KR20210100902A - System and method for welding tip management of servo gun - Google Patents

Abstract

Disclosed are a system and a method for managing a welding tip of a servo motor. According to an embodiment of the present invention, a system for managing a welding tip of a servo motor comprises: a welding robot which performs spot welding through a servo motor mounted on an end-effector of a multi-axis arm; a polishing machine for cutting a welding tip of the servo motor through a rotating blade part; and a robot controller which measures the polishing amount (V) of the welding tip according to a change in the position value of the servo motor during the tip dressing operation according to the posture control of the welding robot and inspects the polishing state according to whether a set polishing standard value (k) is satisfied.

Description

SERVO GUN's welding tip management system and method

The present invention relates to a welding tip management system and a method for a servo gun, and more particularly, to a welding tip management system for a servo gun that monitors the amount and polishing state of a welding tip of a servo gun mounted on a robot, and It's about the way.

In general, in a production line of a vehicle factory, several welding robots that automatically perform spot welding to join a plurality of members are being operated. In addition, the number of welding robots operated according to the automation of the production process is increasing.

In general, spot welding is a method of welding two welding tips attached to both ends of a servo gun (welding gun) to a plurality of members and pressurizing it while flowing a high-voltage current to weld a plurality of welding points on the body. Welding work is performed continuously.

The welding tip is a part that directly contacts and bites the base material, and as the welding operation is repeated, the contact surface of the tip part may be deformed by contamination due to welding soot, pressing force during welding, and high temperature. When the high-pressure current required for welding is lowered due to the deformation of the welding tip, poor welding is caused.

Therefore, it is very important to manage the welding tip when spot welding is performed in a car body factory, and for this purpose, a tip dressing operation is performed to polish the tip of the welding tip through a polishing device after welding a certain number of times.

Nevertheless, if the welding tip is not polished properly, the welding defect is caused. After the tip dressing operation, the polishing state of the welding tip must be checked.

Accordingly, conventionally, a welding tip inspection device has been developed that uses a color sensor or a vision inspection sensor to inspect the polishing state of the tip surface in a non-contact manner after a tip dressing operation.

However, since the conventional welding team inspection method is located in the vicinity of a welding robot equipped with a servomotor, if the sensor of the inspection device is contaminated by welding or for various reasons, inspection is impossible or an error occurs, thereby reducing the reliability of judgment.

In addition, there is a limit in which the conventional inspection apparatus can inspect only the chipped state without inspecting the polishing amount of the welding tip. In the tip dressing operation, the welding tip is placed on the rotating blade of the polishing device and polishing is performed for a certain period of time while applying a constant pressure through the servomotor. There are downsides to not being able to. For example, if the blade is blunt, a defect occurs in the tip polishing state, and if the blade is too sharp, an excessive amount of polishing is generated, thereby increasing the cost of consumables due to replacement of the welding tip.

In addition, in terms of cost, there is a problem in that installation and management costs increase because a separate welding tip inspection device must be provided for each welding robot whose operation number is gradually increased due to production automation.

In addition, in the case of using the welding tip inspection device, a separate inspection time is required to move the polished surface of the welding tip to the position of the sensor and return to the working position after inspection, which increases the facility cycle time and enables faster UPH (Unit Per Hour). In the case of the line, there is a problem in that the line process is delayed.

Matters described in this background section are prepared to enhance understanding of the background of the invention, and may include matters that are not already known to those of ordinary skill in the art to which this technology belongs.

An embodiment of the present invention is to provide a welding tip management system and method of the servomotor for determining the welding team polishing amount and polishing state in real time by monitoring the position value change of the servogun during tip dressing operation.

According to one aspect of the present invention, the welding tip management system of the servomotor includes: a welding robot that performs spot welding through a servogun mounted on an end-effector of a multi-axis arm; a grinder for cutting the welding tip of the servogun through a rotating blade part; And a robot that inspects the polishing state according to whether the polishing standard value (k) is met by measuring the polishing amount (V) of the welding tip according to the change in the position value of the servomotor during tip dressing operation according to the posture control of the welding robot includes a controller.

In addition, the servogun includes a gun arm to which a first welding tip and a second welding tip are mounted on both ends of the frame; and a servo motor for moving at least one of the first welding tip and the second welding tip in the front-rear direction.

In addition, the servomotor is a C-shaped welding gun in which the second welding tip moves in a state in which the first welding tip is fixed, or an X in which the first welding tip and the second welding tip move simultaneously by driving the servo motor. It may consist of a shaped welding gun.

In addition, the robot controller measures and stores the initial polishing position value (P1) of the welding tip and measures the current polishing position value (P2) of the welding tip that is continuously polished over time, the initial polishing position value ( The polishing amount V may be detected by subtracting the current polishing position value P2 from P1).

In addition, the robot controller may determine that the polishing of the welding tip is completed when the polishing amount (V) exceeds the polishing standard value (k).

In addition, the robot controller may measure the initial polishing position value (P1) by designating a stabilized state excluding the initial vibration value part when the welding tip is seated on the blade part as the initial polishing time point.

In addition, when the accumulated polishing time from the initial polishing time to the present exceeds the set reference polishing time, the robot controller may stop the tip dressing operation and alarm an error occurrence event.

In addition, the robot controller creates a new management table after the new welding tip is replaced in the servomotor, and subtracts the polishing amount for each tip dressing operation from the total usable length of each welding tip stored in the new management table. If the remaining available length is less than or equal to the polishing standard value (k), a welding tip replacement event may be alarmed at the time of occurrence of the tip dressing operation of the next cycle.

On the other hand, according to an aspect of the present invention, a method in which the robot controller manages the welding tip of the servomotor mounted on the welding robot is, a) When the tip dressing operation is started, the servomotor is positioned perpendicular to the blade part of the grinder. aligning the first welding tip; b) rotating the blade part of the grinder and lowering the first welding tip of the servogun with a constant pressing force to seat the blade part; c) measuring the polishing amount (V) of the first welding tip according to the change in the position value of the servomotor during tip polishing and comparing it with a set polishing standard value (k); and d) determining that normal polishing is completed when the polishing amount exceeds the polishing standard value.

In addition, before step a), it may further include the step of setting the minimum polishing amount of the welding tip to the polishing standard value (k) during the tip dressing operation derived through the test.

In addition, the step c) measures the initial polishing position value (P1) at the stabilized initial polishing point except for the change in the position value of the initial vibration value part when the first welding tip is seated and storing it as reference information. may include

In addition, the c) step, measuring the current polishing position value (P2) of the first welding tip continuously polished by the blade portion; and detecting the polishing amount V as a value obtained by subtracting the current polishing position value P2 from the initial polishing position value P1.

In addition, after step d), after aligning the second welding tip of the servogun at a position perpendicular to the blade part of the grinder, steps b) to d) may be further performed.

In addition, the step d) may include: if the polishing amount does not exceed the standard polishing value, determining whether the accumulated polishing time from the initial polishing time exceeds a predetermined reference polishing time; and when the accumulated polishing time exceeds a predetermined reference polishing time, stopping the tip dressing operation and generating an error occurrence event.

In addition, the step of generating the error occurrence event may include the step of notifying the replacement time of the blade unit to the operator and the upper production management system server.

According to an embodiment of the present invention, it is possible to inspect the polishing amount and the polishing state of the welding tip in real time during tip polishing by measuring the position value of the servomotor that changes minutely as the welding tip is cut during the tip dressing operation.

In addition, it is possible to omit the conventional separate welding tip inspection device, thereby reducing the investment cost, and by grinding the welding tip only by the measured optimum standard grinding amount, it is possible to reduce the cost by minimizing the welding tip consumption.

In addition, since a separate polishing inspection time is unnecessary by performing a real-time inspection simultaneously with polishing of the welding tip, there is an effect of reducing equipment cycle time and smoothing the line process.

1 schematically shows the configuration of a welding tip management system of a servomotor according to an embodiment of the present invention.
2 is a perspective view showing the configuration of a servo health according to an embodiment of the present invention.
Figure 3 shows the shape of the end of the welding tip according to the embodiment of the present invention.
4 is a graph showing a change in the position value of the servomotor during the tip dressing operation according to an embodiment of the present invention.
5 is an enlarged graph showing a welding tip polishing practice section according to an embodiment of the present invention.
6 is a flowchart schematically illustrating a method for managing a welding tip of a servomotor according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. there is.

Throughout the specification, terms such as first, second, A, B, (a), (b), etc. may be used to describe various elements, but the elements should not be limited by the terms. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms.

Now, with reference to the drawings with respect to the welding tip management system and the method of the servogun according to an embodiment of the present invention will be described in detail.

1 schematically shows the configuration of a welding tip management system of a servomotor according to an embodiment of the present invention.

2 is a perspective view showing the configuration of a servo health according to an embodiment of the present invention.

Figure 3 shows the shape of the end of the welding tip according to the embodiment of the present invention.

1 to 3 , the servo health welding tip management system according to an embodiment of the present invention is installed in the production line of the vehicle, the end-effector (End-effector) 110 mounted on the servo health (120) Welding robot 100 for performing spot welding through It includes a robot controller 300 for inspecting in real time the polishing amount and polishing state of the welding tip according to the position change of the health 120.

The welding robot 100 may be composed of a multi-joint manipulator of 4 to 6 degrees of freedom.

The welding robot 100 forms a kinematically movable coordinate system (3d; x, y, z) of a three-dimensional space and performs welding while moving the servo health 120 to various welding positions (welding points) according to the set welding operation information. work can be done.

The servo gun 120 is also called a welding gun, and includes a gun arm 121 , a first welding tip 122 , a second welding tip 123 , and a servo motor 124 .

The gun arm 121 is a frame bent in a C-shape to which welding tips 122 and 123 are mounted on both ends, respectively, and is mounted on a bracket of the servovoon 120 .

The first welding tip 122 is an electrode in contact with one side of the base material aligned for welding operation, and the second welding tip 123 is at a position perpendicular to the first welding tip 122 on the other side of the base material. electrode in contact.

At least one of the first welding tip 122 and the second welding tip 123 may be mounted at both ends of the gun arm 121 to be movable in the front-rear direction.

The servo motor 124 is rotated according to a control signal applied while the first welding tip 122 is in contact with the base material to move the second welding tip 123 in a forward direction or a backward direction. At this time, the servo motor 124 may be interlocked with the mechanism to convert the rotational motion into a linear motion in order to move the second welding tip 123 in the front-rear direction.

Here, the servomotor 120 according to an embodiment of the present invention is not limited to a C-shaped welding gun in which the second welding tip 123 is operated in a state in which the first welding tip 122 is fixed, and the servo motor 124 ) may be configured as an X-shaped welding gun in which the first welding tip 122 and the second welding tip 123 are simultaneously movable (moved) by the operation.

The servomotor 120 of these various embodiments bites the first welding tip 122 and the second welding tip 123 on both sides of the base material by driving the servo motor 124, and then flows a high-pressure current to perform spot welding. can

The grinder 200 includes a blade part 210 that is rotated by a motor, and the blade part 210 grinds the surfaces of the welding tips 122 and 123 that are pressed with a constant pressure during the tip tracing operation.

When the welding tip 122, 123 deformed through posture control of the welding robot 100 is seated and then pressurized in the rotation state of the blade unit 210, the polishing machine 200 is the tip of the welding tip (122, 123). A tip tracing operation is performed to grind the shape into a round shape. At this time, the tip tracing operation is alternately performed for the first welding tip 122 and the second welding tip 123, and as shown in FIG. 3, the end portions of the welding tips 122 and 123 have an area within 6 mm. polish

Here, the conventional polishing machine is provided with a welding tip inspection device such as a separate color sensor or a vision inspection sensor, but in the embodiment of the present invention, a separate welding tip inspection device is omitted, and welding tip inspection of the robot controller 300 to be described later It is characterized in that the inspection of the polishing amount and polishing state of the welding tip is performed by software through an algorithm.

The robot controller 300 stores at least one program and data for welding tip management of the servomotor according to an embodiment of the present invention, and stores the welding tip management information generated accordingly in a memory and for central management It can be shared with the upper production management system server (MES) connected through the network.

The robot controller 300 stores the kinematic attitude control information for the welding operation of the welding robot 100 and controls the welding operation of the servo unit 120 moved according to the attitude control of the welding robot 100 .

The robot controller 300 has a servomotor 120 applied to the welding robot 100 and a servomotor 120 based on the control information and operation state of each servomotor due to the characteristic that the multi-axis arm has mechanical posture information based on the servomotor, respectively. ) can be measured.

For example, Figure 4 is a graph showing a change in the position value of the servomotor during the tip dressing operation according to an embodiment of the present invention.

4 , the robot controller 300 according to an embodiment of the present invention changes the position value of the servo health 120 at each stage of polishing execution, polishing inspection, and emptying check during the tip dressing operation of the welding robot 100 . shows the measurement result, and it is possible to monitor the movement amount of the servo health 120 according to the measurement of the position value change.

In particular, the robot controller 300 monitors the micro-movement amount of the servomotor 120 that is changed by the cutting of the welding tips 122 and 123 by the polishing machine 200 in the polishing execution step so as to generate a reference polishing amount at regular intervals. Control and measure the amount of polishing, it is possible to check whether the normal polishing condition meets the standard.

5 is an enlarged graph showing a welding tip polishing practice section according to an embodiment of the present invention.

Referring to FIG. 5 , in the position value graph of the servogun 120 of FIG. 4 according to an embodiment of the present invention, the grinding operation section is enlarged. As the grinding progresses, the welding tip is cut. It is possible to measure the amount of movement in which the position value of is slightly changed.

The robot controller 300 measures the initial polishing position value (-2.888 mm, P1) by designating the time when the welding tip is stabilized except for the initial vibration value part of the graph as the initial polishing point during polishing of the welding tip, and The current grinding position value (-2.938mm, P2) can be measured. And, the robot controller 300 can measure the current polishing amount (0.050mm, V) of the deviation obtained by subtracting the current polishing time P2 (-2.938mm) from the initial polishing point P1 (-2.888mm) in real time. .

The robot controller 300 presets a polishing standard value (eg, 0.050 mm, k) that ensures a normal polishing state, and the current polishing amount (0.050 mm, V) measured in real time is the polishing standard value (0.050 mm, If the condition exceeding k) is satisfied, it can be judged that the welding tip has been polished normally.

Here, the standard polishing value (k) set to 0.050 mm means the minimum amount of polishing for processing in a normal polishing state in which the face of the deformed welding tip maintains a diameter within 6 mm. The polishing standard value (k) can be derived through repeated tests, but it is not limited to the above values because it may vary depending on the material and rigidity of the drilling tip.

Such a robot controller 300 may be implemented with one or more processors operating according to a program set for inspection of the polishing amount and polishing state of the welding tip, and the set program is the welding tip management of the servomotor according to an embodiment of the present invention. It may be programmed to perform each step of the method.

Therefore, the function of the robot controller 300 will be described in more detail below through the description of the welding tip management method of the servogun through FIG. 6 .

6 is a flowchart schematically illustrating a method for managing a welding tip of a servomotor according to an embodiment of the present invention.

Referring to FIG. 6 , the robot controller 300 according to an embodiment of the present invention sets the minimum polishing amount (eg, 0.050 mm) at the time of tip dressing derived through the test as the standard polishing value (k).

The robot controller 300 starts a tip dressing operation of grinding the surface of the deformed welding tip as shown in FIG. 6 when a new welding tip is replaced in the servo health 120 or a predetermined number of welding is performed after the tip dressing operation.

The robot controller 300 moves the servomotor 120 and aligns it so that one welding tip is positioned in the upper part perpendicular to the blade part 131 of the grinder 200 (S1). At this time, any one of the first welding tip 122 and the second welding tip 123 located at both ends of the servomotor 120 may be aligned in a position perpendicular to the blade part 210 of the grinder 200 . have.

Hereinafter, the description will be continued on the assumption that the first welding tip 122 is aligned first.

The robot controller 300 rotates the blade part 210 according to the operation of the grinder 200 (S2), and lowers the first welding tip 122 with a constant pressing force (eg, 100 kgf) (S3), the blade part It sits on the 210 and stabilizes the polishing position (S4).

5, the robot controller 300 can measure the amount of movement of the first welding tip 122 according to the movement control of the servomotor 120, so that the first welding tip 122 is the blade. It is possible to measure the initial vibration value generated in the process of being seated on the part 210 and stabilizing the polishing position with respect to the rotation center thereof.

The robot controller 300 measures the initial polishing position value (P1) at the time of the initial polishing stabilization by decreasing the initial vibration value except for the position value of the part where the initial vibration value is generated and stores it as reference information (S5) .

The robot controller 300 measures the current polishing position value P2 of the first welding tip 122 continuously polished over time by the blade unit 210 (S6), and the initial polishing position value P1 ) by subtracting the current polishing position value (P2) from the current polishing amount (V) is detected (S7). Here, the current polishing amount (V) means the amount of micro-movement of the servomotor 120 changed according to the polishing time based on the initial polishing position value (P1) at the time of the initial polishing.

The robot controller 300 compares the preset polishing standard value (k) with the current polishing amount (V), and when the current polishing amount (V) exceeds the polishing standard value (k) (S8; Yes), the first welding It can be determined that the normal polishing of the tip 122 is completed (S9).

Thereafter, the robot controller 300 returns to the step S1 and performs the same process as above for the second welding tip 123 , and then ends the tip dressing operation when polishing is normally completed, and waits for the input of the welding operation.

On the other hand, in the step S8, if the current polishing amount (V) does not exceed the polishing standard value (k) (S8; No), the accumulated polishing time from the initial polishing time is the predetermined reference polishing time. It is determined whether or not has been exceeded (S10).

At this time, if the accumulated polishing time does not exceed the reference polishing time (S10; No), the robot controller 300 returns to the step S6 and continues to monitor the polishing amount (V).

On the other hand, when the accumulated polishing time exceeds the reference polishing time (S10; Yes), the robot controller 300 stops the tip dressing operation by opening the servo health 120 (S11), and sets an error occurrence event to the operator. alarm and can be sent to the upper production management system server (MES). At this time, when the polishing time for one welding tip exceeds the reference polishing time, the robot controller 300 may determine that the blade of the blade unit 210 is dull and alarm the blade replacement time. In addition, since various other events may be generated, the operator may be requested to check through a visual and auditory alarm.

As such, according to an embodiment of the present invention, it is possible to inspect the polishing amount and polishing state of the welding tip in real time during tip polishing by measuring the position value of the servogun that changes minutely as the welding tip is cut during the tip dressing operation. there is an effect

In addition, it is possible to omit the conventional separate welding tip inspection device, thereby reducing the investment cost, and by grinding the welding tip only by the measured optimum standard grinding amount, there is an effect of minimizing the welding tip consumption and reducing the cost.

In addition, since a separate polishing inspection time is unnecessary by performing a real-time inspection simultaneously with polishing of the welding tip, there is an effect of reducing equipment cycle time and smoothing the line process.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and welding tips of various other servos can be managed.

For example, the robot controller 300 creates a new management table, respectively, after the welding tips 122 and 123 applied to the servo health 120 are replaced with the new welding tips 122 and 123, and stored in the new management table. If the remaining usable length after subtracting the amount of abrasive measured for each tip dressing operation from the total usable length of each of the new welding tips 122 and 123 is less than or equal to the polishing standard value (k), the welding tip at the time of occurrence of the tip dressing operation of the next cycle A replacement event can be alarmed.

As such, there is an advantage in that the conventional welding tip having the remaining life is replaced after a predetermined number of welding operations, thereby solving the disadvantage of increasing the cost of consumables and effectively managing the welding tip.

The embodiment of the present invention is not implemented only through the apparatus and/or method described above, and may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium in which the program is recorded, etc. Also, such an implementation can be easily implemented by an expert in the technical field to which the present invention pertains from the description of the above-described embodiment.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improved forms of the present invention are also provided by those skilled in the art using the basic concept of the present invention as defined in the following claims. is within the scope of the right.

100: welding robot 110; end effector
120: western health 121: tendon cancer
122: first welding tip 123: second welding tip
124: servo motor 200: grinder
210: blade unit 300: robot controller
P1: Initial grinding position value P2: Current grinding position value
V: Current grinding amount k: Standard grinding value

Claims (15)

A welding robot that performs spot welding through a servo mounted on an end-effector of a multi-axis arm;
a grinder for cutting the welding tip of the servogun through a rotating blade part; and
A robot controller that measures the polishing amount (V) of the welding tip according to a change in the position value of the servomotor during tip dressing operation according to the posture control of the welding robot and inspects the polishing state according to whether the set polishing standard value (k) is satisfied ;
Servo's welding tip management system that includes. According to claim 1,
The Servant is
a gun arm to which a first welding tip and a second welding tip are mounted on both ends of the frame; and
a servo motor for moving at least one of the first welding tip and the second welding tip in the front-rear direction;
Servo's welding tip management system that includes. 3. The method of claim 2,
The Servant is
A C-shaped welding gun in which the second welding tip moves in a state in which the first welding tip is fixed, or an X-shaped welding gun in which the first welding tip and the second welding tip move simultaneously by driving the servo motor Health's welding tip management system. 4. The method according to any one of claims 1 to 3,
The robot controller
By measuring and storing the initial polishing position value (P1) of the welding tip and measuring the current polishing position value (P2) of the welding tip that is continuously polished over time, the current polishing position at the initial polishing position value (P1) Servo welding tip management system for detecting the polishing amount (V) by subtracting the value (P2). 5. The method of claim 4,
The robot controller
Servo welding tip management system for determining that the polishing of the welding tip is completed when the polishing amount (V) exceeds the polishing standard value (k). 5. The method of claim 4,
The robot controller
Servo welding tip management system for measuring the initial polishing position value (P1) by designating a stabilized state except for the initial vibration value part when the welding tip is seated on the blade part as the initial polishing time point. 7. The method of claim 6,
The robot controller
When the accumulated polishing time from the initial polishing time to the present exceeds the set reference polishing time, the tip dressing operation is stopped and an error occurrence event is alarmed. According to claim 1,
The robot controller
A new management table is created after a new welding tip is replaced in the servomotor, and the remaining available length after subtracting the polishing amount for each tip dressing operation from the total available length of each welding tip stored in the new management table is the Servo's welding tip management system that alarms the welding tip replacement event at the time of the tip dressing operation of the next cycle if it is below the grinding standard value (k). In the method for the robot controller to manage the welding tip of the servo mounted on the welding robot,
a) when the tip dressing operation is started, aligning the first welding tip of the servomotor in a position perpendicular to the blade part of the grinder;
b) rotating the blade part of the grinder and lowering the first welding tip of the servogun with a constant pressing force to seat the blade part;
c) measuring the polishing amount (V) of the first welding tip according to the change in the position value of the servomotor during tip polishing and comparing it with a set polishing standard value (k); and
d) determining that normal polishing is completed when the polishing amount exceeds the polishing standard value;
A method of managing welding tips of a servomotor comprising a. 10. The method of claim 9,
Before step a),
Servo welding tip management method further comprising the step of setting the minimum polishing amount of the welding tip to the polishing standard value (k) during the tip dressing operation derived through the test. 10. The method of claim 9,
Step c) is,
Welding tip management of servo health including the step of measuring the initial polishing position value (P1) of the stabilized initial polishing time point (P1) excluding the change in the position value of the initial vibration value part when the first welding tip is seated and storing it as reference information Way. 12. The method of claim 11,
Step c) is,
measuring the current polishing position value (P2) of the first welding tip which is continuously polished by the blade part; and
detecting the polishing amount (V) as a value obtained by subtracting the current polishing position value (P2) from the initial polishing position value (P1);
A method of managing welding tips of a servomotor comprising a. 13. The method according to any one of claims 9 to 12,
After step d),
After aligning the second welding tip of the servogun in a position perpendicular to the blade part of the grinder, the step b) to step d) is further performed. 10. The method of claim 9,
Step d) is,
determining whether the accumulated polishing time from the initial polishing time exceeds a predetermined reference polishing time if the polishing amount does not exceed the polishing standard value; and
stopping the tip dressing operation and generating an error occurrence event when the accumulated polishing time exceeds a predetermined reference polishing time;
A method of managing welding tips of a servomotor comprising a. 15. The method of claim 14,
The step of generating the error occurrence event is a welding tip management method of a servo health comprising the step of alarming the replacement time of the blade part to a worker and an upper production management system server.

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