CN116174878B

CN116174878B - Welding control method and welding automaton

Info

Publication number: CN116174878B
Application number: CN202310231529.3A
Authority: CN
Inventors: 胡金利; 陈俊; 卢为民
Original assignee: Siemens Circuit Protection Systems Ltd
Current assignee: Siemens Circuit Protection Systems Ltd
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-11-28
Anticipated expiration: 2043-03-09
Also published as: CN116174878A

Abstract

The invention relates to the technical field of production and manufacturing of low-pressure air switches, in particular to a welding control method and a welding automaton. The feeding system (91), the clamping device (3) and the welding device (6) on the automaton are cooperatively controlled by the controller (100), each material belt (b) of the feeding system (91) is conveyed forwards by one step distance, the clamping device (3) is controlled to put a workpiece at the position to be welded of the material belt (b), and then the welding device (6) is controlled to weld the material belt (b) on the material conveying track (5) with the workpiece. When the material belt (b) is used for manufacturing a support in the contact assembly (a) and the workpiece is a moving contact (a 2), the welding automaton can be used for processing the contact assembly (a), so that the task of automatically completing the welding of the moving contact (a 2) through the welding automaton is realized, and the production efficiency of the contact assembly (a) is improved.

Description

Welding control method and welding automaton

Technical Field

The invention relates to the technical field of production and manufacturing of low-pressure air switches, in particular to a welding control method and a welding automaton.

Background

The low-voltage air switch is provided with a contact assembly, the contact assembly comprises a support, a moving contact, a tripping bolt and two positioning shafts arranged on the tripping bolt, wherein the moving contact is welded at one end of the support, one positioning shaft is used for hinging the support on the tripping bolt, and the other positioning shaft is used for limiting the rotating range of the support.

At present, the production of the contact assembly adopts a manual operation mode, a hand-held welding gun welds a moving contact and a bracket, then the bracket is placed into a release bolt, and the moving contact and the bracket are assembled together through a positioning shaft.

Disclosure of Invention

In view of the above, the invention provides a welding control method and a welding automaton for realizing automation of a moving contact welding process in an automatic production process of a contact assembly.

In a first aspect, in an embodiment of the welding control method provided by the present invention, the welding control method is used for controlling a welding automaton, where a machine platform of the welding automaton is provided with a multi-section feeding track, a feeding system, a clamping device and a welding device; the welding control method comprises the following steps: controlling the feeding system to convey the material belt supported on the material conveying track forwards by one step distance; after receiving the material belt transmission completion indication signal fed back by the feeding system, controlling the clamping device to place a workpiece at the position to be welded of the material belt on the material conveying track; after receiving a workpiece placement completion indication signal fed back by the clamping device, wherein the workpiece is placed at a position to be welded of a feeding belt of a feeding track, controlling the welding device to weld the feeding belt on the feeding track with a workpiece; and after receiving a welding completion indication signal fed back by the welding device, controlling the feeding system to continuously and forwards convey the material belt supported on the material conveying track by one step distance.

According to the scheme, the feeding system, the clamping device and the welding device on the welding automaton are cooperatively controlled through the welding control method, each material belt of the feeding system is conveyed forwards by one step distance, the clamping device is controlled to place a workpiece at a position to be welded of the material belt, and then the welding device is controlled to weld the material belt on the material conveying track with the workpiece. When the material belt is used for manufacturing a support in the contact assembly and the workpiece is a moving contact, the welding automaton can be used for processing the contact assembly, so that the task of automatically completing the welding of the moving contact through the welding automaton is realized, and the production efficiency of the contact assembly is improved.

In a preferred implementation manner of the welding control method provided in the foregoing embodiment, the feeding system includes a first clamping mechanism relatively fixedly disposed on the machine platform, and a second clamping mechanism disposed on one of the pulling mechanisms; wherein the step of controlling the feed system to convey the material strip supported on the feed rail forward by one step distance comprises: the first clamping mechanism is controlled to loosen the material belt, the second clamping mechanism is controlled to clamp the material belt, and the material pulling mechanism is controlled to act so that the second clamping mechanism drives the material belt to move forwards by one step distance.

In a preferred implementation of the welding control method provided in the foregoing embodiment, the gripping device includes a translation mechanism and a gripper disposed on the translation mechanism; wherein, the step of controlling the clamping device to place a workpiece at the position to be welded of the feeding belt of the feeding track comprises the following steps: after receiving a signal that the workpiece is positioned at a position to be grabbed of the transfer table, controlling a translation mechanism of the clamping device to drive a mechanical claw to move to the plane position; controlling the mechanical claw to clamp the workpiece positioned at the position to be clamped; controlling the translation mechanism to drive the mechanical claw to move to a position to be welded of a feeding belt of the feeding track; and controlling the mechanical claw to loosen the workpiece positioned at the position to be welded.

In a preferred implementation manner of the welding control method provided in the foregoing embodiment, the welding robot further includes a workpiece position adjustment mechanism of the conveying device and the transfer table; the welding control method further comprises, before controlling the workpiece supply system to place a workpiece at a position to be welded of the feeding belt of the feeding track, the method further comprises: controlling a conveying device to orderly and directionally convey the workpieces to a feeding port of the transfer table; after receiving a signal of a workpiece fed back by a workpiece detector, a workpiece position adjusting mechanism of the transfer table is controlled to push the workpiece positioned at the feeding hole to a position to be grabbed for taking materials by the mechanical claw.

In a preferred implementation manner of the welding control method provided in the foregoing embodiment, the transfer table is provided with a first guide groove and a second guide groove that are perpendicular to each other, and the workpiece position adjustment mechanism includes a first pushing mechanism and a second pushing mechanism; the control of the workpiece position adjusting mechanism of the transfer table to push the workpiece positioned at the feed port to a position to be grabbed for the mechanical claw to take materials comprises the following steps: controlling the first pushing mechanism to drive the first pushing plate to slide in the first guide groove so as to push the workpiece at the feeding opening to the discharging area; and controlling the second pushing mechanism to drive the second pushing plate to slide in the second guide groove so as to push the workpiece positioned in the blanking area to a plane position for the clamping device to take materials.

In a preferred implementation manner of the welding control method provided in the foregoing embodiment, the welding device includes an upper electrode tip located above the feeding track, and a lower electrode tip located below the feeding track; wherein, the step of controlling the welding device to weld the material belt on the material track and a workpiece comprises the following steps: controlling the upper electrode head and the lower electrode head to move towards the feeding track to the corresponding welding positions, and compacting the material belt and the workpiece; and controlling the upper electrode tip and the lower electrode tip to be electrified so as to weld.

In a preferred implementation of the welding control method provided in the above embodiment, the welding robot further includes a die-cutting device, which is located downstream of the welding device; the welding control method further includes: after receiving the material belt transmission completion indication signal fed back by the feeding system, controlling the punching device to punch the material belt at the corresponding position; and after receiving the welding completion indication signal fed back by the welding device and the punching completion indication signal fed back by the punching device, controlling the feeding system to continuously forward the material belt supported on the material conveying track by one step distance.

In a preferred implementation manner of the welding control method provided in the foregoing embodiment, the punching device includes a die and a jacking cylinder, where the die includes an upper die set and a lower die set, and a punching cutter is disposed in the upper die set; wherein, the step of controlling the punching device to punch the material belt at the corresponding position comprises the following steps: and controlling the jacking cylinder to drive the upper module to move towards the lower module.

In a preferred implementation of the welding control method provided in the foregoing embodiment, the welding robot further includes at least one positioning mechanism, and the welding control method further includes: after receiving the material belt transmission completion indication signal fed back by the feeding system, controlling the positioning mechanism to act so as to guide the material belt; and after receiving the signal fed back by the positioning mechanism that the material belt is guided to be finished, controlling the workpiece supply system to place a workpiece at the position to be welded of the material belt on the material conveying track.

In a preferred implementation of the welding control method provided in the foregoing embodiment, the positioning mechanism includes a floating seat and at least one guide needle disposed on the floating seat, and the floating seat is driven by a third driving mechanism; wherein, the step of controlling the action of the positioning mechanism to guide the material belt comprises the following steps: and controlling the third driving mechanism to act so as to enable the guide needle to be inserted into the guide hole of the material belt.

In a second aspect, in an embodiment of the welding robot provided by the present invention, the welding robot includes a controller configured to perform the welding control method of any of the above embodiments; and the feeding system, the clamping device and the welding device are in signal connection with the controller.

Drawings

The above and other features and advantages of the present invention will become more apparent to those of ordinary skill in the art by describing in detail preferred embodiments thereof with reference to the attached drawings in which:

FIG. 1 is a schematic illustration of a contact assembly process flow;

FIG. 2 is a schematic view of a welding robot for use in the processing of the contact assemblies of FIG. 1;

FIG. 3 is a control flow diagram of the welding robot of FIG. 2;

FIG. 4 is a schematic view of the relevant mechanisms for implementing the draw function in the feed system of the welding robot of FIG. 2;

FIG. 5 is a schematic view of a positioning mechanism of the welding robot of FIG. 2;

FIG. 6 is a schematic view of a conveyor of the work piece feed system of the welding robot of FIG. 2;

FIG. 7 is a schematic view of a transfer table and a gripping device of the work piece supply system of the welding robot of FIG. 2;

FIG. 8 is a schematic structural view of a translation mechanism of the work piece feed system of the welding robot of FIG. 2;

FIG. 9 is a schematic structural view of a welding device of the welding robot of FIG. 2;

FIG. 10 is a schematic view of the die cutting apparatus of the welding robot of FIG. 2;

fig. 11 is a schematic view of a die cutting device of the welding robot of fig. 2.

Wherein, the reference numerals are as follows:

a-a contact assembly; a1-a bracket; a2-a moving contact; a3-a trip bolt; a4-positioning shaft;

b-material belt; b 1-a guide hole;

100-a controller;

101-a machine;

1-a conveying device;

11-a vibrating plate; 111-a hopper; 1111-helical track; 112-a first vibrator; 113-a first support; 12-direct vibration track; 121-a second vibrator; 122-a second stand;

2-a transfer table; 201-a first guide slot; 2011-a feed port; 202-a second guide slot; 203-a blanking area; 21-a first pushing mechanism; 211-a first push plate;

22-a second pushing mechanism; 221-a second push plate; 222-positioning a rod;

23-an ejection mechanism; 231-a third push plate;

24-telescoping mechanism; 241-a guide rail; 242-slide block; 243-moving plate; 2431-chute;

3-a clamping device; 31-mechanical claws;

32-a translation mechanism; 321-a second drive device; 3211-moving the block;

322-third drive means; 3221-a mobile station;

4-punching device;

41-a first stand; 411-substrate; 412-a support plate; 413-reinforcing plates;

42-moment arm; 421-pin shaft;

43-mould;

431-upper module; 4311-connecting plates; 4312-a platen; 4313 hinge hole

432-lower module; 433-guide post;

44-jacking cylinder;

45-waste frame;

5-a feeding track;

6-a welding device;

61-a second stand; 611-a base; 612—wire rail; 613-a double track chassis;

7-an upper electrode assembly; 71-upper slide; 72-upper electrode head; 73-upper drive mechanism; 74-upper electrode arm; 75-elastic cushioning structure;

751-guide sleeve; 752-guide bar; 7521-pallet; 753-a buffer spring;

76—a first optoelectronic switch;

8-a lower electrode assembly;

81-a lower slide; 811-a leg; 812-roller;

82-a lower electrode head; 83-a lower drive mechanism;

831-a horizontal slide mechanism; 8311—grooved rails; 8312-wedge;

84-lower electrode arm; 85-a second photoelectric switch;

91-a feeding system;

912-a guide plate; 9121-an arcuate channel; 913-a pillar;

921-a pulling motor;

9211-a slide rail; 9212-a screw shaft;

922-moving member;

9301-a first clamping mechanism; 9302-a second clamping mechanism;

931-rack; 932—clip; 933—a first cylinder;

934—moving the clip;

94-a positioning mechanism; 941-a fixing plate; 9421-linear bearings; 9422-guide shaft; 943-floating seat;

9431-adjustment holes;

944—guiding the needle; 945-connecting seat;

9461-a second cylinder;

9471-adjusting block; 9472-fixed block; 948-first set screw.

S10: the control feeding system 91 conveys the material web b supported on the feeding track 5 forward by one step.

S20: the control clamping device 3 places a workpiece at the position to be welded of the feeding belt b of the feeding rail 5.

S30: the welding device 6 is controlled to weld the material belt b on the material track 5 with a workpiece.

S101: the positioning mechanism 94 is controlled to act to guide the web b.

S201, controlling the conveying device 1 to convey the workpieces to the feeding port 2011 of the transfer table 2 in an orderly and directional arrangement mode.

S202: the workpiece position adjusting mechanism of the control transfer table 2 pushes the workpiece located at the feed port 2011 to a position to be grasped for taking materials by the gripper 31.

S301: the control punching device 4 performs punching on the material belt b at the corresponding position.

Detailed Description

The present application will be further described in detail with reference to the following examples, in order to make the objects, technical solutions and advantages of the present application more apparent.

In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

As shown in fig. 1, a bracket a1 has been previously cut at a certain interval on a material tape b, and a plurality of guide holes b1 are also previously formed on the material tape b at a set interval. In the process of conveying the material belt b, when the material belt b is conveyed once, other processing mechanisms can cut, weld, rivet, assemble and other processing processes on the material belt b at respective stations, so that the contact assembly is processed. It can be seen from fig. 1 that the contact assembly finally formed comprises a bracket a1, a moving contact a2, a trip bolt a3 and two positioning shafts a4 arranged on the trip bolt a3, wherein the moving contact a2 is welded at one end of the bracket a1, one positioning shaft a4 is used for hinging the bracket a1 on the trip bolt a3, and the other positioning shaft a4 is used for limiting the rotation range of the bracket a 1.

The automatic welding machine is used for realizing the automation of the moving contact welding process in the automatic production process of the contact assembly. Referring to fig. 2, the welding robot includes a machine 101, and a multi-stage feed rail 5, a feed system 91, a workpiece supply system, and a welding device 6 provided on the machine 101. Wherein the multi-section feeding track 5 is arranged in a straight butt joint and used for supporting the material belt b. The feeding system 91 is used for driving the material belt b to move along the extending direction of the material track 5. The workpiece supply system includes a conveying device 1, a transfer table 2, and a gripping device 3. After the feeding system 91 conveys the material tape b forward by one step distance, the conveying device 1 sequentially and directionally arranges and conveys the workpieces to the transfer table 2, and the clamping device 3 takes the workpieces from the transfer table 2 and places the workpieces at positions to be welded on the material tape b. The welding device 6 is arranged to weld the material web b with a workpiece when there is a workpiece at the position to be welded of the material web b.

In the welding automaton provided in this embodiment, when the material tape b is used to make the support a1 in the contact assembly a and the workpiece is the moving contact a2, the welding automaton can be used for processing the contact assembly. After the feeding system 91 moves the material strip b on the material track 5 forward by one step, the workpiece supply system may place a moving contact a2 at the position to be welded on the support a1, then the welding device 6 may weld the moving contact a2 on the support a1, and then the feeding system 91 may move the material strip b on the material track 5 forward by one step to prepare for welding the next support a1 and the moving contact a 2. The feeding system 91, the workpiece supply system and the welding device 6 in the welding automaton can be controlled by a controller 100 according to a set procedure, so that automation of the welding process of the moving contact a2 in the automatic production process of the contact assembly a is realized, and the production efficiency of the contact assembly a is improved.

Illustratively, with continued reference to fig. 2, in the welding robot, the feeding system 91 pulls the web b at a fixed pitch, and as the web b is driven forward one pitch, the two positioning mechanisms 94 simultaneously operate to insert the guide pins thereon into one guide hole b1 on the web b, respectively, so that the web b cannot be strung with respect to the feed rail 5.

With continued reference to fig. 2, the conveyor 1 includes a vibrating tray 11 and a straight vibrating rail 12. After placing the batch of moving contacts a2 in the hopper 111 in the vibration plate 11, each moving contact a2 may be sequentially oriented into the bottom end of the spiral track of the inner sidewall of the hopper and moved from bottom to top along the spiral track. When the moving contact a2 moves to the outlet of the vibration disk 11, the moving contact a2 is then conveyed to the transfer table 22 by the direct vibration rail 12. By means of which the movable contact a2 can be transported and placed in the material web b at the welding position of one of the holders a1 awaiting welding by the welding device 6.

In addition, the punching device 4 in fig. 2 is also used for punching the redundant part on the material belt b corresponding to the previous bracket a 1. The blanking device 4 is located downstream of the welding device 6 and is arranged between two adjacent feed rails 5, with a distance of at least one step between the blanking device 4 and the welding device 6, so that the blanking device 4 can die-cut the position of the previous strip b, to which the moving contact a2 has been welded, after cutting off the scrap, so that the trip bolt a3 is connected to the support a1 of the strip b.

It should be noted that, the "step distance" in this embodiment is consistent with the distance between the adjacent frames a1 that have been cut in advance on the material belt b, and the "step distance" may be adjusted with respect to the actual distance between the adjacent frames a1, and is not interpreted as a specific value. In addition, although the present embodiment has been described with reference to the processing of the contact assembly, the welding robot of the present embodiment is not limited to this application, and may be used in other situations where it is necessary to automate the welding of a workpiece to another component.

In the embodiment of the welding robot provided by the invention, the welding robot comprises a controller 100, and the feeding system 91, the clamping device 3, the welding device 6 and the punching device 4 which are connected with the controller 100 in a signal mode.

In an embodiment of the welding control method provided by the present invention, referring to fig. 3, the welding control method may include:

s10: the control feeding system 91 conveys the material tape b supported on the feeding track 5 forward by one step;

and, after receiving the feeding system 91 feedback and the belt b transmitting the completion indication signal,

s20: the control clamping device 3 is used for placing a workpiece at a position to be welded of the feeding belt b on the feeding track 5;

And after receiving the workpiece placement completion indication signal fed back by the clamping device 3 and used for placing the workpiece at the position to be welded of the feeding belt b on the feeding track 5,

s30: the welding device 6 is controlled to weld the material belt b on the material track 5 with a workpiece;

after receiving the welding completion indication signal fed back from the welding device 6, the control feeding system 91 continues to convey the material web b supported on the feeding rail 5 forward by one step.

For step S10, fig. 2 and 4 may be combined, for example, the feeding system 91 may include a first clamping mechanism 9301 relatively fixedly disposed on the machine 101, and a second clamping mechanism 9302 disposed on one of the pulling mechanisms. Wherein, step S10 may include: the first clamping mechanism 9301 is controlled to loosen the material belt b, the second clamping mechanism 9302 is controlled to clamp the material belt b, and the pulling mechanism is controlled to act so that the second clamping mechanism 9302 drives the material belt b to move forward by one step distance.

For example, the transfer completion instruction signal of the material tape b may be a signal instructing the first clamp mechanism 9301 to clamp the material tape b, the second clamp mechanism 9302 to unclamp the material tape b, and the pulling mechanism to operate to retract the second clamp mechanism 9302 by one step. The belt b transfer completion instruction signal may be from a first magnetic switch provided on the first clamp mechanism 9301 and the second clamp mechanism 9302, and a photoelectric switch for monitoring the operation position of the pulling mechanism (i.e., the position of the second clamp mechanism 9302).

For step S20, fig. 2, 7 and 8 may be combined, for example, the gripping device 3 may comprise a translation mechanism 32 and a gripper 31 arranged on the translation mechanism 32; wherein, the step of controlling the clamping device 3 to place a workpiece at the position to be welded of the feeding belt b on the feeding track 5 comprises the following steps: receiving a signal that the workpiece is positioned at a position to be grabbed of the transfer table 2; the translation mechanism 32 of the control clamping device 3 drives one mechanical claw 31 to move to a plane position; the control gripper 31 clamps the workpiece at the position to be clamped; the translation mechanism 32 is controlled to drive the mechanical claw 31 to move to the position to be welded of the feeding belt b of the feeding track 5; the control gripper 31 loosens the work piece at the position to be welded.

For example, the work placement completion indication signal may be a signal indicating that the gripper 31 is retracted to the original position, which may be from a magnetic switch on the cylinder of the second driving device 321 and the third driving device 322 on the translation mechanism 32 or a photoelectric switch that monitors the position of the gripper 31. For more details, reference is made to the detailed description of the workpiece supply system in the following description of the present embodiment.

For step S30, fig. 2 and 9 may be combined, for example, the welding device 6 includes an upper electrode tip 72 located above the feeding track 5, and a lower electrode tip 82 located below the feeding track 5; wherein, the step of controlling the welding device 6 to weld the material belt b on the material track 5 with a workpiece comprises the following steps: the upper electrode head 72 and the lower electrode head 82 are controlled to move towards the feeding track 5 to the corresponding welding positions, and the material belt b and the workpiece are pressed; the upper electrode tip 72 and the lower electrode tip 82 are controlled to be energized for welding. In addition, the controller 100 may control the electrode tip 72 and the lower electrode tip 82 to leave the feeding track after the welding of the material web b to a workpiece is completed.

For example, the welding completion indication signal may be a signal indicating that the upper electrode tip 72 and the lower electrode tip 82 are separated from the feed rail 5 by the upper driving mechanism 73 and the lower driving mechanism 83, respectively. The welding completion indication signal may be from a magnetic switch of a cylinder of the lower driving mechanism 83 of the upper driving mechanism 73 or from the first photoelectric switch 76 and the second photoelectric switch 85 that monitor positions of the upper electrode tip 72 and the lower electrode tip 82. For more details, reference is made to the welding device 6 in the following description of the present embodiment.

As can be seen from the above-mentioned scheme, the controller 100 cooperatively controls the feeding system 91, the clamping device 3 and the welding device 6 on the automaton, and each material strip b of the feeding system 91 is conveyed forward by a step distance, so that the clamping device 3 is controlled to place a workpiece at the position to be welded of the material strip b, and then the welding device 6 is controlled to weld the material strip b on the material track 5 with a workpiece. When the material belt b is used for manufacturing a support in the contact assembly a and the workpiece is the moving contact a2, the welding automaton can be used for processing the contact assembly a, so that the task of automatically completing the welding of the moving contact a2 through the welding automaton is realized, and the production efficiency of the contact assembly a is improved.

In a preferred implementation of the welding control method provided in the foregoing embodiment, in conjunction with fig. 2 and 3, the welding robot may further include at least one positioning mechanism 94, and the welding control method further includes: after receiving the belt b conveyance completion instruction signal fed back by the feeding system 91, S101: the positioning mechanism 94 is controlled to act to guide the web b. And after receiving the signal of the completion of the guiding of the material belt b fed back by the positioning mechanism 94, the clamping device 3 is controlled to place a workpiece at the position to be welded of the material belt b on the material conveying track 5. Thus, the controller 100 can realize the cooperative control of the feeding system 91, the positioning mechanism 94 and the processing mechanism, so as to finally realize the automation of the production of the contact assembly and improve the production efficiency of the contact assembly.

For example, with respect to step S101, and with reference to fig. 5, the positioning mechanism 94 includes a floating mount 943 and at least one guide needle 944 disposed on the floating mount 943, the floating mount 943 being driven by a third drive mechanism. Wherein, the step of controlling the positioning mechanism 94 to guide the material belt b may include: the third driving mechanism is controlled to operate so that the guide needle 944 is inserted into the guide hole b1 of the tape b.

For example, the signal indicating that the guiding of the tape b is completed may be a signal indicating that the guide needle 944 is inserted into the guide hole b1 of the tape b. The signal that the web b is being completed may come from the second magnetic switch of the second cylinder 9461 of the third drive mechanism 322. For more details, reference is made to the positioning mechanism 94 in the present embodiment.

In a preferred implementation of the welding control method provided in the foregoing embodiment, in conjunction with fig. 2 and 3, the welding robot may further include a workpiece position adjustment mechanism of the conveying device 1 and the transfer table 2. The controller 100 is further configured to, before controlling the gripping device 3 to place a workpiece at the position to be welded of the material tape b on the material feeding track 5, further include: s201: the control conveying device 1 sequentially and directionally conveys the workpieces to the feeding port 2011 of the transfer table 2. And after receiving the signal of the workpiece fed back by the workpiece detector at the feeding port 2011, S202: the workpiece position adjusting mechanism of the control transfer table 2 pushes the workpiece located at the feed port 2011 to a position to be grasped for taking materials by the gripper 31.

For example, the control conveying device 1 is used to convey the workpieces to the feeding port 2011 of the transfer table 2 in an orderly and directional arrangement, and the vibration disc 11 and one direct vibration track 12 shown in fig. 6 may be utilized, and the moving contact a2 may move from bottom to top along the spiral track 1111 of the vibration disc 11 during operation. When the moving contact a2 moves to the outlet of the vibration disc 11, the moving contact a2 is then conveyed to the feeding port 2011 on the transfer table 2 by the direct vibration track 12.

For example, the workpiece-present signal may be from a workpiece detector, which may be a photoelectric switch, configured to be turned on when the workpiece is present in the feed port 2011.

For another example, referring to fig. 7 and 8, the transfer table is provided with a first guide groove 201 and a second guide groove 202 perpendicular to each other, and the workpiece position adjusting mechanism of the transfer table 2 may include a first pushing mechanism 21 and a second pushing mechanism. The step of controlling the workpiece position adjusting mechanism of the transfer table 2 to push the workpiece located at the feed port 2011 to the position to be grasped for the gripper 31 to take the material may include: the first pushing mechanism 21 is controlled to drive the first push plate 211 to slide in the first guide groove 201 so as to push the workpiece at the feeding port 2011 to the discharging area 203; and controlling the second pushing mechanism to drive the second pushing plate 221 to slide in the second guide groove 202 so as to push the workpiece positioned in the blanking area 203 to a plane position for the gripping device 3 to take materials. For more details, reference is made to the detailed description of the workpiece supply system in the following description of the present embodiment.

In a preferred implementation of the welding control method provided by the above examples, with reference to fig. 2 and 3, the welding robot may further comprise a die-cutting device 4, the die-cutting device 4 being located downstream of the welding device 6; the controller 100 is further configured to: after receiving the belt b conveyance completion indication signal fed back by the feeding system 91, S301: the punching device 4 is controlled to punch the material belt b at the corresponding position;

And, in this case, the controller 100 controls the feeding system 91 to continue forward the tape b supported on the feeding rail 5 by one step after receiving the welding completion indication signal fed back from the welding device 6 and the blanking completion indication signal fed back from the blanking device 4.

Illustratively, the die-cutting device 4 may include a die 43 and a jacking cylinder 44, the die 43 including an upper die set 431 and a lower die set 432, the upper die set 431 having a die cutter disposed therein; wherein, the step of controlling the punching device 4 to punch the material belt b at the corresponding position comprises the following steps: the control lift cylinder 44 drives the upper module 431 toward the lower module 432.

For example, the above-mentioned punching completion indication signal may be a signal indicating that the piston of the jacking cylinder 44 is retracted and the upper die set 431 is driven to move upward and away from the material tape b. The die cut completion indication signal may come from a magnetic switch on the jacking cylinder 44. For more details, reference is made to the punching device 4 in the following description of this embodiment.

The overall operation of the welding robot of this embodiment has been described above, and the structure and operation of the feeding system 91, the gripping device 3, the welding device 6, and the punching device 4 will be described in detail below.

As shown in fig. 4, the relevant mechanisms of the feeding system 91 for realizing the material pulling function include a first material clamping mechanism 9301, a second material clamping mechanism 9302 and a material pulling mechanism. The first clamping mechanism 9301 and the second clamping mechanism 9302 are arranged on the same straight line with the multi-section feeding rail 5 and are respectively used for clamping and loosening the material belt b, and the first clamping mechanism 9301 is fixedly arranged relative to the machine 101. Meanwhile, the material pulling mechanism is used for driving the second material clamping mechanism 9302 to move along the material conveying track 5. The pulling mechanism and the first clamping mechanism 9301 can be relatively fixedly arranged on the machine 101 through a plurality of struts 913.

Preferably, in the feeding system 91, two guide plates 912 are respectively connected to the feeding end and the discharging end of the feeding track 5, and an arc-shaped guide slot 9121 bent from the horizontal direction to the vertical direction is provided on the guide plates 912, so that the material belt b is allowed to naturally droop along the arc-shaped guide slot 9121 on both the feeding side and the discharging side without being supported by the feeding track 5, and the damage of the material belt b is not caused.

Illustratively, the first clamp 9301, the second clamp 9302, and a pull mechanism can all be cooperatively controlled by a controller 100. For example, the controller 100 may be in signal connection with the first clamp mechanism 9301, the second clamp mechanism 9302, and the pull mechanism, and the controller 100 is configured to: the first clamping mechanism 9301 is controlled to loosen the material belt b and the second clamping mechanism 9302 to clamp the material belt b, and then the material pulling mechanism is controlled to act so that the second clamping mechanism 9302 drives the material belt b to move forward by one step (move forward leftwards in fig. 4), so as to complete a material pulling process. When the material belt b moves forward by one step distance, the first clamping mechanism 9301 is controlled to clamp the material belt b, the second clamping mechanism 9302 is controlled to loosen the material belt b, and then the material pulling mechanism is controlled to act so that the second clamping mechanism 9302 moves backward by one step distance to prepare for the next material pulling process.

In a preferred embodiment, referring to fig. 4, the first clamping mechanism 9301 and the second clamping mechanism 9302 may each include a frame 931, a fixed clamping member 932, a movable clamping member 934 and a first driving device. Wherein, fixed clamp 932 is disposed at one end of frame 931 and is used for supporting material belt b, and movable clamp 934 is disposed opposite to fixed clamp 932 and is driven by the first driving device to move in a direction approaching and moving away from fixed clamp 932. Thus, when first drive mechanism drives movable clip 934 in a direction toward fixed clip 932, movable clip 934 can compress strip b supported on fixed clip 932; when first drive mechanism drives movable clip 934 in a direction away from fixed clip 932, movable clip 934 may release tape b supported on fixed clip 932. For example, the fixed clamp 932 or the movable clamp 934 may have a plate shape, a wedge shape, a column shape, or the like, and preferably, a surface of the fixed clamp 932 or the movable clamp 934 facing the material tape b is a plane corresponding to the width of the material tape b.

With continued reference to fig. 4, the arrangement of the multi-stage feeding rail 5 is required to meet the requirement of supporting the material web b and the requirement of the second clamping mechanism 9302 for the moving space. In a preferred embodiment, two sides of the frame 931 of the first clamping mechanism 9301 may be provided with a section of feeding rail 5, and one side of the frame 931 of the second clamping mechanism 9302 is provided with a section of feeding rail 5. When the pulling mechanism retreats by one step distance, the second clamping mechanism 9302 is connected with the material running track 5 between the first clamping mechanism 9301, and the second clamping mechanism 9302 is separated from the adjacent material running track 5 at the other side by one step distance. In this way, the reliability of the conveyance of the material tape b by the feeding system 91 can be maintained while satisfying the moving space requirement of the second clamp 9302.

Referring to fig. 4, the first driving means may include a first cylinder 933, a first solenoid valve group, and a first magnetic switch. The first cylinder 933 is disposed at the other end of the frame 931, the first cylinder 933 has a non-magnetically permeable cylinder and a non-magnetically permeable piston, and a permanent magnetic ring is disposed on the piston. The first solenoid valve group is connected to the air path of the first cylinder 933 and controls the movement of the piston. A first magnetic switch is provided on the outside of the cylinder and is arranged to conduct when the piston-driven actuating clamp 934 is moved to a position clamping the strip b.

Illustratively, the mounting position of the first magnetic switch outside the cylinder tube of the first cylinder 933 may be determined as follows: after the piston drives the clamping piece 934 to move to a position for clamping the material belt b to fix the piston, the first magnetic switch is moved left and right along the cylinder outside the cylinder, and the highest sensitivity position of the first magnetic switch during suction is found, the first magnetic switch is fixed. In this way, when the piston drives the permanent magnetic ring to move to the position where the first magnetic switch is located, the two reeds of the first magnetic switch are magnetized and then attract each other to cause the contact to be closed, so that the first magnetic switch is switched from off to on, and when the first magnetic switch is on, the first cylinder 933 is controlled to stop moving.

In a preferred embodiment, the controller 100 is further in signal connection with the first solenoid valve group of the first and second clamping mechanisms 9301, 9302, the first magnetic switch, and the controller 100 is configured to: moving the movable clamp 934 in a direction approaching and moving away from the fixed clamp 932 by controlling the first solenoid valve group; and when the controller 100 receives a signal fed back by the first magnetic switch from off to on, controlling the first solenoid valve group so that the movable clamp 934 stops moving.

Thus, the first clamping mechanism 9301 and the second clamping mechanism 9302 can control the electromagnetic valve group thereof by the controller 100 to control the air passage of the first air cylinder 933 and determine the moving direction of the piston. For example, the piston may be moved from an initial position to a position where the first magnetic switch is turned on, and the controller 100 determines in this way that the first clamp mechanism 9301 or the second clamp mechanism 9302 has clamped the tape b. Further, when the first clamp mechanism 9301 or the second clamp mechanism 9302 releases the belt b, the piston can be caused to retract to the initial position.

Preferably, the controller 100 sends an alarm signal when it does not receive the signal fed back by the first magnetic switch from off to on within a set period of time. In this embodiment, the fault that the first clamping mechanism 9301 or the second clamping mechanism 9302 cannot clamp the material belt b normally is detected, so as to ensure that a responsible person is informed in time to perform fault detection.

Although the first driving device is described by taking the first cylinder 933 as an example in the present embodiment, the above-described functions of the first clamp mechanism 9301 or the second clamp mechanism 9302 can be still realized by the motor driving.

With continued reference to fig. 4, in an alternative embodiment, the pulling mechanism includes a slide 9211, a moveable member 922, and a second drive mechanism. The slide rail 9211 is disposed on the machine 101 and extends along the feeding rail 5, the moving member 922 is slidably disposed on the slide rail 9211, and the second feeding mechanism 9302 is disposed on the moving member 922. For example, two sides of the moving member 922 may be provided with a limit bar, and two side inner walls of the sliding rail 9211 may be formed with limit grooves, so that the moving member 922 can be slidably engaged with the sliding rail 9211. For another example, a sliding block may be slidably disposed in the sliding rail 9211, and the moving member 922 may be connected to the sliding block, so as to achieve sliding connection of the moving member 922 with respect to the sliding rail 9211. Wherein the controller 100 is in signal connection with the second driving mechanism. The controller 100 may control the second driving mechanism to drive the moving member 922 to move along the slide rail 9211, so that the second clamping mechanism 9302 can pull the material belt b to move forward by one step distance.

With continued reference to fig. 4, the second driving mechanism may include a pulling motor 921, a screw shaft 9212, and at least one photoelectric switch. The screw shaft 9212 is rotatably disposed on the slide rail 9211, and one end of the screw shaft 9212 is connected to the output end of the material pulling motor 921, and the screw shaft 9212 drives the moving member 922 to move in a threaded transmission manner. For example, both ends of the screw shaft 9212 may be respectively disposed on the rails through a bearing such that the screw shaft 9212 is rotatably connected with the slide rail 9211. The photoelectric switch may be provided on the machine 101 and configured to be turned on when the movable member 922 advances by one step.

Illustratively, the feeding system 91 may learn from a preliminary test that the pulling mechanism drives the second clamp mechanism 9302 forward or backward by one step to pulse. For example, when the pull motor 921 is a stepping motor, the rotation angle can be controlled by controlling the number of pulses; when the pulling motor 921 is a servo motor, the rotation angle can be controlled by controlling the length of the pulse time. Thereby controlling the moving distance of the second clamping mechanism 9302 driven by the material pulling mechanism.

Preferably, the controller 100 may be in signal connection with the draw motor 921, the photoelectric switch, the controller 100 being further configured to: the rotation angle of the drawing motor 921 is controlled by controlling the number of pulses sent to the drawing motor 921 or the time to drive the second clamp mechanism 9302 to advance or retreat. And when receiving a signal fed back by the photoelectric switch and converted from off to on, controlling the material pulling motor 921 to stop. According to this embodiment, the pulling motor 921 can ideally make the pulling mechanism complete the task of driving the second clamping mechanism 9302 forward one step or backward one step according to the set pulse parameters, and the photoelectric switch can send a feedback signal to the controller 100 just at this time. In addition, the photoelectric switch can be used for correcting the precision problems of the material pulling motor 921 such as out-of-step after the second driving mechanism operates for a period of time, and the accuracy and reliability of the conveying of the material belt b by the feeding system 91 can be ensured.

Although the above embodiment is described with the example in which the second driving mechanism includes the drawing motor 921, the second driving mechanism may use a cylinder as a power device to realize the above-described function of the drawing mechanism.

In a preferred embodiment, the positioning means 94 are arranged on the feed-side feed rail 5 of the machine 101 and serve for guiding the material web b. The feed rail 5 can be arranged on the machine 101 in a relatively fixed manner by means of at least one support 913. The second clamping mechanism 9302 is disposed on the feeding rail 5 on the discharge side of the machine 101, and the first clamping mechanism 9301 is disposed between the at least one positioning mechanism 94 and the second clamping mechanism 9302.

As can be seen from the above-mentioned arrangement of the first and second clamping mechanisms 9301, 9302 relative to the positioning mechanism 94, the present feeding system 91 adopts a scheme of pulling the tail portion of the material strip b and guiding the front portion of the material strip b. The guide from the front end of the material belt b is beneficial to ensuring the position accuracy of the material belt b in the later conveying process, and the material pulling at the tail of the material belt b is beneficial to preventing the material belt b from curling compared with the pushing at the front end of the material belt b, and is more beneficial to keeping the conveying stability and reliability of the material belt b. Therefore, the material belt b is prevented from moving in a stringing or punching process, and the accuracy and the stability of the welding automatic machine processing are improved.

In an alternative embodiment, the controller 100 is also in signal connection with the positioning mechanism 94, and the controller 100 is further configured to: after the first clamping mechanism 9301 is controlled to clamp the material belt b, the positioning mechanism 94 is controlled to act to guide the material belt b. In this way, the controller 100 cooperatively controls the related mechanism for realizing the material pulling function and the related mechanism for realizing the material guiding function b, so that the material belt b can be always kept at the required position of each processing mechanism in the conveying process, thereby being beneficial to the more stable and reliable automatic production process of the contact assembly.

Referring to fig. 5, the positioning mechanism 94 of the present embodiment may include a fixed plate 941, two linear bearings 9421, two guide shafts 9422, a floating seat 943, a connecting seat 945, and a third driving mechanism. The fixing plate 941 is disposed on the bottom surface of the feeding rail 5, and two sides of the fixing plate extend out of the feeding rail 5 and are provided with two shaft holes, two linear bearings 9421 are respectively disposed in one shaft hole, and two guide shafts 9422 respectively pass through one linear bearing 9421 and are in sliding fit. The floating mount 943 is connected to the upper ends of the two guide shafts 9422, and at least one guide needle 944 is provided thereon, and the guide needle 944 protrudes toward the top surface of the feed rail 5. The connecting seats 945 are connected to the lower ends of the two guide shafts 9422, and the third driving mechanism is configured to insert the guide needles 944 into the guide holes b1 of the tape b by driving the connecting seats 945.

Illustratively, when there are a corresponding plurality of guide holes b1 for each bracket a1 on the material tape b, a plurality of guide pins 944 may be provided on the floating seat 943 to achieve positioning of the material tape b. For another example, when the floating seat 943 and the material belt b are matched with only one guiding needle 944, two positioning mechanisms 94 may be used to position the material belt b at the positions of the guiding holes b1 corresponding to the different brackets a1, so as to ensure that the material belt b does not rotate or deviate. The positioning device can position the material belt b once after each advancing step of the material belt b.

Preferably, the controller 100 is further in signal connection with a third driving mechanism, and the welding control method further comprises: after the first clamp mechanism 9301 is controlled to clamp the material tape b, the third drive mechanism is controlled to operate so that the guide needle 944 is inserted into the guide hole b1 of the material tape b; when the controller 100 receives the guide needle 944 fed back from the positioning mechanism 94 has been inserted into the guide hole b1 of the web b, at least one processing mechanism is controlled to operate so as to process the web b. Thus, the controller 100 can realize the cooperative control of the feeding system 91, the positioning mechanism 94 and the processing mechanism, so as to finally realize the automation of the production of the contact assembly and improve the production efficiency of the contact assembly.

Preferably, the welding control method may further include: after controlling at least one processing mechanism to act to process the material belt b, and after the processing mechanism completes one processing task of the material belt b, controlling the third driving mechanism to act so as to enable the guide needle 944 to leave the material belt b, and controlling the material pulling mechanism, the first clamping mechanism 9301 and the second clamping mechanism 9302 to act so as to enable the material belt b to move forward by one step distance. It should be noted that this is an exemplary illustration of how continuous automated production of the contact assemblies may be achieved.

Preferably, the welding control method may further include: after controlling the operation of the third driving mechanism to insert the guide needle 944 into the guide hole b1 of the tape b, the controller 100 issues an alarm signal when receiving feedback from the positioning mechanism 94 that the guide needle 944 cannot be inserted into the guide hole b1 of the tape b. The embodiment also reminds or accidentally monitors faults such as errors in conveying distance, deviation of the material belt b and the like in conveying the material belt b, so that guarantee is provided for safe and reliable automatic production of the material belt b.

Referring to fig. 5, in a preferred embodiment, the third driving mechanism may include a second cylinder 9461, a second solenoid valve group, and a second magnetic switch. The second cylinder 9461 has a non-magnetic cylinder and a non-magnetic piston, and a permanent magnetic ring is arranged on the piston; in which the cylinder tube of the second cylinder 9461 is provided on the connection base 945, and the piston of the second cylinder 9461 is connected to the fixing plate 941. The second solenoid valve group may be connected to the air path of the second cylinder 9461 and control the movement of the piston of the second cylinder 9461. The second magnetic switch may be provided outside the cylinder tube and is arranged to be turned on when the piston inserts the guide needle 944 into the guide hole b1 of the material belt b by driving the connection seat 945.

For example, the mounting position of the second magnetic switch outside the cylinder tube of the second cylinder 9461 may be determined as follows: the piston is fixed by moving the piston driving connecting base 945 to the position where the guide needle 944 is inserted into the guide hole b1 of the material belt b, the second magnetic switch is moved left and right along the cylinder outside the cylinder, and the second magnetic switch is fixed after the highest sensitivity position when the second magnetic switch is attracted is found. In this way, when the piston drives the permanent magnetic ring to move to the position where the second magnetic switch is located, the two reeds of the second magnetic switch are magnetized and then attract each other to cause the contact to be closed, so that the second magnetic switch is switched from off to on, and when the second magnetic switch is on, the first cylinder 933 is controlled to stop moving.

In a preferred embodiment, the controller 100 is also in signal connection with a second solenoid valve set, a second magnetic switch, of the positioning mechanism 94, and the controller 100 is configured to: the second electromagnetic valve group is controlled to enable the guide needle 944 to move towards and away from the material belt b; and when the controller 100 receives a signal fed back by the second magnetic switch from off to on, controlling the second electromagnetic valve group so that the guide needle 944 stops moving.

Although the above embodiment has been described with the third driving mechanism including the cylinder as an example, the third driving mechanism may use a motor as a power unit to realize the above-described function of the positioning mechanism 94.

With continued reference to fig. 5, in a preferred embodiment, the floating mount 943 may be provided with an adjustment hole 9431, the adjustment hole 9431 being a section extending along the width of the feed rail 5; the positioning mechanism 94 further includes a fixed block 9472, a first set screw 948, an adjustment block 9471, and a second set screw (not shown). The fixed block 9472 is disposed on the floating base 943, and the first adjusting screw 948 is screwed to the fixed block 9472, and extends in the width direction of the feeding rail 5 and passes through the fixed block 9472. The adjustment block 9471 is provided with at least one guide pin 944 and is attached to one end of a second adjustment screw that passes through the adjustment hole 9431 and connects the adjustment block 9471 to the floating mount 943. This arrangement allows the position of the guide needle 944 in the positioning mechanism 94 to be adjusted according to the position of the guide hole b1 in the web b. So that the feeding system 91 can also adapt to the material strips b with different positions of the guide holes b 1.

The workpiece supply system of the embodiment is used for realizing the automation of the moving contact supply in the automatic production process of the contact assembly. As can be seen in fig. 2, the workpiece supply system comprises a conveyor 1, a transfer table 2 and a gripping device 3. The conveying device 1 is used for orderly and directionally arranging and conveying the workpieces to the transfer table 2, and the clamping device 3 is used for taking the workpieces from the transfer table 2 and placing the workpieces on a position to be processed.

Referring to fig. 6, the conveyor 1 includes a vibration plate 11 and a direct vibration rail 12, the vibration plate 11 includes a hopper 111 and a first vibrator 112 driving the hopper 111 to vibrate, and a spiral rail 1111 is formed on an inner wall of the hopper 111. The direct vibration rail 12 is configured to vibrate under the driving of the second vibrator 121, and its feeding end is disposed at the outlet of the vibration disc 11, and its discharging end extends to the feeding port 2011 of the first guide groove 201.

Illustratively, after a batch of moving contacts a2 are placed in the hopper 111 of the vibratory pan 11, each moving contact a2 may be sequentially oriented into the bottom end of the spiral track 1111 and moved from bottom to top along the spiral track 1111 as the first vibrator 112 vibrates. When the moving contact a2 moves to the outlet of the vibration disk 11, the moving contact a2 is then conveyed to the transfer table 2 by the direct vibration rail 12.

In a preferred embodiment, with continued reference to fig. 6, the conveying apparatus 1 may further include a frequency converter configured to control the vibration frequencies of the first vibrator 112 and the second vibrator 121, so that the conveying apparatus 1 may be adjusted according to different kinds of workpieces, and finally achieve a function of feeding and conveying the workpieces.

In a preferred embodiment, with continued reference to fig. 6, the conveyor 1 further comprises a first support 113 for supporting the vibration plate 11 and adjusting the height of the vibration plate 11. And a second support 122 for supporting the direct-vibration rail 12 and adjusting the height of the direct-vibration rail 12. In this way, the vibration plate 11 and the direct vibration rail 12 of the conveying device 1 can be adjusted according to the height of the transfer table 2.

In a preferred embodiment, referring to fig. 7 and 8, a first guide groove 201 and a second guide groove 202 perpendicular to each other are disposed on the transfer table 2, a feeding port 2011 of the first guide groove 201 is in butt joint with a discharging end of the conveying device 1, and a discharging area 203 is formed at a junction of the ends of the first guide groove 201 and the second guide groove 202. The workpiece supply system further includes a first push plate 211 and a first pushing mechanism 21, and a second push plate 221 and a second pushing mechanism. The first pushing mechanism 21 drives the first pushing plate 211 to slide in the first guide groove 201, and the first pushing plate 211 is used for pushing the workpiece at the feeding port 2011 to the discharging area 203. The second pushing mechanism drives the second pushing plate 221 to slide in the second guide groove 202, and the second pushing plate 221 is used for pushing the workpiece located in the blanking area 203 to a plane position for the gripping device 3 to take materials.

In the workpiece supply system provided in this embodiment, the workpiece may be a moving contact a2 in a contact assembly, and after the conveying device 1 sequentially and directionally arranges and conveys the workpiece to the transfer table 2, the workpiece is pushed from the feeding port 2011 to the discharging area 203 by using the first pushing mechanism 21, so as to realize position adjustment of the workpiece along the direction of the first guide slot 201. Then, the workpiece is further pushed to the plane position for the gripping device 3 to take materials by using the second pushing mechanism, so that the position of the workpiece along the direction of the second guide groove 202 is adjusted, and finally the gripping device 3 takes the workpiece from the transfer table 2 and places the workpiece at a designated position to be processed. Thus, by pushing the workpiece to an accurate planar position, the accuracy in the automation process of the moving contact a2 supply is improved.

The controller 100 may be further connected to the conveying device 1, the gripping device 3, and the first pushing mechanism 21 and the second pushing mechanism in a signal manner to realize cooperative control of the workpiece supply system.

In a preferred embodiment, the workpiece supply system further comprises a workpiece detector arranged to detect whether the feed port 2011 has a workpiece. For example, the workpiece detector may be a photoelectric switch configured to be turned on when the workpiece is present in the feed port 2011. Thus, the photoelectric switch can send its electric signal to the controller 100, and the controller 100 controls the first pushing mechanism 21 and the first pushing mechanism 21 to operate. The workpiece detector may alternatively be an ultrasonic sensor.

Referring to fig. 7, the first pushing mechanism 21 may be an air cylinder. The first pushing mechanism 21 may be a motor-driven spindle nut mechanism. The second pushing mechanism includes a positioning rod 222, a guide rail 241, a slider 242, a lifting mechanism 24 and a moving plate 243. For example, the lifting mechanism 24 may be a cylinder. The positioning rod 222 is connected to the second push plate 221 and extends parallel to the first guide groove 201, the guide rail 241 is arranged along the vertical direction, the sliding block 242 is slidably disposed on the guide rail 241, the lifting mechanism 24 drives the sliding block 242 to slide on the guide rail 241, the moving plate 243 is connected to the sliding block 242, and a chute 2431 is disposed on a side of the moving plate 243 facing the positioning rod 222, and the chute 2431 is used for inserting the positioning rod 222. When the lifting mechanism 24 drives the sliding block 242 to lift, the second push plate 221 is translated toward the blanking area 203 based on the cooperation of the chute 2431 of the moving plate 243 and the positioning rod 222. It should be noted that the second pushing mechanism of the present embodiment may be implemented in other manners, for example, the second pushing mechanism may be an air cylinder connected to the transfer table 2, or may be a screw-nut mechanism driven by a motor.

Preferably, a long hole 22 extending along the length direction is provided on the side wall of the second guide groove 202, and the long hole is used for extending the positioning rod 222 and limiting the moving direction of the positioning rod 222. In the case where the stopper structure is provided between the second push plate 221 and the second guide groove 202, the second push plate 221 may be movable only in the direction along which the second guide groove 202 extends, and the elongated hole 22 may not be provided in the side wall of the second guide groove 202.

In a preferred embodiment, the transfer table 2 is provided with a third guide slot perpendicular to the planar position; the feed system further comprises a third push plate 231 and a push rod 23. The third push plate 231 is slidably disposed in the third guide groove, and the third push plate 231 is used for ejecting the workpiece located on the top surface of the third push plate to a height position for the gripping device 3 to take materials. The ejector rod 23 is connected between the slider 242 and the third push plate 231 so that the third push plate 231 is also driven by the elevating mechanism 24.

Illustratively, the first push plate 211 and the second push plate 221 of the foregoing embodiments implement position adjustment of the moving contact a2 on the plane of the transfer table 2, and in this embodiment, the position adjustment of the moving contact a2 in the vertical direction is further performed by the third push plate 231, so that the accuracy in the automation process of feeding the moving contact a2 is further improved. Meanwhile, the second push plate 221 and the third push plate 231 are driven by the lifting mechanism 24, so that not only can the cost be saved, but also the adjustment of the moving contact a2 in the horizontal and vertical directions can be facilitated, the time is saved, and the feeding and conveying efficiency of the moving contact a2 is improved.

In a preferred embodiment, the gripping device 3 comprises a gripper 31 and a translation mechanism 32. The gripper 31 is driven by the first driving mechanism and opens and closes. For example, the first driving mechanism may be selected as a cylinder. The translation mechanism 32 is provided with the gripper 31 and can drive the gripper 31 to move in a direction parallel to the extending direction of the first guide groove 201 and the extending direction of the second guide groove 202.

Illustratively, in connection with fig. 8, the translation mechanism 32 includes a second drive 321 and a third drive 322. The second driving device 321 drives a moving block 3211 to move parallel to the first guiding slot 201, and the moving block 3211 is provided with a mechanical claw 31. The moving stage 3221 driven by the third driving device 322 moves parallel to the second guide groove 202, and the second driving device 321 is provided on the moving stage 3221. The second driving device 321 may be a screw nut transmission mechanism driven by a motor, and the third driving device 322 may be an air cylinder.

In one embodiment of the action of the gripping device 3, when the moving contact a2 is in the plane position and the vertical position for taking material by the gripping device 3, the third driving device 322 is actuated so that the gripper 31 reaches the gripping position, and after the gripper 31 grips the moving contact a2, the second driving device 321 is actuated so that the gripper 31 reaches the position to be processed above the material web b, and then the gripper 31 releases to place the moving contact a2 at the welding position of the bracket a 1. Then, the third driving device 322 is operated so that the gripper 31 moves a distance along the material web b with respect to the placed moving contact a 2. Further, the second driving device 321 is operated so that the gripper 31 is retracted to the original position and waits for the next gripping task.

When the first pushing mechanism 21, the second pushing mechanism, the first driving mechanism, and the third driving device 322 are selected as the cylinders. The cylinder can be provided with a non-magnetic cylinder barrel and a non-magnetic piston, and a permanent magnetic ring is arranged on the piston. A magnetic switch is arranged on the outer side of the cylinder barrel, when the piston moves to a required stop position, two reeds of the magnetic switch are magnetized and then attract each other to cause the contact to be closed, so that the second magnetic switch is changed from off to on. The solenoid valve assembly may be connected to the air path of the cylinder and controls the movement of the piston. Coordinated control of the workpiece supply system by the controller 100 is achieved by signal connection of the magnetic switch and solenoid valve block to the controller 100.

Referring to fig. 9, a welding device 6 of the present embodiment is used for welding a material belt on a material track 5 with a workpiece, and the welding device 6 includes a second stand 61, and an upper electrode assembly 7 and a lower electrode assembly 8 disposed on the second stand 61. The second stand 61 includes a base 611 and a wire rail 612 disposed on the base 611, where the wire rail 612 extends from a lower portion of the feeding rail 5 to an upper portion of the feeding rail 5. The upper electrode assembly 7 includes an upper slider 71, an upper electrode tip 72, and an upper driving mechanism 73, the upper slider 71 is located above the feeding rail 5 and slides on the wire rail 612, the upper electrode tip 72 is disposed on the upper slider 71 and faces the feeding rail 5, and the upper driving mechanism 73 is configured to drive the upper slider 71 to slide. The lower electrode assembly 8 includes a lower slider 81, a lower electrode tip 82, and a lower driving mechanism 83, the lower slider 81 is located below the feeding rail 5 and slides on the wire rail 612, the lower electrode tip 82 is disposed on the lower slider 81 and faces the feeding rail 5, and the lower driving mechanism 83 is configured to drive the sliding of the lower slider 81. Illustratively, the controller 100 may be in signal communication with the upper electrode assembly 7 and the lower electrode assembly 8 to control the above-described actions of the upper electrode assembly 7 and the lower electrode assembly 8.

As can be seen from the above-mentioned scheme, when the material belt b on the material track 5 moves forward by one step distance, the upper driving mechanism 73 acts to move the upper electrode tip 72 downward to the upper welding position and compress the moving contact a2, the lower driving mechanism 83 acts to move the lower electrode tip 82 upward to the lower welding position and compress the bracket a1, and when the upper electrode tip 72 and the lower electrode tip 82 are energized, the moving contact a2 can be welded on the bracket a 1. After the welding is completed, the upper electrode tip 72 and the lower electrode tip 82 are separated from the feeding rail 5 by the upper driving mechanism 73 and the lower driving mechanism 83, respectively. After the strip b has been moved forward by a further step, the welding device 6 can weld the moving contact a2 and the support a1 in the respective positions. Therefore, the automatic welding of the movable contact a2 in the automatic production process of the contact assembly a is facilitated.

The welding device 6 of this embodiment is a spot welder, and adopts the principle of double-sided double-point overcurrent welding, and when in operation, the upper electrode tip 72 and the lower electrode tip 82 are pressurized, so that two layers of metal between the workpiece and the material belt b form a certain contact resistance under pressure, and when welding current flows from one electrode to the other electrode, instant heat welding is formed at the two contact resistance points, and the welding current instantly flows from the other electrode to the electrode along the workpiece and the material belt b to form a loop.

Welding cycle the welding cycle of spot welding and projection welding generally has four basic stages: 1) And (3) a pre-pressing stage. The upper electrode tip 72 and the lower electrode tip 82 are moved to the current-on stage to ensure that the upper electrode tip 72 and the lower electrode tip 82 compress the workpiece and the material strip b with a proper pressure therebetween. 2) Welding time, welding current passes through the workpiece and the material belt b, and heat is generated to form a nugget. 3) And a maintenance time. The welding current is cut off and the pressure of the upper electrode tip 72 and the lower electrode tip 82 continues to be maintained until the nuggets solidify to a sufficient strength. 4) Rest time. The upper electrode head 72 and the lower electrode head 82 leave the feed rail 5 and are ready for the next welding cycle.

In a preferred embodiment, in the welding device 6, the upper electrode assembly 7 further includes an upper electrode arm 74, the upper electrode arm 74 being disposed on the upper slider 71 and the upper electrode tip 72 being disposed thereon. And, the upper electrode assembly 7 further includes a lower electrode arm 84, the lower electrode arm 84 being provided on the lower slider 81 and on which the lower electrode head 82 is provided. Wherein, the inside of upper electrode arm 74 and lower electrode arm 84 are provided with the cooling layer, and the outer wall is provided with inlet and liquid outlet that communicate with this cooling layer.

For example, the welding device 6 may be operated by first circulating cooling water through the upper electrode arm 74 and the lower electrode arm 84. And then the upper electrode tip 72 and the lower electrode tip 82 are subjected to current-on welding. The upper electrode tip 72 and the lower electrode tip 82 may be both connected with a transformer, and the cooling water path passes through the transformer, the electrode tip, etc. to absorb heat generated in the welding process, and keep the welding device 6 in a suitable working temperature environment to maintain the working effect of the welding device 6.

In a preferred embodiment, the upper electrode assembly 7 further comprises an elastic buffer structure 75, and the elastic buffer structure 75 is disposed between the upper driving mechanism 73 and the upper carriage 71. In this way, the upper electrode tip 72 is in elastic contact with the moving contact a2, so as to avoid damage to the moving contact a2 caused by rigid contact.

Illustratively, the resilient cushioning structure 75 can include a guide sleeve 751, a guide rod 752, and a cushioning spring 753. One end of the guide sleeve 751 is connected to the output shaft of the upper driving mechanism 73, and the other end faces the upper slider 71. One end of the guide rod 752 is connected to the upper slider 71, and a supporting plate 7521 is provided near the upper slider 71, and the other end extends into the guide sleeve 751 and is slidably engaged with the guide sleeve 751. And a buffer spring 753 is provided between the support plate 7521 and the end face of the guide 751. In this way, when the lower electrode tip 82 contacts the moving contact a2 and the upper driving mechanism 73 continues to operate, the buffer spring 753 is compressed, and the guide rod 752 extends into the guide sleeve 751, so that the pressure between the upper electrode tip 72 and the moving contact a2 can be controlled more easily.

In a preferred embodiment, the upper driving mechanism 73 may include a cylinder, a solenoid valve provided on a gas path of the cylinder to control the operation of the cylinder, and a magnetic switch provided outside a cylinder tube of the cylinder and configured to be turned on when the upper electrode tip 72 is moved to the upper welding position. Similarly, the lower driving mechanism 83 may also include a cylinder, an electromagnetic valve disposed on the air path of the cylinder to control the operation of the cylinder, and a magnetic switch disposed outside the cylinder barrel of the cylinder and configured to be turned on when the lower electrode head 82 moves to the lower welding position. The cylinder is provided with a non-magnetic cylinder barrel and a non-magnetic piston, and a permanent magnetic ring is arranged on the piston. The magnetic switch is turned on due to the magnetic force of the permanent magnet ring.

The solenoid valve and the magnetic switch may be connected to the controller 100, so that the controller 100 may control the solenoid valve by the signal fed back by the magnetic switch to stop the movement of the upper electrode tip 72 and the lower electrode tip 82 at a predetermined position. Further, when the controller 100 receives a signal of the position to be processed where the movable contact a2 is placed on the material tape b, the upper electrode assembly 7 and the lower electrode assembly 8 can be controlled to perform welding work.

In another preferred embodiment, the upper and lower drive mechanisms 73, 83 may be electrode driven lead screw nut mechanisms in addition to air cylinders. In addition, in addition to using an electric signal generated by the air cylinder through the magnetic switch as a basis for the controller 100 to control the upper driving mechanism 73 and the lower driving mechanism 83, an optoelectronic switch may be used. Illustratively, the welding apparatus 6 further includes at least one first photoelectric switch 76 that is relatively fixedly connected to the wire rail 612, and one first photoelectric switch 76 is configured to conduct when the upper electrode head 72 is moved to the upper welding position and the other first photoelectric switch 76 is configured to conduct when the upper electrode head 72 is retracted to the home position. And the welding device 6 further comprises at least one second photoelectric switch 85 which is connected to the wire rail 612 relatively fixedly, and one second photoelectric switch 85 is arranged to be turned on when the lower electrode head 82 is moved to the lower welding position, and the other second photoelectric switch is arranged to be turned on when the lower electrode head 82 is retracted to the original position.

The first photoelectric switch 76 may directly utilize the shading effect of the upper slider 71 or the upper electrode arm 74, and may further provide a shading sheet on the upper slider 71. In addition, the second photoelectric switch 85 may directly utilize the light shielding effect of the lower slider 81 or the lower electrode arm 84, and a light shielding sheet may be further disposed on the lower slider 81. In this way, the first and second photoelectric switches 76 and 85 may be connected to the controller 100, and the controller 100 may further control the operations of the upper and lower driving mechanisms 73 and 83 by feeding back signals to the controller 100.

In a preferred embodiment, the lower driving mechanism 83 further comprises a horizontal sliding mechanism 831, and the horizontal sliding mechanism 831 includes a horizontally disposed rail 8311 and a cam 8312 slidably disposed on the rail 8311, and the top surface of the cam 8312 is gradually raised in a direction away from the lower slider 81. Wherein, a leg 811 is connected to the lower slider 81, and the leg 811 is supported on the top surface of the wedge 8312. The wedge 8312 moves along the groove rail 8311 under the driving of the air cylinder or the motor, and the lower slide seat 81 can be lifted or lowered along with the leg 811 to move along the line rail 612 due to a certain gradient of the top surface of the wedge 8312. By selecting such a structure, the lower drive mechanism 83 occupies a small space in the height direction. Preferably, the lower drive mechanism 83 further includes a roller 812 disposed at the bottom end of the leg 811 and adapted to roll over the top surface of the cam 8312. In this manner, the resistance between leg 811 and cam 8312 can be reduced, making the movement of the lower slider smoother.

In a preferred embodiment, the welding device 6 further comprises a double rail chassis 613 on which the base 611 is slidably arranged for position adjustment of the base 611 in a direction away from and towards the feed rail 5. Therefore, the welding mechanism can meet the requirements of different welding positions, and is wider in application range.

As shown in fig. 10, the punching device 4 is used for punching the material strip b sent from the feeding system 91, and the punching device 4 includes a first stand 41, a force arm 42, a die 43, and a lifting cylinder 44. The first frame 41 includes a base 411 and a support plate 412 disposed on the base 411, and the arm 42 is hinged to the top end of the support plate 412 by a pin 421. The mold 43 includes an upper mold 431 and a lower mold 432; the top end of the upper module 431 is hinged to the first end of the arm 42, and a punching cutter is arranged in the upper module 431 and can extend out from the bottom surface of the upper module 431; the top surface of the lower die set 432 faces the upper die set 431 and can support the material belt b, and a first punching hole into which a punch of a punching knife can extend is arranged on the lower die set 432. The lifting cylinder 44 is hinged to the second end of the arm 42, so as to drive the arm 42 to swing around the pin 421 thereof and drive the upper die 43 to move up and down to realize punching of the material belt b.

As can be seen from the above-mentioned scheme, when the feeding system 91 conveys the material belt b forward by one step, the piston of the jacking cylinder 44 extends out and drives the upper die set 431 to move downward, and at the same time, the punching knife in the upper die set 431 can punch the material belt b carried on the lower die set 432. And after the punching operation is completed, the piston of the jacking cylinder 44 is retracted and can drive the upper die set 431 to move upwards and separate from the material belt b, at this time, the feeding system 91 can forward the material belt b by the next step distance, so that the punching device 4 can punch a new position on the material belt b, thereby being beneficial to realizing the automation of punching the material belt b.

In a preferred embodiment, the jacking cylinders 44 of the die cutting device 4 are controllable by a controller 100. Illustratively, the bore and piston of the jacking cylinder 44 are non-magnetically permeable, and the jacking cylinder 44 further includes a permanent magnet ring, a magnetic switch, and a solenoid valve. The permanent magnetic ring is coaxially sleeved on the piston. The magnetic switch is arranged on the cylinder barrel, and the magnetic switch is arranged in such a way that when the piston moves to a position for conducting the piston, the punching knife can complete punching of the material belt b. The solenoid valve is connected to the air path of the jacking cylinder 44 to control the expansion and contraction of the piston. The magnetic switch is conducted because of the magnetic force of the permanent magnetic ring.

Preferably, the controller 100 is in signal communication with a magnetic switch and a solenoid valve. Thus, when the controller 100 receives the signal that the feeding system 91 forwards sends the material belt b by one step, the electromagnetic valve is controlled to enable the piston of the lifting cylinder 44 to extend until the magnetic switch is turned on, and then the controller 100 controls the electromagnetic valve to enable the piston of the lifting cylinder 44 to retract, so that the upper module 431 and the punching knife are separated from the material belt b.

In a preferred embodiment of the die-cutting apparatus 4 provided by the present invention, and with continued reference to fig. 10, the die-cutting apparatus 4 further includes a scrap frame 45, the scrap frame 45 being positionable directly below the lower die set 432 to receive scrap material generated during die-cutting of the strip b. In this way, collection of waste materials can be achieved to facilitate centralized processing.

In a preferred embodiment of the above-described die cutting apparatus 4 provided by the present invention, with continued reference to fig. 10, a support plate 412 passes through the base plate 411, and the lower end of the support plate 412 is hinged to the bottom end of the jacking cylinder 44. The punching device 4 further comprises at least one reinforcing plate 413, the bottom surface of the reinforcing plate 413 being attached to the base plate 411 and the side surfaces thereof being attached to the support plate 412 to attach the support plate 412 to the base plate 411. In this way, the punching device 4 can be integrally arranged, so that the punching device 4 is convenient to use.

In a preferred embodiment of the above-mentioned punching device 4 according to the present invention, with continued reference to fig. 10, the arm 42 is bent at the location of the pin 421 so that both ends thereof extend in a diagonally downward direction. In this way, the length required for the connection between the upper module 431 and the arm 42, and the length required for the connection between the lift cylinder 44 and the arm 42, can be reduced, so that the arm 42 is more convenient to connect with the upper module 431 and the lift cylinder 44, and a better moment is formed during operation.

In a preferred embodiment of the above-described punching device 4 provided by the present invention, with continued reference to fig. 10, the distance between the die 43 and the pin 421 is shorter than the distance between the jacking cylinder 44 and the pin 421. Thus, according to the lever principle, the lifting cylinder 44 is more labor-saving when driving the upper module 431 to move up and down, and the constant pressure requirement and the failure rate of the lifting cylinder 44 can be reduced.

In a preferred embodiment of the above-described die cutting device 4 provided by the present invention, with continued reference to fig. 10, the die cutting device 4 further includes at least two guide posts 433. One end of the guide pillar 433 is fixed to one of the upper and lower modules 431 and 432, and the other end is penetrated through the other of the upper and lower modules 431 and 432. Wherein, the aperture of the hinge hole 4313 at the top end of the upper module 431 is larger than the diameter of the hinge shaft penetrating therein. Thus, the upper die set 431 can be guided in the moving process, and the punching precision of the punching cutter can be maintained.

In a preferred embodiment of the die-cutting device 4 according to the present invention, referring to fig. 11, the upper die set 431 includes at least one connecting plate 4311, one pressing plate 4312, at least one pull rod (not shown) and a spring (not shown). The upper part of the connecting plate 4311 is close to the force arm 42, and one end of the punching cutter is connected to the connecting plate 4311. The bottom surface of the pressing plate 4312 faces the lower die set 432, and a second punched hole from which the punch of the punch knife protrudes is provided thereon. One end of a pull rod is fixed on the connecting plate 4311, and the tail end of the pull rod passes through the pressing plate 4312 and butts against the pressing plate 4312. The spring is coaxially sleeved on the pull rod, and two axial ends of the spring are respectively propped against opposite surfaces of the connecting plate 4311 and the pressing plate 4312.

In this embodiment, when the upper module 431 descends, the pressing plate 4312 presses the vicinity of the cutting position of the material tape b, and then the connecting plate 4311 continues to move downward and compress the spring, in which the punching blade cuts the material tape b. Therefore, the material belt b is cut after being pressed near the cutting position, so that the pressing step and the cutting step are separated, and the cutting effect is improved. Thereafter, in the process of lifting the upper module 431, the connection plate 4311 is lifted, the spring is restored, and then the pressing plate 4312 is pulled away from the material belt b by the pull rod.

The invention relates to the technical field of production and manufacturing of low-pressure air switches, in particular to a welding control method and a welding automaton. The feeding system 91, the clamping device 3 and the welding device 6 on the automaton are cooperatively controlled by the controller 100, each material belt b of the feeding system 91 is conveyed forwards by a step distance, the clamping device 3 is controlled to place a workpiece at the position to be welded of the material belt b, and then the welding device 6 is controlled to weld the material belt b on the material conveying track 5 with the workpiece. When the material belt b is used for manufacturing a support in the contact assembly a and the workpiece is the moving contact a2, the welding automaton can be used for processing the contact assembly a, so that the task of automatically completing the welding of the moving contact a2 through the welding automaton is realized, and the production efficiency of the contact assembly a is improved.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention. Nouns and pronouns for humans in this patent application are not limited to a particular gender.

Claims

1. The welding control method is used for controlling a welding automaton and is characterized in that a machine table (101) of the welding automaton is provided with a plurality of sections of feeding tracks (5), a feeding system (91), a clamping device (3) and a welding device (6); the feeding system (91) comprises a first clamping mechanism (9301) which is relatively fixedly arranged on the machine table (101), and a second clamping mechanism (9302) which is arranged on one material pulling mechanism; the welding control method comprises the following steps:

-controlling the feeding system (91) to convey forward the strip supported on the feeding track (5) by a step (S10); comprising the following steps: controlling the first clamping mechanism (9301) to loosen the material belt, controlling the second clamping mechanism (9302) to clamp the material belt, and controlling the material pulling mechanism to act so that the second clamping mechanism (9302) drives the material belt to move forwards by one step distance;

after receiving the material belt transmission completion indication signal fed back by the feeding system (91), controlling the clamping device (3) to place a workpiece at a position to be welded of the material belt on the material conveying track (5) (S20);

after receiving a workpiece placement completion indication signal fed back by the clamping device (3) and used for placing the workpiece at a position to be welded of a feeding belt of a feeding track (5), controlling the welding device (6) to weld the feeding belt on the feeding track (5) with a workpiece (S30);

after receiving a welding completion indication signal fed back by the welding device (6), the feeding system (91) is controlled to continuously and forwards convey the material belt supported on the material conveying track (5) by one step distance.

2. The welding control method according to claim 1, characterized in that the welding robot further comprises a transfer table (2); the clamping device (3) comprises a translation mechanism (32) and a mechanical claw (31) arranged on the translation mechanism (32); wherein, the step (S20) of controlling the clamping device (3) to place a workpiece at the position to be welded of the feeding belt of the feeding track (5) comprises the following steps:

After receiving a signal that the workpiece is positioned at a position to be grabbed of the transfer table (2), controlling a translation mechanism (32) of the clamping device (3) to drive a mechanical claw (31) to move to a plane position;

controlling the mechanical claw (31) to clamp the workpiece at the position to be clamped;

controlling the translation mechanism (32) to drive the mechanical claw (31) to move to a position to be welded of a feeding belt of the feeding track (5);

-controlling the gripper (31) to loosen the work piece at the position to be welded.

3. The welding control method according to claim 2, characterized in that the welding robot further comprises a workpiece position adjustment mechanism of the conveyor (1) and the transfer table (2); in the welding control method, before the clamping device (3) is controlled to place a workpiece at a position to be welded of a feeding belt of the feeding track (5), the welding control method further comprises the following steps:

controlling the conveying device (1) to convey workpieces to a feeding port (2011) of the transfer table (2) in an orderly and directional arrangement manner (S201);

after receiving a workpiece signal fed back by a workpiece detector, a feeding port (2011) controls a workpiece position adjusting mechanism of the transfer table (2) to push a workpiece positioned at the feeding port (2011) to a position to be grabbed for taking materials by a mechanical claw (31) (S202).

4. A welding control method according to claim 3, characterized in that the transfer table (2) is provided with a first guide groove (201) and a second guide groove (202) which are mutually perpendicular, and the workpiece position adjusting mechanism comprises a first pushing mechanism (21) and a second pushing mechanism; the controlling the workpiece position adjusting mechanism of the transfer table (2) to push the workpiece located at the feed opening (2011) to a position to be grasped (S202) for taking the material by the gripper (31) includes:

controlling the first pushing mechanism (21) to drive the first pushing plate (211) to slide in the first guide groove (201) so as to push the workpiece at the feeding opening (2011) to the discharging area (203); and controlling the second pushing mechanism to drive the second pushing plate (221) to slide in the second guide groove (202) so as to push the workpiece positioned in the blanking area (203) to a plane position for taking materials by the clamping device (3).

5. The welding control method according to claim 1, characterized in that the welding device (6) comprises an upper electrode head (72) located above the feed rail (5) and a lower electrode head (82) located below the feed rail (5); wherein, the step (S30) of controlling the welding device (6) to weld the material belt on the material track (5) and a workpiece comprises the following steps:

Controlling the upper electrode head (72) and the lower electrode head (82) to move towards the feeding track (5) to corresponding welding positions, and compacting a material belt and the workpiece;

the upper electrode tip (72) and the lower electrode tip (82) are controlled to be energized for welding.

6. The welding control method according to claim 1, characterized in that the welding automaton further comprises a die-cutting device (4), which die-cutting device (4) is located downstream of the welding device (6); the welding control method further includes:

after receiving the material belt transmission completion indication signal fed back by the feeding system (91), the punching device (4) is also controlled to punch the material belt at the corresponding position (S301); the method comprises the steps of,

after receiving the welding completion indication signal fed back by the welding device (6) and the punching completion indication signal fed back by the punching device (4), the feeding system (91) is controlled to continuously and forwards convey the material belt supported on the material conveying track (5) by one step distance.

7. The welding control method according to claim 6, characterized in that the punching device (4) comprises a die (43) and a jacking cylinder (44), the die (43) comprising an upper die set (431) and a lower die set (432), the upper die set (431) being provided with a punching blade; wherein the step (S301) of controlling the punching device (4) to punch the material strip at the corresponding position includes:

The jacking cylinder (44) is controlled to drive the upper module (431) to move towards the lower module (432).

8. The welding control method of claim 1, wherein the welding robot further comprises at least one positioning mechanism (94), the welding control method further comprising:

after receiving the material belt transmission completion indication signal fed back by the feeding system (91), controlling the positioning mechanism (94) to act so as to guide the material belt (S101);

after receiving the signal fed back by the positioning mechanism (94) that the material belt is guided to be finished, the workpiece feeding system is controlled to place a workpiece at the position to be welded of the material belt on the material conveying track (5).

9. The welding control method according to claim 8, characterized in that the positioning mechanism (94) comprises a floating seat (943) and at least one guiding needle (944) provided on the floating seat (943), the floating seat (943) being driven by a third driving mechanism; wherein the step (S101) of controlling the positioning mechanism (94) to guide the tape comprises:

and controlling the third driving mechanism to act so that the guide needle (944) is inserted into the guide hole of the material tape.

10. Welding automaton, its characterized in that includes:

A controller (100) for performing the welding control method of any one of claims 1 to 9; the method comprises the steps of,

the feeding system (91), the clamping device (3) and the welding device (6) are in signal connection with the controller (100).