Collaborative robot for air conditioning assembly welding

Abstract

The present invention relates to the technical field of air-conditioning welding, and specifically to a collaborative robot for air-conditioning assembly welding, comprising a base plate, a bracket being fixedly mounted on the upper end of the base plate, and a coordination mechanism for coordinating the welding positions of an upper shell and a lower shell to be welded, the coordination mechanism comprising a hydraulic cylinder fixedly mounted on the lower end of the bracket, a lifting plate being fixedly mounted on the lower end of the hydraulic cylinder, and a chuck being rotatably mounted on the lower end of the lifting plate. In the present invention, when the connecting plates on both sides move towards each other, they will also contact with the inclined protrusions and be blocked by the inclined protrusions, which will cause the upper end of the connecting plate to deform. When the deformation of the upper end of the connecting plate reaches a critical value, the connecting plate will be pushed over the inclined protrusion under the action of spring 1, and the connecting plate will drive the spherical rod to perform internal and external synchronous impact on the connection between the upper shell and the lower shell, so as to automatically correct the offset of the connection between the upper shell and the lower shell, thereby improving the welding quality of the air-conditioning casing.

Description

Technical Field

[0001] The invention relates to the technical field of air conditioner welding, and in particular to a collaborative robot used for air conditioner assembly welding. Background Art

[0002] Welding, also known as fusion, is a manufacturing process and technology that joins metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure. There are many sources of energy for modern welding, including gas flame, arc, laser, electron beam, friction and ultrasonic. Welding can be dangerous to operators wherever it is performed, so appropriate protective measures must be taken when welding. The possible harm caused by welding to the human body includes burns, electric shock, visual impairment, inhalation of toxic gases, excessive ultraviolet radiation, etc.

[0003] After searching, the patent with application number CN202010582053.4 discloses "an air conditioner casing welding device", including a base, a servo 2 is provided at the upper end of the base, a lower sleeve is fixed on the output shaft of the servo 2, and a vertical plate is fixed at one end of the base.

[0004] However, when the above-mentioned device is in use, the upper shell and the lower shell are respectively fixed in the upper sleeve and the lower sleeve, and then aligned and welded. This method lacks limiting support for the connection between the upper shell and the lower shell, which can easily lead to loosening and deviation of the connection between the upper shell and the lower shell, often resulting in poor welding quality or even welding failure. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that the upper shell and the lower shell are respectively fixed in the upper sleeve and the lower sleeve, and then aligned for welding. This method lacks limiting support for the connection between the upper shell and the lower shell, which can easily lead to loosening and offset of the connection between the upper shell and the lower shell, often resulting in poor welding quality or even welding failure. A collaborative robot for air conditioner assembly welding is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A collaborative robot for air conditioner assembly welding comprises a base plate, with a bracket fixedly mounted on the upper end of the base plate;

[0008] A coordination mechanism is also provided for coordinating the welding positions of the upper shell and the lower shell to be welded, and the coordination mechanism includes a hydraulic cylinder fixedly installed at the lower end of the top of the bracket, a lifting plate is fixedly installed at the lower end of the hydraulic cylinder, a chuck is rotatably installed at the lower end of the lifting plate, a sleeve is provided at the lower side of the chuck, a motor is provided at the lower end of the sleeve, and two round ball rods are symmetrically provided at the upper right end of the sleeve;

[0009] An auxiliary mechanism is also provided for assisting the coordination mechanism of the upper shell and the lower shell welding position. The auxiliary mechanism includes a shovel bar arranged at the front side of the right spherical rod, and a magnetic movable sheet is slidably installed on the upper side of the front end of the shovel bar.

[0010] Preferably, a slot plate is fixedly installed at the inner bottom end of the sleeve, and a clamping strip is fixedly installed at the lower end of the chuck corresponding to the slot plate.

[0011] Preferably, a connecting plate is fixedly mounted on one end of the spherical rods that is away from each other, the upper end of the connecting plate is made of a flexible deformable material, and a guide rod is fixedly mounted on one end of the connecting plate that is away from each other.

[0012] Preferably, the ends of the guide rods that are away from each other are penetrated by a driving plate that is slidably installed, and a spring 1 is sleeved on the outer side of the guide rods, and the two ends of the spring 1 are respectively fixedly connected to the connecting plate and the driving plate.

[0013] Preferably, racks are fixedly mounted on one end of the drive plates that are close to each other, and gears are meshed on one end of the racks that are close to each other. The lower end of the gear is rotatably mounted on the lifting plate, the lower end of the rack on the right is slidably connected to the lifting plate, and a cylinder is fixedly mounted on the left end of the left drive plate, and the left end of the cylinder is fixedly connected to the lifting plate.

[0014] Preferably, the upper parts of the connecting plates on the sides close to each other are each provided with an inclined protrusion, and the upper ends of the inclined protrusions are fixedly connected to the lifting plate.

[0015] Preferably, a second spring is fixedly installed at the lower end of the magnetic movable sheet, the lower end of the second spring is fixedly connected to the shovel bar, and no less than ten magnetic strips are fixedly installed at equal intervals at the lower end of the chuck corresponding to the magnetic movable sheet.

[0016] Preferably, a magnetic connecting rod is fixedly installed on the right end of the shovel bar, and the right end of the magnetic connecting rod is slidably installed on the connecting plate. A magnetic block plate is provided on the lower right side of the magnetic connecting rod, and the right end of the magnetic block plate is fixedly installed on the bracket.

[0017] Preferably, a spring three is sleeved on the outer side of the magnetic connecting rod, and the left and right ends of the spring three are fixedly connected to the shovel bar and the connecting plate respectively. Three slag discharge grooves one are evenly spaced on the lower side of the outer side of the sleeve, and no less than six slag discharge grooves two are evenly spaced at the lower end of the sleeve.

[0018] Preferably, a welding opening is opened in the middle of the right connecting plate, a welding gun is provided on the lower right side of the right connecting plate, an electric telescopic rod is fixedly installed on the right end of the welding gun, and the right end of the electric telescopic rod is fixedly installed on the bracket.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the present invention, when the lifting plate descends, it will also drive the cylinder, the racks on both sides, the gears, and the driving plates on both sides to descend synchronously. The driving plates on both sides will also drive the guide rods on both sides, the connecting plates on both sides, and the spherical rods on both sides to descend synchronously. When the spherical rods on both sides descend and move to the welding position where the upper shell body and the lower shell body contact each other, they stop. Then, the cylinder is started to drive the left driving plate and the left rack to move rightward. Under the action of the gears, the right rack and the right driving plate are driven to move leftward. At this time, the driving plates on both sides move close to each other, and the driving plates on both sides drive the guide rods, the connecting plates on both sides, and the spherical rods on both sides to move upward. The connecting plate and the spherical rods on both sides move in a direction approaching each other. At this time, the spherical rods set will gradually fit on the upper and lower sides of the connection between the upper shell and the lower shell, and as the driving plates on both sides continue to approach each other, they will squeeze the spring 1. The set spherical rods are convenient for limiting and fixing the connection between the upper shell and the lower shell. When the upper shell and the lower shell rotate, the spherical rods roll on the inner surface of the upper shell and the outer surface of the lower shell respectively, preventing the connection between the upper shell and the lower shell from loosening during rotation welding, affecting the welding quality, thereby ensuring the quality of the air conditioner shell welding.

[0021] 2. In the present invention, when the connecting plates on both sides move towards each other, they will also contact with the inclined protrusion and be blocked by the inclined protrusion, which will cause the upper end of the connecting plate to deform. When the deformation of the upper end of the connecting plate reaches a critical value, the connecting plate will be pushed over the inclined protrusion under the action of spring 1, and the connecting plate will drive the spherical rod to perform internal and external synchronous impact on the connection between the upper shell and the lower shell, so as to automatically correct the offset of the connection between the upper shell and the lower shell, thereby improving the welding quality of the air conditioner casing.

[0022] 3. In the present invention, when the chuck descends, it will also drive the card strip to descend synchronously. The card strip is inserted in the card slot plate, which is conducive to the rotation of the sleeve, and will also drive the chuck to rotate synchronously, so that the rotation frequencies of the sleeve and the chuck are consistent, thereby making the rotation frequencies of the upper shell and the lower shell consistent, reducing the use of electric driving source, and also ensuring the consistency of rotation of the upper shell and the lower shell, which is convenient for improving the welding quality of the air conditioner casing.

[0023] 4. In the present invention, when the right connecting plate moves to the left, it will also drive the magnetic connecting rod and the shovel bar to move to the left synchronously. The shovel bar will first contact the outer surface of the connection between the upper shell and the lower shell, and the spring three provided will be continuously compressed, so that the shovel bar will fit tightly on the outer surface of the connection between the upper shell and the lower shell. As the upper shell and the lower shell are rotated and welded, the provided shovel bar will be beneficial to remove impurities adhered to the surface of the connection between the upper shell and the lower shell in advance, avoiding the outer spherical rod rolling on the impurities, causing the spherical rod to tilt outward, and failing to firmly squeeze and limit the connection between the upper shell and the lower shell, thereby ensuring the stability of the spherical rod limiting the connection between the upper shell and the lower shell, and improving the welding quality of the air conditioner casing.

[0024] 5. In the present invention, when the right connecting plate drives the magnetic connecting rod to descend, the magnetic connecting rod will pass through the left side of the magnetic block plate. The magnetic block plate will generate magnetic attraction to the magnetic connecting rod, which will cause the magnetic connecting rod to drive the shovel bar to slide to the right on the connecting plate and compress spring three. When the magnetic connecting rod moves away from the left side of the magnetic block plate, spring three drives the shovel bar and the magnetic connecting rod to reset, which is beneficial to shake off the impurities adhered to the shovel bar, thereby ensuring the cleanliness of the shovel bar surface.

[0025] 6. In the present invention, when the chuck rotates, the magnetic strip will also be driven to rotate. When the magnetic strip rotates to the upper side of the magnetic movable sheet, a magnetic repulsive force is generated on the magnetic movable sheet. The magnetic movable sheet slides downward on the shovel bar, compressing spring 2. The magnetic movable sheet is conducive to the shovel bar to remove impurities that are difficult to scrape off and adhere to the connection between the upper shell and the lower shell, thereby improving the working quality of the shovel bar and ensuring that the spherical rod will not be affected by impurities in its limiting effect.

[0026] 7. In the present invention, the slag discharge groove 1 and the slag discharge groove 2 are provided to facilitate the discharge of welding slag and impurities in the sleeve to the outside by centrifugal method, thereby avoiding the impurities inside the sleeve causing the bottom end of the sleeve to be uneven, thereby affecting the fitting quality of the lower shell and the upper shell, and further improving the welding quality of the air conditioner shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The overall three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 2 The overall three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 3 The overall three-dimensional structure of the present invention is shown in FIG. Figure 3 ;

[0030] Figure 4 For the present invention Figure 1 A partially enlarged structural diagram of the connection between the hydraulic cylinder, the lifting plate and the sleeve;

[0031] Figure 5 For the present invention Figure 2 A partially enlarged structural diagram of the connection between the hydraulic cylinder, the lifting plate and the sleeve;

[0032] Figure 6 For the present invention Figure 3 A partially enlarged structural diagram of the connection between the hydraulic cylinder, the lifting plate and the sleeve;

[0033] Figure 7 For the present invention Figure 4 The structural diagram at A in the middle;

[0034] Figure 8 For the present invention Figure 4 The structural diagram at B in the middle;

[0035] Fig. 9 For the present invention Figure 3 A schematic diagram of the structure of the lower part of the middle sleeve;

[0036] In the figure: 1. bottom plate; 2. bracket;

[0037] Coordination mechanism: 3, hydraulic cylinder; 4, lifting plate; 5, chuck; 6, sleeve; 7, motor; 8, slot plate; 9, clamping strip; 10, spherical rod; 11, connecting plate; 12, guide rod; 13, driving plate; 14, spring 1; 15, cylinder; 16, rack; 17, gear; 18, oblique convex block;

[0038] Auxiliary mechanism: 19, shovel bar; 20, magnetic movable sheet; 21, spring 2; 22, magnetic strip; 23, magnetic connecting rod; 24, spring 3; 25, magnetic block plate; 26, slag discharge trough 1; 27, slag discharge trough 2; 28, welding port; 29, welding gun; 30, electric telescopic rod. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] Reference Figure 1-Figure 9, a collaborative robot for air-conditioning assembly welding, comprises a base plate 1, a bracket 2 is fixedly installed on the upper end of the base plate 1, and a coordination mechanism for coordinating the welding positions of the upper shell and the lower shell to be welded is also provided, the coordination mechanism comprises a hydraulic cylinder 3 fixedly installed on the lower end of the top of the bracket 2, a lifting plate 4 is fixedly installed on the lower end of the hydraulic cylinder 3, a chuck 5 is rotatably installed on the lower end of the lifting plate 4, a sleeve 6 is provided on the lower side of the chuck 5, a motor 7 is provided at the lower end of the sleeve 6, two spherical rods 10 are symmetrically provided on the upper right end of the sleeve 6, a slot plate 8 is fixedly installed on the inner bottom end of the sleeve 6, a card strip 9 is fixedly installed on the lower end of the chuck 5 corresponding to the slot plate 8, and a connecting plate 11 is fixedly installed on the ends of the spherical rods 10 away from each other, and the upper end of the connecting plate 11 is made of a flexible deformable material , the ends of the connecting plates 11 that are away from each other are fixedly installed with guide rods 12, and the ends of the guide rods 12 that are away from each other are penetrated and slidably installed with drive plates 13. Springs 14 are sleeved on the outer sides of the guide rods 12, and the two ends of the springs 14 are respectively fixedly connected to the connecting plate 11 and the drive plate 13. The ends of the drive plates 13 that are close to each other are fixedly installed with racks 16, and the ends of the racks 16 that are close to each other are meshed with gears 17. The lower end of the gear 17 is rotatably installed on the lifting plate 4, and the lower end of the rack 16 on the right side is slidably connected to the lifting plate 4. The left end of the driving plate 13 on the left side is fixedly installed with a cylinder 15, and the left end of the cylinder 15 is fixedly connected to the lifting plate 4. The upper part of the side of the connecting plates 11 that are close to each other is provided with an inclined protrusion 18, and the upper end of the inclined protrusion 18 is fixedly connected to the lifting plate 4;

[0042] During operation, when the lifting plate 4 descends, it will also drive the cylinder 15, the racks 16 on both sides, the gear 17, and the driving plates 13 on both sides to descend synchronously. The driving plates 13 on both sides will also drive the guide rods 12 on both sides, the connecting plates 11 on both sides, and the spherical rods 10 on both sides to descend synchronously. When the spherical rods 10 on both sides descend to the welding position where the upper shell and the lower shell contact each other, they stop, and then the cylinder 15 is started to drive the left driving plate 13 and the left rack 16 to move rightward. Under the action of the gear 17, the right rack 16 and the right driving plate 13 are driven to move leftward. At this time, the driving plates 13 on both sides move towards each other, and the driving plates 13 on both sides drive the guide rods 12 on both sides, the connecting plates 11 on both sides and the spherical rods 10 on both sides to move in a direction close to each other. At this time, the spherical rods 10 set will gradually fit on the upper and lower sides of the connection between the upper shell and the lower shell, and as the driving plates 13 on both sides continue to approach each other, the spring 14 will be squeezed. The set spherical rods 10 are convenient for limiting and fixing the connection between the upper shell and the lower shell. When the upper shell and the lower shell rotate, the spherical rods 10 are respectively on the inner surface of the upper shell and the lower shell. The outer surface of the shell is rolled to prevent the upper shell and the lower shell from loosening during the rotation welding, which affects the welding quality, thereby ensuring the quality of the air conditioner shell welding. When the connecting plates 11 on both sides move towards each other, they will also contact with the inclined protrusions 18 and be blocked by the inclined protrusions 18, which will cause the upper end of the connecting plate 11 to deform. When the deformation of the upper end of the connecting plate 11 reaches a critical value, the connecting plate 11 will be pushed over the inclined protrusions 18 under the action of the spring 14, and the connecting plate 11 will drive the spherical rod 10 to perform internal and external rotation on the connection between the upper shell and the lower shell. Synchronous collision is used to automatically correct the offset at the connection between the upper shell and the lower shell, thereby improving the welding quality of the air-conditioning shell. When the chuck 5 descends, the card strip 9 will also be driven to descend synchronously. The card strip 9 is inserted into the card slot plate 8, which is conducive to the rotation of the sleeve 6. It will also drive the chuck 5 to rotate synchronously, so that the rotation frequencies of the sleeve 6 and the chuck 5 are consistent, thereby making the rotation frequencies of the upper shell and the lower shell consistent, reducing the use of electric drive sources, and at the same time ensuring the consistency of the rotation of the upper shell and the lower shell, which is convenient for improving the welding quality of the air-conditioning shell.

[0043] As an embodiment of the present invention, an auxiliary mechanism for assisting the coordination mechanism of the upper shell and the lower shell welding is also provided, and the auxiliary mechanism includes a shovel bar 19 arranged at the front side of the right spherical rod 10, and a magnetic movable sheet 20 is slidably installed on the upper side of the front end of the shovel bar 19, and a spring 21 is fixedly installed at the lower end of the magnetic movable sheet 20, and the lower end of the spring 21 is fixedly connected to the shovel bar 19, and at least ten magnetic strips 22 are fixedly installed at the lower end of the chuck 5 corresponding to the magnetic movable sheet 20 at equal intervals, and a magnetic connecting rod 23 is fixedly installed at the right end of the shovel bar 19, and the right end of the magnetic connecting rod 23 penetrates and is slidably installed on the connecting plate 11 On the upper side, a magnetic block plate 25 is provided on the lower right side of the magnetic connecting rod 23, and the right end of the magnetic block plate 25 is fixedly mounted on the bracket 2. A spring three 24 is sleeved on the outer side of the magnetic connecting rod 23, and the left and right ends of the spring three 24 are respectively fixedly connected to the shovel bar 19 and the connecting plate 11. Three slag discharge grooves 1 26 are evenly spaced on the lower side of the outer side of the sleeve 6, and no less than six slag discharge grooves 2 27 are evenly spaced at the lower end of the sleeve 6. A welding port 28 is provided on the middle part of the connecting plate 11 on the right side, and a welding gun 29 is provided on the lower right side of the connecting plate 11 on the right side. An electric telescopic rod 30 is fixedly mounted on the right end of the welding gun 29, and the right end of the electric telescopic rod 30 is fixedly mounted on the bracket 2;

[0044] During operation, the lower shell is placed in the sleeve 6 and fixed, and the upper shell is fixed on the chuck 5. The hydraulic cylinder 3 is started to drive the lifting plate 4, the chuck 5 and the upper shell to descend, so that the upper shell and the lower shell are in contact with each other and fit together. The hydraulic cylinder 3 stops working, and the electric telescopic rod 30 is started to push the welding gun 29 from the welding port 28 to the connection between the upper shell and the lower shell. Then the motor 7 is started to drive the sleeve 6, the lower shell, the upper shell and the chuck 5 to rotate. At this time, the welding gun 29 can weld the connection between the upper shell and the lower shell. When the connecting plate 11 on the right side moves to the left, it will also drive the magnetic connecting rod 23 and the shovel bar 19 to move to the left synchronously. The shovel bar 19 will first contact the upper shell The outer surface of the connection between the upper shell and the lower shell is in contact, and the spring three 24 is continuously compressed, so that the shovel strip 19 is closely attached to the outer surface of the connection between the upper shell and the lower shell. As the upper shell and the lower shell are rotated and welded, the shovel strip 19 is conducive to removing impurities adhering to the surface of the connection between the upper shell and the lower shell in advance, avoiding the outer spherical rod 10 rolling on the impurities, causing the spherical rod 10 to tilt outward, and unable to firmly squeeze and limit the connection between the upper shell and the lower shell, thereby ensuring the stability of the spherical rod 10 limiting the connection between the upper shell and the lower shell, improving the welding quality of the air conditioner casing, when the right side When the connecting plate 11 drives the magnetic connecting rod 23 to descend, the magnetic connecting rod 23 will pass the left side of the magnetic block plate 25. The magnetic block plate 25 will generate a magnetic attraction to the magnetic connecting rod 23, which will cause the magnetic connecting rod 23 to drive the shovel bar 19 to slide to the right on the connecting plate 11, compressing the spring three 24. When the magnetic connecting rod 23 moves away from the left side of the magnetic block plate 25, the spring three 24 drives the shovel bar 19 and the magnetic connecting rod 23 to reset, which is conducive to shaking off the impurities adhered to the shovel bar 19, thereby ensuring the cleanliness of the surface of the shovel bar 19. When the chuck 5 rotates, it will also drive the magnetic strip 22 to rotate. When the magnetic strip 22 rotates to the upper side of the magnetic movable sheet 20, it will generate an attraction force on the magnetic movable sheet 20. Due to the magnetic repulsion, the magnetic movable sheet 20 slides downward on the shovel bar 19 and compresses the spring 21. The magnetic movable sheet 20 is conducive to removing the impurities that are difficult to scrape off and adhere to the connection between the upper shell and the lower shell by the shovel bar 19, thereby improving the working quality of the shovel bar 19, and further ensuring that the spherical rod 10 will not be affected by the impurities in its limiting effect. The slag discharge groove 1 26 and the slag discharge groove 2 27 are convenient for discharging the welding slag and impurities in the sleeve 6 to the outside by centrifugal method, avoiding the impurities inside the sleeve 6 causing the bottom end of the sleeve 6 to be uneven, thereby affecting the fitting quality of the lower shell and the upper shell, and further improving the welding quality of the air conditioner shell.

[0045] Working principle:

[0046] When the present invention is used, the lower shell is placed in the sleeve 6 and fixed, and then the upper shell is fixed on the chuck 5, the hydraulic cylinder 3 is started to drive the lifting plate 4, the chuck 5 and the upper shell to descend, so that the upper shell and the lower shell are in contact with each other, and the hydraulic cylinder 3 stops working, and the electric telescopic rod 30 is started to push the welding gun 29 from the welding port 28 to the connection between the upper shell and the lower shell, and then the motor 7 is started to drive the sleeve 6, the lower shell, the upper shell and the chuck 5 to rotate. At this time, the welding gun 29 can weld the connection between the upper shell and the lower shell. When the lifting plate 4 descends, it will also drive the cylinder 15, the racks 16 on both sides, the gear 17, and the driving plates 13 on both sides to descend synchronously, and the driving plates 13 on both sides will also drive the guide rods 12 on both sides, the connecting plates 11 on both sides, and the spherical rods on both sides. 10 descend synchronously, when the spherical rods 10 on both sides descend and move to the welding place where the upper shell body and the lower shell body contact each other, they stop, and then start the cylinder 15 to drive the driving plate 13 on the left and the rack 16 on the left to move to the right. Under the action of the gear 17, the rack 16 on the right and the driving plate 13 on the right are driven to move to the left. At this time, the driving plates 13 on both sides move close to each other, and the driving plates 13 on both sides drive the guide rods 12 on both sides, the connecting plates 11 on both sides and the spherical rods 10 on both sides to move in a direction close to each other. At this time, the set spherical rods 10 will gradually fit on the upper and lower sides of the connection between the upper shell body and the lower shell body, and as the driving plates 13 on both sides continue to approach each other, the spring 14 will be squeezed, and the set spherical rods 10 are convenient for the upper shell body The connection between the upper shell and the lower shell is limited and fixed. When the upper shell and the lower shell are rotated, the spherical rod 10 rolls on the inner surface of the upper shell and the outer surface of the lower shell respectively, preventing the connection between the upper shell and the lower shell from loosening and affecting the welding quality during rotation welding, thereby ensuring the quality of the air conditioner shell welding. When the connecting plates 11 on both sides move towards each other, they will also contact with the inclined protrusion 18 and be blocked by the inclined protrusion 18, which will cause the upper end of the connecting plate 11 to deform. When the deformation of the upper end of the connecting plate 11 reaches a critical value, the connecting plate 11 will be pushed over the inclined protrusion 18 under the action of the spring 14, and the connecting plate 11 will drive the spherical rod 10 to synchronously impact the connection between the upper shell and the lower shell inside and outside, so as to facilitate the connection between the upper shell and the lower shell. When the joint is offset, it is automatically corrected, thereby improving the welding quality of the air conditioner shell. When the chuck 5 descends, it will also drive the card strip 9 to descend synchronously. The card strip 9 is inserted in the card slot plate 8, which is conducive to the rotation of the sleeve 6. It will also drive the chuck 5 to rotate synchronously, so that the rotation frequencies of the sleeve 6 and the chuck 5 are consistent, thereby making the rotation frequencies of the upper shell and the lower shell consistent, reducing the use of the electric drive source, and at the same time ensuring the consistency of the rotation of the upper shell and the lower shell, which is convenient for improving the welding quality of the air conditioner shell. When the right connecting plate 11 moves to the left, it will also drive the magnetic connecting rod 23 and the shovel strip 19 to move to the left synchronously. The shovel strip 19 will first contact the outer surface of the connection between the upper shell and the lower shell, and the spring three 24 set will be continuously compressed.The shovel strip 19 is made to fit tightly on the outer surface of the connection between the upper shell and the lower shell. As the upper shell and the lower shell are rotated and welded, the shovel strip 19 is set to help remove impurities adhered to the surface of the connection between the upper shell and the lower shell in advance, avoiding the outer spherical rod 10 rolling on the impurities, causing the spherical rod 10 to tilt outward and unable to firmly squeeze and limit the connection between the upper shell and the lower shell, thereby ensuring the stability of the spherical rod 10 limiting the connection between the upper shell and the lower shell, and improving the welding quality of the air conditioner casing. When the right connecting plate 11 drives the magnetic connecting rod 23 to descend, the magnetic connecting rod 23 will pass through the left side of the magnetic block plate 25. The magnetic block plate 25 generates a magnetic attraction to the magnetic connecting rod 23, which will cause the magnetic connecting rod 23 to drive the shovel strip 19 to slide rightward on the connecting plate 11 and compress the spring three 24. When the magnetic connecting rod 23 moves away from the left side of the magnetic block plate 25, the spring three 24 drives the shovel strip 19 The reset of the magnetic connecting rod 23 is conducive to shaking off the impurities adhered to the shovel strip 19, thereby ensuring the cleanliness of the surface of the shovel strip 19. When the chuck 5 rotates, the magnetic strip 22 is also driven to rotate. When the magnetic strip 22 rotates to the upper side of the magnetic movable sheet 20, a magnetic repulsion force is generated on the magnetic movable sheet 20. The magnetic movable sheet 20 slides downward on the shovel strip 19 and compresses the spring 21. The magnetic movable sheet 20 is conducive to the shovel strip 19 to remove the impurities that are difficult to scrape off from the connection between the upper shell and the lower shell, thereby improving the working quality of the shovel strip 19, and further ensuring that the spherical rod 10 will not be affected by impurities. The slag discharge groove 1 26 and the slag discharge groove 2 27 are set to facilitate the use of centrifugal method to discharge welding slag and impurities in the sleeve 6 to the outside, avoiding the impurities inside the sleeve 6 causing the inner bottom of the sleeve 6 to be uneven, thereby affecting the fitting quality of the lower shell and the upper shell, and further improving the welding quality of the air conditioner shell.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A collaborative robot for air conditioner assembly welding, comprising a base plate (1), characterized in that: A bracket (2) is fixedly mounted on the upper end of the bottom plate (1); A coordination mechanism is also provided for coordinating the welding positions of the upper shell and the lower shell to be welded, the coordination mechanism comprising a hydraulic cylinder (3) fixedly mounted on the lower end of the top of the bracket (2), a lifting plate (4) fixedly mounted on the lower end of the hydraulic cylinder (3), a chuck (5) rotatably mounted on the lower end of the lifting plate (4), a sleeve (6) provided on the lower side of the chuck (5), a motor (7) provided on the lower end of the sleeve (6), two spherical rods (10) symmetrically provided on the upper right end of the sleeve (6), a connecting plate (11) fixedly mounted on the ends of the spherical rods (10) away from each other, the upper ends of the connecting plates (11) being made of a flexible deformable material, a guide rod (12) fixedly mounted on the ends of the connecting plates (11) away from each other, the guide rods (12) passing through the ends of the guide rods (12) away from each other A driving plate (13) is installed, and a spring (14) is sleeved on the outer side of the guide rod (12). The two ends of the spring (14) are fixedly connected to the connecting plate (11) and the driving plate (13) respectively. A rack (16) is fixedly installed at one end of the driving plate (13) close to each other. A gear (17) is meshed at one end of the rack (16) close to each other. The lower end of the gear (17) is rotatably installed on the lifting plate (4). The lower end of the right rack (16) is slidably connected to the lifting plate (4). A cylinder (15) is fixedly installed at the left end of the driving plate (13) on the left side. The left end of the cylinder (15) is fixedly connected to the lifting plate (4). An inclined protrusion (18) is provided on the upper part of the side of the connecting plate (11) close to each other. The upper end of the inclined protrusion (18) is fixedly connected to the lifting plate (4). An auxiliary mechanism for assisting the coordination mechanism of the welding position of the upper shell and the lower shell is also provided. The auxiliary mechanism comprises a shovel bar (19) arranged at the front side of the right spherical rod (10). A magnetic movable sheet (20) is slidably mounted on the upper side of the front end of the shovel bar (19). A welding opening (28) is opened on the middle part of the right connecting plate (11). A welding gun (29) is provided on the right lower side of the right connecting plate (11). An electric telescopic rod (30) is fixedly mounted on the right end of the welding gun (29). The right end of the electric telescopic rod (30) is fixedly mounted on the bracket (2).

2. The collaborative robot for air conditioner assembly welding according to claim 1, characterized in that: A slot plate (8) is fixedly mounted on the inner bottom end of the sleeve (6), and a clamping strip (9) is fixedly mounted on the lower end of the chuck (5) corresponding to the slot plate (8).

3. The collaborative robot for air conditioner assembly welding according to claim 1, characterized in that: A second spring (21) is fixedly mounted on the lower end of the magnetic movable sheet (20), the lower end of the second spring (21) is fixedly connected to the shovel strip (19), and at least ten magnetic strips (22) are fixedly mounted at equal intervals on the lower end of the chuck (5) corresponding to the magnetic movable sheet (20).

4. The collaborative robot for air conditioner assembly welding according to claim 1, characterized in that: A magnetic connecting rod (23) is fixedly mounted on the right end of the shovel bar (19), and the right end of the magnetic connecting rod (23) is slidably mounted on the connecting plate (11). A magnetic block plate (25) is provided on the lower right side of the magnetic connecting rod (23), and the right end of the magnetic block plate (25) is fixedly mounted on the bracket (2).

5. The collaborative robot for air conditioner assembly welding according to claim 4, characterized in that: A spring three (24) is sleeved on the outer side of the magnetic connecting rod (23), and the left and right ends of the spring three (24) are respectively fixedly connected to the shovel bar (19) and the connecting plate (11). Three slag discharge grooves one (26) are evenly spaced on the lower side of the outer side of the sleeve (6), and no less than six slag discharge grooves two (27) are evenly spaced at the lower end of the sleeve (6).

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