[0264] In some embodiments, the control host can determine a failure criterion value based on the failure probability of the sealing member, the failure probability of the oil passage, and the failure probability of the transmission corresponding to the component, and then determine the number of matches by querying a predetermined match count table based on the failure criterion value.

[0265] In some embodiments, the failure criterion value may have a positive correlation with the sealing member failure probability, oil passage failure probability, and transmission failure probability corresponding to the component. In some embodiments, the control host can calculate the failure criterion value using a predetermined algorithm based on the sealing member failure probability, oil passage failure probability, and transmission failure probability corresponding to the component. An example of a predetermined algorithm is as follows:

[0266] A = xm1 + ym2 + zm3

[0267] Here, A is the failure threshold for a component, m1 is the failure probability of the sealing member corresponding to the component, m2 is the failure probability of the oil passage corresponding to the component, and m3 is the failure probability of the transmission corresponding to the component. a, b, and c are weights related to the degree of damage to the spot welding equipment due to different failure types.

[0268] Transmission failures may necessitate the replacement of major components, sealing components are consumable parts, and oil passage failures can be addressed by oil changes or other methods. Therefore, because transmission failures cause more damage to the spot welding equipment than oil passage failures and sealing component failures, the probability of transmission failure is weighted higher, while the weights of oil passage failures and sealing component failures are set lower.

[0269] In some embodiments, a predetermined matching count table includes the correspondence between failure criteria and matching counts. The predetermined matching count table may be predetermined based on historical data or prior knowledge. In some embodiments, the control host can determine the matching count corresponding to the current failure criteria as the current matching count by querying the predetermined matching count table based on the current failure criteria.

[0270] In some embodiments of this specification, the computational load on the control host can be reduced by repeatedly performing multiple checks on components with a high probability of failure, thereby more accurately determining the failure status, and by calculating and setting a reasonable number of checks on components with a low probability of failure.

[0271] The welding jig mounting state refers to the mounting status of the welding jig in the spot welding equipment. For example, the welding jig mounting state may include a fixed mounting state, a released state, a locked state, and a loose state. A fixed mounting state means that the welding jig is properly mounted and fixed in the appropriate position; a released state and a locked state mean that the welding jig is in the process of being removed and prepared for mounting a new holder, respectively; and a loose state means that the welding jig is not properly mounted or has become loose and requires immediate inspection and repair.

[0272] In some embodiments, the control host can perform matching one by one based on the welding jig position and predetermined welding jig positions corresponding to multiple welding jig mounting states, and determine the welding jig mounting state corresponding to the matched predetermined welding jig position as the welding jig mounting state corresponding to the current welding jig position.

[0273] For example, referring to the embodiment corresponding to Figure 7, the stirring pin 580 is in a state where it has moved upward a distance within the maximum distance a and has not yet begun to release. However, when the distance between the stirring pin 580 and the first support assembly 640 exceeds a threshold, it indicates that the welding fixture has loosened, and the stirring pin 580 is considered to be in a loosened state.

[0274] Furthermore, referring to the embodiment corresponding to Figure 7 as an example, if the stirring sleeve 660 moves upward from the origin position (c+f), the release function can be achieved. After attaching a new holder to this position, if it moves to a distance of c from the origin position, the locking function can be achieved. At this time, the stirring sleeve is in a locked state, and the new holder moves downward to a distance of d from the origin position. However, if the distance between the stirring sleeve 660 and the second support assembly 720 still exceeds the normal value when fixed, it indicates that the locking does not reach the predetermined position, i.e., the stirring sleeve 660 is in a loosened state.

[0275] In some embodiments, in response to a loose welding fixture mounting condition, the control host can be controlled to stop the rotation of the spindle body and to control an early warning member to issue early warning information. In some embodiments, the early warning information may include information prompting the operator to inspect the welding fixture mounting condition, information prompting whether or not to perform a replacement operation, and information prompting the operation of the device to be stopped (for example, if the welding fixture loosens during the welding process, a shutdown and inspection are required).

[0276] Since the spindle body cannot rotate when released or locked, similarly, if the welding fixture is not properly secured, the spindle body rotating would constitute a dangerous scenario. By automatically detecting and verifying the welding fixture mounting status, a loose welding fixture can be detected in a timely manner, allowing for early warning measures to be taken. This avoids production accidents caused by welding fixture failures, improves production efficiency, and reduces equipment maintenance costs. Furthermore, such a mechanism can assist in release or locking operations, ensuring the accuracy and efficiency of welding fixture replacement work.

[0277] Some embodiments of this specification further provide control mechanisms, each comprising a drive member, a conduit, and an execution member, wherein the drive member forms a sealed circuit with the execution member by the conduit, and the sealed circuit is filled with a filling medium, the drive member comprising a drive cylinder and a first piston, and the execution member comprising an execution cylinder and a second piston.

[0278] A driving member is a member that transmits driving force in the process of driving an external member to move.

[0279] In some embodiments, the drive cylinder may be a drive hydraulic cylinder or a drive pneumatic cylinder, etc. For example, the drive hydraulic cylinder of the drive member may be a hydraulic cylinder. For example, it may be a hydraulic cylinder of various structural forms, such as a piston type, plunger type, multi-stage telescopic sleeve type, or rack and pinion type. The hydraulic cylinder of the drive member can convert hydraulic energy into mechanical energy to drive the first piston of the drive member to reciprocate in a linear motion.

[0280] The conduit may include two conduits, one of which is connected at one end to a drive member and the other end to an execution member, and the other conduit is connected at one end to an execution member and the other end to a drive member, forming a sealed circuit. Depending on the type of filling medium, the conduit may be an oil conduit or a gas conduit.

[0281] The execution member is an execution mechanism that drives the external member to move in the process of driving the external member to move.

[0282] In some embodiments, the execution cylinder may be an execution hydraulic cylinder or an execution pneumatic cylinder. For example, the execution hydraulic cylinder may be a hydraulic cylinder. When the execution cylinder of the execution member is a hydraulic cylinder, the sealed circuit may be filled with sealed hydraulic fluid.

[0283] In some embodiments, when the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the drive cylinder changes, and when the volume of the filling medium in the execution cylinder changes due to the sealed circuit, the second piston is driven to move along the axis of the execution cylinder. For further explanation, refer to the relevant descriptions above regarding the stirring pin control mechanism and the stirring sleeve control mechanism.

[0284] In some embodiments, the control mechanism includes a power member, a drive member connected to the power member, and the power member drives a first piston to move along the axis of the drive cylinder. The power member is a member that provides power for the movement of an external member. For example, the power member may be a motor or the like.

[0285] In some embodiments, the power member includes a drive motor, which is connected to a drive cylinder, and a first piston moves along the axis of the drive cylinder by the driving force of the drive motor.

[0286] In some embodiments, the power member further includes a reduction gear and an electric cylinder, and the drive motor, reduction gear, and electric cylinder are connected in series in order. The output terminal of the drive motor is connected to the input terminal of the reduction gear, the output terminal of the reduction gear is connected to the input terminal of the electric cylinder, and the output terminal of the electric cylinder is connected to the first piston, thereby driving the first piston to move along the axis of the drive cylinder. For a further description of the power member, refer to the relevant descriptions above regarding the first and second power members.

[0287] In some embodiments, the execution cylinder can be controlled to move at least one moving member by being connected to at least one moving member. When the second piston of the execution cylinder moves along the axis of the execution cylinder, the execution member can drive at least one moving member to move.

[0288] In some embodiments, each moving member of at least one moving member includes at least two motion strokes, and different motion strokes correspond to different execution actions. In some embodiments, for the same moving member, the at least two motion strokes included therein do not overlap.

[0289] In some embodiments, at least one moving member includes a stirring pin moving member, the actuating cylinder may be connected to the stirring pin moving member, and when the second piston moves along the axis of the actuating cylinder, the actuating member drives the stirring pin moving member to move. The stirring pin moving member includes at least two movement strokes, and different movement strokes correspond to different actuating operations.

[0290] In some embodiments, the stirring pin moving member includes a first movement stroke and a second movement stroke, and the first movement stroke and the second movement stroke do not overlap. The actuating operation corresponding to the first movement stroke is to perform an axial movement during welding, and the actuating operation corresponding to the second movement stroke is to perform an axial movement during release or engagement. When performing welding, the stirring pin moving member is controlled to move within the first movement stroke along the axial direction of the stirring pin moving member. When releasing or engaging the stirring pin, the stirring pin moving member is controlled to move within the second movement stroke along the axial direction of the stirring pin moving member. The above control may be executed by a program.

[0291] In some embodiments, at least one moving member includes a stirring sleeve moving member, the actuating cylinder may be connected to the stirring sleeve moving member, and when the second piston moves along the axis of the actuating cylinder, the actuating member drives the stirring sleeve moving member to move. The stirring sleeve moving member includes at least two movement strokes, and different movement strokes correspond to different actuating operations.

[0292] In some embodiments, the stirring sleeve moving member includes a third movement stroke and a fourth movement stroke, and the third movement stroke and the fourth movement stroke do not overlap. The execution operation corresponding to the third movement stroke is to perform an axial movement during welding, and the execution operation corresponding to the fourth movement stroke is to perform an axial movement during release or engagement. When performing welding, the stirring sleeve moving member is controlled to move within the third movement stroke along the axial direction of the stirring sleeve moving member, and when releasing or engaging the stirring sleeve, the stirring sleeve moving member is controlled to move within the fourth movement stroke along the axial direction of the stirring sleeve moving member. The above control may be executed by a program.

[0293] For more descriptions about the moving member, reference can be made to the above related descriptions about the stirring pin moving member and the stirring sleeve moving member.

[0294] The control mechanism according to some embodiments of the present specification can control the movement of at least one moving member with a set of circuits (i.e., a closed circuit composed of a driving member, a pipeline, and an execution member), and enable the moving member to perform at least two execution operations. Different movement strokes correspond to different execution operations. By applying the control mechanism to the field of spot welding, a set of circuits can control the welding jig to perform an axial movement during welding and an axial movement during release or engagement, maintain the accuracy of the motor, and obtain a large piercing and refill axial force in a hydraulic manner. In addition, the filling medium (for example, gas or hydraulic oil) in the circuit is in a sealed state, is driven by a motor during the actual welding process, and performs a transmission function through the sealed filling medium, with high stability.

[0295] [[ID=,11]] Some embodiments of this specification further provide spindle systems, each including a spindle body, at least one moving member connected to the spindle body, and at least one control mechanism connected to the spindle body. The control mechanism includes a drive member, a conduit, and an execution member, the drive member forming a sealed circuit with the execution member by the conduit, the sealed circuit being filled with a filling medium, the drive member including a drive cylinder and a first piston, the execution member including an execution cylinder and a second piston, the execution cylinder being connected to at least one moving member. When the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the drive cylinder changes, the volume of the filling medium in the execution cylinder changes by the sealed circuit, and when the volume of the filling medium in the execution cylinder changes, the second piston is driven to move along the axis of the execution cylinder.

[0296] In some embodiments, the control mechanism includes a power member, a drive member connected to the power member, and the power member drives a first piston to move along the axis of the drive cylinder.

[0297] In some embodiments, the power member includes a drive motor, which is connected to a drive cylinder, and a first piston moves along the axis of the drive cylinder by the driving force of the drive motor.

[0298] In some embodiments, the power unit further includes a reduction gear and an electric cylinder, and the drive motor, reduction gear, and electric cylinder are connected in series in order. The output terminal of the drive motor is connected to the input terminal of the reduction gear, the output terminal of the reduction gear is connected to the input terminal of the electric cylinder, and the output terminal of the electric cylinder is connected to the first piston, thereby driving the first piston to move along the axis of the drive cylinder.

[0299] In some embodiments, at least one control mechanism includes a stirring pin control mechanism, the stirring pin control mechanism includes a first power member, a first drive member, a first conduit and a first execution member, the first drive member forms a first sealed circuit with the first execution member by the first conduit, and at least one moving member includes a stirring pin moving member, the execution cylinder of the first execution member is connected to the stirring pin moving member, the first drive member is connected to the first power member, the first power member drives the first piston of the first drive member to move along the axis of the drive cylinder of the first drive member, and the first of the first drive member When a piston moves along the axis of the drive cylinder of the first drive member, the volume of the filling medium in the drive cylinder of the first drive member changes, and the volume of the filling medium in the execution cylinder of the first execution member changes due to the first sealed circuit, and when the volume of the filling medium in the execution cylinder of the first execution member changes, the second piston of the first execution member is driven to move along the axis of the execution cylinder of the first execution member, and drives the stirring pin moving member to move, the stirring pin moving member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

[0300] In some embodiments, the stirring pin motion member includes a first motion stroke and a second motion stroke, the first and second motion strokes not overlapping. The execution operation corresponding to the first motion stroke is axial movement during welding, and the execution operation corresponding to the second motion stroke is axial movement during release or engagement. When welding is performed, the stirring pin motion member is controlled to move within the first motion stroke along the axial direction of the stirring pin motion member, and when releasing or engaging the stirring pin, the stirring pin motion member is controlled by a program to move within the second motion stroke along the axial direction of the stirring pin motion member. The above control may be performed by a program.

[0301] In some embodiments, at least one control mechanism includes a stirring sleeve control mechanism, the stirring sleeve control mechanism includes a second power member, a second drive member, a second conduit and a second execution member, the second drive member forms a second sealed circuit with the second execution member by the second conduit, and at least one moving member includes a stirring sleeve moving member, the execution cylinder of the second execution member is connected to the stirring sleeve moving member, the second drive member is connected to the second power member, the second power member drives the first piston of the second drive member to move along the axis of the drive cylinder of the second drive member, and the second When the first piston of the drive member moves along the axis of the drive cylinder of the second drive member, the volume of the filling medium in the drive cylinder of the second drive member changes, and the volume of the filling medium in the execution cylinder of the second execution member changes due to the second sealed circuit, and when the volume of the filling medium in the execution cylinder of the second execution member changes, the second piston of the second execution member moves along the axis of the execution cylinder of the second execution member, driving the stirring sleeve moving member to move, the stirring sleeve moving member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

[0302] In some embodiments, the stirring sleeve moving member includes a third and a fourth movement stroke, the third and fourth movement strokes not overlapping. The operation corresponding to the third movement stroke is axial movement during welding, and the operation corresponding to the fourth movement stroke is axial movement during release or engagement. When welding, the stirring sleeve moving member is controlled to move within the third movement stroke along the axial direction of the stirring sleeve moving member, and when releasing or engaging the stirring sleeve, the stirring sleeve moving member is controlled to move within the fourth movement stroke along the axial direction of the stirring sleeve moving member. The above control may be performed by a program.

[0303] For further details regarding the spindle body, moving members, and control mechanism, please refer to the related descriptions above.

[0304] Spindle systems according to some embodiments of this specification can control the movement of a stirring pin moving member using one set of circuits (i.e., a first sealed circuit consisting of a first drive member, a first conduit, and a first execution member) and control the movement of a stirring sleeve moving member using another set of circuits (i.e., a second sealed circuit consisting of a second drive member, a second conduit, and a second execution member), so that the stirring pin moving member and the stirring sleeve moving member perform at least two execution operations, that is, one set of circuits can be used to control the axial movement of the welding jig during welding and the axial movement during release or engagement, while maintaining the accuracy of the motor and obtaining large axial forces for penetration and refilling using a hydraulic system. Furthermore, the filling medium (e.g., gas or hydraulic oil) in the circuit is sealed and driven by the motor during the actual welding process, and the sealed filling medium performs the transmission function, resulting in high stability.

[0305] Having explained the basic concepts above, it will be clear to those skilled in the art that the above detailed disclosures are merely illustrative and do not limit this specification. Although not explicitly stated herein, those skilled in the art can make various changes, improvements, and modifications to this specification. These changes, improvements, and modifications, as suggested herein, remain within the spirit and scope of the exemplary embodiments herein.

[0306] Furthermore, certain terms are used herein to describe the embodiments. For example, “one embodiment,” “one embodiment,” and / or “several embodiments” mean certain features, structures, or properties relating to at least one embodiment of this specification. Therefore, it should be emphasized and understood that two or more references to “one embodiment,” “one embodiment,” or “one alternative embodiment” in various parts of this specification do not necessarily refer to the same embodiment. Also, certain features, structures, or properties in one or more embodiments of this specification may be combined appropriately.

[0307] Similarly, in the preceding descriptions of the embodiments herein, it should be understood that various features may be combined into a single embodiment, drawing, or description in order to simplify the expressions disclosed herein and to aid in understanding embodiments of one or more inventions. However, such methods of disclosure do not mean that the features necessary for the subject matter of this specification are greater than the features described in the claims. In fact, the features of an embodiment may be fewer than all the features of a single embodiment disclosed above.

[0308] All patents, patent applications, published patent gazettes, and other materials such as articles, books, specifications, publications, and documents referenced herein are incorporated herein by reference in their entirety, with the exception of any prosecution history documents that are inconsistent with or contradict the content of this specification, and any documents that may have a limited effect on the broadest scope of the claims herein (currently or later relating to this specification). In the event of any inconsistency or contradiction between the descriptions, definitions, and / or use of terms in the accompanying materials herein, the descriptions, definitions, and / or use herein shall prevail.

[0309] Finally, it should be understood that the examples herein are merely illustrative of the principles of the examples herein. Other modifications may also be within the scope of this specification. Therefore, alternative configurations of the examples herein may be considered consistent with the teachings herein, not as an example, but as an example. Accordingly, the examples herein are not limited to those explicitly introduced and described herein. [Explanation of symbols]

[0310] 100 robotic arms 200 pipeline packages 300 Hybrid drive system 310 Stirring pin control mechanism 320 Stirring Sleeve Control Mechanism 311 First power member 312 First drive member 313 1st pipeline 314 First execution member 321 Second power member 322 Second drive member 323 Second pipeline 324 Second execution member 311-1 First drive motor 311-2 First speed reducer 311-3 First electric cylinder 321-1 Second drive motor 321-2 Second speed reducer 321-3 Second electric cylinder 400 Spindle body 410 Spindle wiring port 420 Waterway connection port 431 First connection port 432 Second connection port 440 Signal line adapter box 450 Displacement sensor 451 First displacement sensor 452 Second displacement sensor 461 Cooling gas inlet 462 First medium inlet 463 Second medium inlet 500 Stirring pin mechanism 510 First exchange member 511 First spring assembly 512 First position limiting assembly 520 First connecting rod 530 First bearing 531 First mandrel 540 First module housing 550 Housing connecting member 560 Pulling claw 570 First holder 580 Stirring pin 600 Stirring sleeve mechanism 610 Second exchange member 611 Second spring assembly 612 Second position limiting assembly 621 Second mandrel 620 Second bearing 630 Second module housing 640 First support assembly 650 Second holder 660 Stirring Sleeve 700 Pressing Sleeve Mechanism 710 Third Module Housing 720 Second Support Assembly 730 Third holder 740 Compression Sleeve

Claims

1. The device includes a drive member, a conduit, and an execution member, wherein the drive member forms a sealed circuit with the execution member by the conduit, and a filling medium is filled into the sealed circuit, the drive member includes a drive cylinder and a first piston, and the execution member includes an execution cylinder and a second piston, When the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the drive cylinder changes, and the volume of the filling medium in the execution cylinder changes due to the sealed circuit. A control mechanism characterized in that, when the volume of the filling medium in the execution cylinder changes, the second piston is driven to move along the axis of the execution cylinder.

2. Further including a power component, The control mechanism according to claim 1, characterized in that the drive member is connected to the power member, and the power member drives the first piston to move along the axis of the drive cylinder.

3. The control mechanism according to claim 2, characterized in that the power member includes a drive motor, the drive motor is connected to the drive cylinder, and the first piston moves along the axis of the drive cylinder by the driving force of the drive motor.

4. The control mechanism according to claim 3, wherein the power member further includes a reduction gear and an electric cylinder, the output terminal of the drive motor is connected to the input terminal of the reduction gear, the output terminal of the reduction gear is connected to the input terminal of the electric cylinder, and the output terminal of the electric cylinder is connected to the first piston, thereby driving the first piston to move along the axis of the drive cylinder.

5. The control mechanism according to claim 1, characterized in that the execution cylinder is connected to at least one moving member, and when the second piston moves along the axis of the execution cylinder, the execution member drives the at least one moving member to move, each moving member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

6. The at least one moving member includes a stirring pin moving member, The control mechanism according to claim 5, characterized in that the execution cylinder is connected to the stirring pin moving member, and when the second piston moves along the axis of the execution cylinder, the execution member drives the stirring pin moving member to move, and the stirring pin moving member includes at least two motion strokes, the different motion strokes corresponding to different execution operations.

7. The stirring pin motion member includes a first motion stroke and a second motion stroke, and the first motion stroke and the second motion stroke do not overlap. When welding is performed, the stirring pin motion member is controlled to move within the first motion stroke along the axial direction of the stirring pin motion member. The control mechanism according to claim 6, characterized in that when releasing or engaging the stirring pin, the stirring pin moving member is controlled to move within the second motion stroke along the axial direction of the stirring pin moving member.

8. The at least one moving member includes a stirring sleeve moving member, The control mechanism according to claim 5, characterized in that the execution cylinder is connected to the stirring sleeve moving member, and when the second piston moves along the axis of the execution cylinder, the execution member drives the stirring sleeve moving member to move, and the stirring sleeve moving member includes at least two motion strokes, the different motion strokes corresponding to different execution operations.

9. The stirring sleeve motion member includes a third motion stroke and a fourth motion stroke, and the third motion stroke and the fourth motion stroke do not overlap. When welding is performed, the stirring sleeve moving member is controlled to move within the third motion stroke along the axial direction of the stirring sleeve moving member. The control mechanism according to claim 8, characterized in that when releasing or engaging the stirring sleeve, the stirring sleeve moving member is controlled to move within the fourth movement stroke along the axial direction of the stirring sleeve moving member.

10. The control mechanism according to claim 1, characterized in that a pressure stabilizer is installed within the control mechanism, and the pressure stabilizer is a hydraulic stabilizer or a pneumatic stabilizer.

11. The control mechanism according to claim 1, characterized in that the drive cylinder is a drive pneumatic cylinder or a drive hydraulic cylinder, and the execution cylinder is an execution pneumatic cylinder or an execution hydraulic cylinder.

12. The device includes a spindle body, at least one moving member connected to the spindle body, and at least one control mechanism connected to the spindle body, the control mechanism including a drive member, a conduit and an execution member, the drive member forming a sealed circuit with the execution member by the conduit, the sealed circuit being filled with a filling medium, the drive member including a drive cylinder and a first piston, the execution member including an execution cylinder and a second piston, the execution cylinder being connected to the at least one moving member, When the first piston moves along the axis of the drive cylinder, the volume of the filling medium in the drive cylinder changes, and the volume of the filling medium in the execution cylinder changes due to the sealed circuit. A spindle system characterized in that, when the volume of the filling medium in the execution cylinder changes, the second piston is driven to move along the axis of the execution cylinder, and drives the at least one moving member to move, each moving member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

13. The control mechanism further includes a power member, The spindle system according to claim 12, characterized in that the drive member is connected to the power member, and the power member drives the first piston to move along the axis of the drive cylinder.

14. The spindle system according to claim 13, characterized in that the power member includes a drive motor, the drive motor is connected to the drive cylinder, and the first piston moves along the axis of the drive cylinder by the driving force of the drive motor.

15. The spindle system according to claim 14, wherein the power member further includes a reduction gear and an electric cylinder, the output terminal of the drive motor is connected to the input terminal of the reduction gear, the output terminal of the reduction gear is connected to the input terminal of the electric cylinder, and the output terminal of the electric cylinder is connected to the first piston, thereby driving the first piston to move along the axis of the drive cylinder.

16. The at least one control mechanism includes a stirring pin control mechanism, the stirring pin control mechanism includes a first power member, a first drive member, a first conduit, and a first execution member, the first drive member and the first execution member forming a first sealed circuit by the first conduit, The at least one moving member includes a stirring pin moving member, and the execution cylinder of the first execution member is connected to the stirring pin moving member. The first drive member is connected to the first power member, and the first power member drives the first piston of the first drive member to move along the axis of the drive cylinder of the first drive member. When the first piston of the first drive member moves along the axis of the drive cylinder of the first drive member, the volume of the filling medium in the drive cylinder of the first drive member changes, and the volume of the filling medium in the execution cylinder of the first execution member changes due to the first sealed circuit. The spindle system according to claim 13, characterized in that when the volume of the filling medium in the execution cylinder of the first execution member changes, the second piston of the first execution member is driven to move along the axis of the execution cylinder of the first execution member, driving the stirring pin motion member to move, the stirring pin motion member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

17. The stirring pin motion member includes a first motion stroke and a second motion stroke, and the first motion stroke and the second motion stroke do not overlap. When welding is performed, the stirring pin motion member is controlled to move within the first motion stroke along the axial direction of the stirring pin motion member. The spindle system according to claim 16, characterized in that when releasing or engaging the stirring pin, the stirring pin moving member is controlled to move within the second motion stroke along the axial direction of the stirring pin moving member.

18. The at least one control mechanism includes a stirring sleeve control mechanism, the stirring sleeve control mechanism includes a second power member, a second drive member, a second pipeline, and a second execution member, the second drive member and the second execution member form a second sealed circuit by the second pipeline. The at least one moving member includes a stirring sleeve moving member, and the execution cylinder of the second execution member is connected to the stirring sleeve moving member. The second drive member is connected to the second power member, and the second power member drives the first piston of the second drive member to move along the axis of the drive cylinder of the second drive member. When the first piston of the second drive member moves along the axis of the drive cylinder of the second drive member, the volume of the filling medium in the drive cylinder of the second drive member changes, and the volume of the filling medium in the execution cylinder of the second execution member changes due to the second sealed circuit. The spindle system according to claim 13, characterized in that when the volume of the filling medium in the execution cylinder of the second execution member changes, the second piston of the second execution member moves along the axis of the execution cylinder of the second execution member, driving the stirring sleeve moving member to move, the stirring sleeve moving member having at least two motion strokes, the different motion strokes corresponding to different execution operations.

19. The stirring sleeve motion member includes a third motion stroke and a fourth motion stroke, and the third motion stroke and the fourth motion stroke do not overlap. When welding is performed, the stirring sleeve moving member is controlled to move within the third motion stroke along the axial direction of the stirring sleeve moving member. The spindle system according to claim 18, characterized in that when releasing or engaging the stirring sleeve, the stirring sleeve moving member is controlled to move within the fourth motion stroke along the axial direction of the stirring sleeve moving member.

20. The spindle system according to claim 12, characterized in that a pressure stabilizer is installed in the control mechanism, and the pressure stabilizer is a hydraulic stabilizer or a pneumatic stabilizer.

21. The spindle system according to claim 12, characterized in that the drive cylinder is a drive pneumatic cylinder or a drive hydraulic cylinder, and the execution cylinder is an execution pneumatic cylinder or an execution hydraulic cylinder.

22. Including the spindle body and hybrid drive mechanism, A pressing sleeve mechanism is installed on the spindle body, a stirring sleeve mechanism is installed inside the pressing sleeve mechanism, and a stirring pin mechanism is installed inside the stirring sleeve mechanism. The hybrid drive mechanism includes a stirring pin control mechanism scalably connected to the stirring pin mechanism and a stirring sleeve control mechanism scalably connected to the stirring sleeve mechanism, and drives the stirring pin mechanism and the stirring sleeve mechanism in correspondence to move axially along the axis of the spindle body. A spot welding apparatus characterized in that the stirring pin mechanism includes a first interchangeable member, and when the stirring pin mechanism moves in the axial direction, the stirring pin is automatically released or engaged under the action of the first interchangeable member; the stirring sleeve mechanism includes a second interchangeable member, and when the stirring sleeve mechanism moves in the axial direction, the stirring sleeve is automatically released or engaged under the action of the second interchangeable member; and the pressing sleeve mechanism includes a third interchangeable member for automatically releasing or engaging the pressing sleeve.

23. The stirring pin mechanism includes a first bearing and a first module housing, A first mandrel is attached to the inner ring of the first bearing, a first connecting rod is inserted inside the first mandrel along the central axis direction, a first holder is connected to the lower end of the first connecting rod by a claw, and a stirring pin is connected to the lower end of the first holder. The spot welding apparatus according to claim 22, characterized in that the first mandrel, the first connecting rod, the pull claw, the first holder, and the stirring pin constitute a stirring pin motion member.

24. The stirring pin control mechanism includes a first power member, a first drive member, a first pipeline, and a first execution member, wherein the first drive member forms a first sealed circuit with the first execution member via the first pipeline, and the first sealed circuit is filled with a filling medium, the first drive member includes a drive cylinder and a first piston, and the first execution member includes an execution cylinder and a second piston, The first execution member is installed between the first bearing and the first module housing, and the execution cylinder of the first execution member is connected to the stirring pin motion member. The first drive member is connected to the first power member, and the first power member drives the first piston of the first drive member to move along the axis of the drive cylinder of the first drive member. When the first piston of the first drive member moves along the axis of the drive cylinder of the first drive member, the volume of the filling medium in the drive cylinder of the first drive member changes, and the volume of the filling medium in the execution cylinder of the first execution member changes due to the first sealed circuit. The spot welding apparatus according to claim 23, characterized in that when the volume of the filling medium in the execution cylinder of the first execution member changes, the second piston of the first execution member is driven to move along the axis of the execution cylinder of the first execution member, and the stirring pin motion member is driven to move along the axial direction of the spindle body.

25. By controlling the movement position of the second piston of the first execution member, the stirring pin mechanism can perform axial movement during welding or axial movement during release or engagement. By controlling the second piston of the first execution member to move within the first motion stroke, the stirring pin mechanism performs axial movement during welding. The spot welding apparatus according to claim 24, comprising controlling the second piston of the first execution member to move within a second motion stroke, thereby causing the stirring pin mechanism to perform axial movement when released or engaged, wherein the first motion stroke and the second motion stroke do not overlap.

26. The first replacement member includes a first spring assembly and a first position limiting assembly, wherein the first spring assembly is fitted onto the first connecting rod and located inside the first mandrel, and both ends of the first spring assembly are fixedly connected to the first mandrel and the first connecting rod, respectively, and the first position limiting assembly is installed above the first connecting rod and has a certain movable distance between itself and the first connecting rod. The spot welding apparatus according to claim 23, characterized in that when releasing or engaging the stirring pin, the stirring pin movement member is controlled to move upward in the axial direction, after the tip of the first connecting rod contacts the first position limiting assembly, the first connecting rod and the claws cease to move upward in the axial direction, the first mandrel continues to move upward in the axial direction, the first connecting rod and the claws move downward in the axial direction relative to the first mandrel, the lower end of the first spring assembly moves toward the upper end of the first spring assembly, thereby compressing the first spring assembly, the claws open, the first holder detaches from the claws, and a release operation is achieved, and after a new stirring pin reaches a predetermined position, when the stirring pin movement member moves downward in the axial direction, the lower end of the first spring assembly moves away from the upper end of the first spring assembly, thereby pulling the first spring assembly, the claws close, and a engagement operation is achieved.

27. The spot welding apparatus according to claim 24, characterized in that the first power member includes a first drive motor, the first drive motor is connected to a drive cylinder of the first drive member, and the first piston of the first drive member moves along the axis of the drive cylinder of the first drive member by the driving force of the first drive motor.

28. The spot welding apparatus according to claim 27, wherein the first power member further includes a first reduction gear and a first electric cylinder, the input terminal of the first reduction gear is connected to the output terminal of the first drive motor, the input terminal of the first electric cylinder is connected to the output terminal of the first reduction gear, and the first piston of the first drive member is connected to the output terminal of the first electric cylinder, thereby driving the first piston of the first drive member to move along the axis of the drive cylinder of the first drive member.

29. The stirring sleeve mechanism includes a second bearing and a second module housing, A second mandrel is attached to the inner ring of the second bearing, the second mandrel is installed outside the first mandrel, a second connecting rod is installed at the upper end of the second mandrel, a second holder is connected to the lower end of the second mandrel by a first support assembly, a stirring sleeve is connected to the lower end of the second holder, and the stirring pin is inserted into the stirring sleeve. The spot welding apparatus according to claim 22, characterized in that the second mandrel, the second connecting rod, the second holder, the stirring sleeve, and the first support assembly constitute a stirring sleeve moving member.

30. The stirring sleeve control mechanism includes a second power member, a second drive member, a second pipeline, and a second execution member, wherein the second drive member forms a second sealed circuit with the second execution member via the second pipeline, and the second sealed circuit is filled with a filling medium, the second drive member includes a drive cylinder and a first piston, and the second execution member includes an execution cylinder and a second piston. The second execution member is installed between the second bearing and the second module housing, and the execution cylinder of the second execution member is connected to the stirring sleeve motion member. The second drive member is connected to the second power member, and the second power member drives the first piston of the second drive member to move along the axis of the drive cylinder of the second drive member. When the first piston of the second drive member moves along the axis of the drive cylinder of the second drive member, the volume of the filling medium in the drive cylinder of the second drive member changes, and the volume of the filling medium in the execution cylinder of the second execution member changes due to the second sealed circuit. The spot welding apparatus according to claim 29, characterized in that when the volume of the filling medium in the execution cylinder of the second execution member changes, the second piston of the second execution member moves along the axis of the execution cylinder of the second execution member, and drives the stirring sleeve moving member to move along the axial direction.

31. By controlling the movement position of the second piston of the second execution member, the stirring sleeve mechanism can perform axial movement during welding or axial movement during release or engagement. By controlling the second piston of the second execution member to move within the third motion stroke, the stirring sleeve mechanism performs axial movement during welding. The spot welding apparatus according to claim 30, comprising controlling the second piston of the second execution member to move within a fourth motion stroke, thereby causing the stirring sleeve mechanism to perform axial movement when released or engaged, wherein the third motion stroke and the fourth motion stroke do not overlap.

32. The second replacement member includes a second spring assembly and a second position limiting assembly, wherein the second spring assembly is fitted onto the second mandrel, the lower end of the second spring assembly is connected to the second mandrel, and the second position limiting assembly is installed above the second connecting rod. The spot welding apparatus according to claim 29, characterized in that when releasing or engaging the stirring sleeve, the stirring sleeve moving member is controlled to move upward in the axial direction, after the top of the second connecting rod comes into contact with the second position limiting assembly, the second connecting rod and the first support assembly cease to move upward in the axial direction, the second mandrel continues to move upward in the axial direction, the second connecting rod and the first support assembly move downward in the axial direction relative to the second mandrel, the lower end of the second spring assembly moves toward the upper end of the second spring assembly, thereby compressing the second spring assembly, loosening the first support assembly, the second holder detaches from the first support assembly, and a release operation is achieved, and after a new stirring sleeve reaches a predetermined position, the stirring sleeve moving member moves downward in the axial direction, the lower end of the second spring assembly moves away from the upper end of the second spring assembly, thereby pulling the second spring assembly, the first support assembly closes, and a engagement operation is achieved.

33. The spot welding apparatus according to claim 30, characterized in that the second power member includes a second drive motor, the second drive motor is connected to a drive cylinder of the second drive member, and the first piston of the second drive member moves along the axis of the drive cylinder of the second drive member by the driving force of the second drive motor.

34. The spot welding apparatus according to claim 33, wherein the second power member further includes a second reduction gear and a second electric cylinder, the input terminal of the second reduction gear being connected to the output terminal of the second drive motor, the input terminal of the second electric cylinder being connected to the output terminal of the second reduction gear, and the first piston of the second drive member being connected to the output terminal of the second electric cylinder, thereby driving the first piston of the second drive member to move along the axis of the drive cylinder of the second drive member.

35. The spot welding apparatus according to claim 22, characterized in that a pressure stabilizer is installed in the stirring pin control mechanism and / or the stirring sleeve control mechanism, and the pressure stabilizer is a hydraulic stabilizer or a pneumatic stabilizer.

36. The spot welding apparatus according to claim 24 or 30, characterized in that the drive cylinder is a drive pneumatic cylinder or a drive hydraulic cylinder, and the execution cylinder is an execution pneumatic cylinder or an execution hydraulic cylinder.

37. The pressing sleeve mechanism includes a third module housing connected to the second module housing, the third replacement member is installed inside the third module housing, the third replacement member includes a second support assembly, a third holder is installed at the lower end of the second support assembly, a pressing sleeve is connected to the lower end of the third holder, and the pressing sleeve is fitted onto the stirring sleeve. The spot welding apparatus according to claim 29, characterized in that when releasing or engaging the pressing sleeve, the second support assembly is controlled to move, the second support assembly is loosened, the third holder detaches from the second support assembly, and a release operation is realized, and after a new pressing sleeve reaches a predetermined position, the second support assembly returns to its original position, engaging the third holder and realizing a engagement operation.

38. The spot welding apparatus according to claim 37, characterized in that the third replacement member enables the release or engagement of the pressing sleeve by a gas passage or an oil passage.

39. A first media inlet and a second media inlet are attached to the outside of the spindle body. The spot welding apparatus according to claim 38, characterized in that the first medium inlet and the second medium inlet are used to control the release operation and the engagement operation of the third replacement member, respectively.

40. A first connection port and a second connection port are attached to the outside of the spindle body. The spot welding apparatus according to claim 22, characterized in that the first connection port and the second connection port are used to control the stirring pin mechanism and the stirring sleeve mechanism so that they perform axial movement during welding operations or axial movement during release or engagement operations, respectively.

41. The spot welding apparatus according to claim 22, further comprising a robotic arm and a pipeline package, wherein the spindle body and the hybrid drive mechanism are attached to the robotic arm, and the pipeline package includes an air supply pipeline and / or a fuel supply pipeline.

42. A first temperature sensor is installed in the stirring pin mechanism and / or a second temperature sensor is installed in the stirring sleeve mechanism, and a thermographic member is installed in the spindle body. The spot welding apparatus according to claim 22, further comprising a control host, wherein the first temperature sensor, the second temperature sensor, and the thermographic member are communicably connected to the control host, and the control host is configured to adjust the welding parameters of the spot welding apparatus based on temperature data collected by the first temperature sensor and / or the second temperature sensor and thermographic data collected by the thermographic member, wherein the welding parameters include the rotational speed of the stirring pin and / or the rotational speed of the stirring sleeve.

43. The spot welding apparatus according to claim 42, further characterized in that the control host is configured to determine heat reception characteristics based on the thermographic data and to adjust the welding parameters in response to the heat reception characteristics not meeting predetermined conditions.

44. The spot welding apparatus according to claim 43, further configured to determine adjusted welding parameters using a first decision model, which is a machine learning model, based on the temperature data, the heat reception characteristics, the material type of the workpiece to be welded, and the target temperature.

45. The spot welding apparatus according to claim 42, further comprising a cooling member installed on the spindle body, the cooling member being communicably connected to the control host, and the control host being configured to determine the cooling parameters in response to the heat reception characteristics not meeting predetermined conditions, and to control the cooling member based on the cooling parameters to adjust the temperature.

46. The spot welding apparatus according to claim 45, further configured to determine the cooling parameters using a second decision model, which is a machine learning model, based on the welding parameters, the temperature data, the heat absorption characteristics, the material type of the workpiece to be welded, and the target temperature.

47. The system further includes an early warning member and a pressure sensor, the pressure sensor being installed in the first and / or second pipelines. The spot welding apparatus according to claim 22, further comprising a control host, wherein the early warning member and the pressure sensor are communicably connected to the control host, and the control host is configured to determine the rate of change of the pressure in the pipeline based on an oil passage pressure detection sequence acquired by the pressure sensor, and in response that the rate of change is greater than a first rate of change threshold, generate a control command for a supplemental early warning and transmit it to the early warning module, thereby controlling the early warning module to issue the supplemental early warning.

48. The spot welding apparatus according to claim 47, further comprising the control host being configured to determine a member failure probability in response to the rate of change being greater than a second rate of change threshold, and to generate a control command for an early failure alarm in response to the member failure probability being greater than a probability threshold, and to transmit it to the early alarm module, thereby controlling the early alarm module to issue the early failure alarm.

49. The system further includes a voiceprint sensor, the voiceprint sensor being installed on the spindle body, The spot welding apparatus according to claim 22, further comprising a control host, wherein the voiceprint sensor is communicably connected to the control host, and the control host is configured to determine a failure probability distribution of the spot welding apparatus based on voice data collected by the voiceprint sensor, wherein the failure probability distribution includes a failure probability present in at least one component of the spot welding apparatus.

50. The spot welding apparatus according to claim 49, further characterized in that the control host is configured to determine the failure probability distribution based on the audio data and the welding jig state corresponding to the audio signal in each time interval in the audio data.

51. The spot welding apparatus according to claim 49, characterized in that the voiceprint sensor is installed near the first connection port and / or the second connection port, the control host is further configured to determine the probability of a pipeline failure based on pipeline voice data and pipeline characteristics collected by the voiceprint sensor, and the pipeline characteristics include at least one of the rate of change of the pipeline pressure and the installation location of the pressure sensor.

52. The system further includes a position sensor, the position sensor being installed within at least one of the stirring pin mechanism, the stirring sleeve mechanism, and the pressing sleeve mechanism. The spot welding apparatus according to claim 22, further comprising a control host, wherein the position sensor is communicably connected to the control host, and the control host is configured to determine the welding jig position based on sensing data from the position sensor, determine the welding jig mounting state based on the welding jig position, and in response to the welding jig mounting state being in a loose state, control the rotation of the spindle body to stop and issue early warning information.

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