Shell assembly equipment and assembly method

Abstract

This invention relates to the field of assembly equipment technology, and discloses a shell assembly equipment and method. The shell assembly equipment includes a base, a welding device, a control system, a feeding device, and a riveting device. The base supports the shell to be welded. The feeding device feeds a second reinforcing member to the riveting position of the shell to be welded. The riveting device rivets the second reinforcing member to the shell to be welded. The control system controls the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism. The X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism respectively adjust the position of the pneumatic welding clamp on the X-axis, Y-axis, and Z-axis, thereby driving the pneumatic welding clamp to the welding position for welding the shell to be welded and the first reinforcing member. This ensures the positioning accuracy of the shell during repeated welding, reduces the unreliability of manual operation, improves the welding quality and efficiency of the shell, reduces the rework rate of defective shells, has a small footprint, and low equipment cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assembly equipment, in particular to a shell assembly equipment and an assembly method. BACKGROUND

[0002] A washing machine is a machine that removes dust and dirt from clothes through chemical decomposition and mechanical impact. The shell is an important component of the washing machine, and the inner drum, control panel, base, and electric control system of the washing machine need to be fixed on the washing machine shell.

[0003] The shell of the washing machine is combined together by a rear U plate, a front plate, a reinforcing part, etc. through welding or riveting, and the shell welding equipment mainly welds the reinforcing part of the washing machine shell. The existing washing machine shell welding equipment is usually an integrated welding machine with a six-axis robot, which occupies a large area and has high equipment cost. The robot welding tongs need to increase a self-balancing mechanism, and the robot welding requires a high technical level of maintenance personnel. In addition, the integrated welding machine with a six-axis robot has a large holding part, and can only perform welding operation alone. After welding is completed, the next step needs to rivet other reinforcing parts of the equipment, which increases the production rhythm of the equipment and increases the equipment cost. SUMMARY

[0004] Based on the above problems, the purpose of the present application is to provide a shell assembly equipment and an assembly method, which can ensure the positioning accuracy of the shell during repeated welding, and simultaneously consider welding and riveting operations, reduce unreliable factors of manual operation, have a small floor area, and have low equipment cost.

[0005] To achieve the above-mentioned purpose, the following technical solutions are provided:

[0006] In a first aspect, the present application provides a shell assembly equipment, comprising:

[0007] a base for carrying a shell to be welded;

[0008] a welding device comprising a pneumatic welding tongs, an X-axis driving mechanism, a Y-axis driving mechanism, and a Z-axis driving mechanism, the X-axis driving mechanism being used for adjusting the position of the pneumatic welding tongs in the X-axis, the Y-axis driving mechanism being used for adjusting the position of the pneumatic welding tongs in the Y-axis, and the Z-axis driving mechanism being used for adjusting the position of the pneumatic welding tongs in the Z-axis;

[0009] a control system for controlling the X-axis driving mechanism, the Y-axis driving mechanism, and the Z-axis driving mechanism to drive the pneumatic welding tongs to a welding position, so as to weld the shell to be welded and a first reinforcing part;

[0010] a feeding device for feeding a second reinforcing part to a riveting position base of the shell to be welded;

[0011] A riveting device is arranged to rivet the second reinforcing member to the shell to be welded.

[0012] As an optional solution of the shell assembling device, a bearing frame is arranged on the base, and the bearing frame is used to place the shell to be welded.

[0013] As an optional solution of the shell assembling device, a position detection module is arranged on the bearing frame, and the position detection module is used to detect whether the shell to be welded is located on the bearing frame.

[0014] As an optional solution of the shell assembling device, the X-axis driving mechanism comprises a first driving member, a first screw rod and a first mounting seat, the first mounting seat is slidingly arranged on the base, and the first driving member is connected with the first mounting seat through the first screw rod.

[0015] As an optional solution of the shell assembling device, the Y-axis driving mechanism comprises a second driving member, a second screw rod and a second mounting seat, the second mounting seat is slidingly arranged on the first mounting seat, and the second driving member is connected with the second mounting seat through the second screw rod.

[0016] As an optional solution of the shell assembling device, the Z-axis driving mechanism comprises a third driving member, a third screw rod and a third mounting seat, the third mounting seat is slidingly arranged on the second mounting seat, the third driving member is connected with the third mounting seat through the third screw rod, and the pneumatic welding tongs are arranged on the third mounting seat.

[0017] As an optional solution of the shell assembling device, the control system comprises a controller, a touch screen, a servo driver and a welding control cabinet, the touch screen is used to input an operation instruction, the controller is used to control the servo driver and the welding control cabinet according to the operation instruction, and the welding control cabinet is connected with the pneumatic welding tongs through a water-cooled cable.

[0018] As an optional solution of the shell assembling device, the feeding device comprises a multi-degree-of-freedom mechanical arm and pneumatic clamping jaws, a fixed end of the multi-degree-of-freedom mechanical arm is arranged on the base, and the pneumatic clamping jaws are arranged on the multi-degree-of-freedom mechanical arm and used to clamp the second reinforcing member.

[0019] As an optional solution of the shell assembling device, the riveting device comprises a sliding seat, a first riveting seat and a second riveting seat, the sliding seat is slidingly arranged on the base, the first riveting seat and the second riveting seat are both slidingly arranged on the sliding seat, and the interval between the first riveting seat and the second riveting seat is adjustable, so as to rivet the second reinforcing member to the shell to be welded.

[0020] Secondly, the present invention also provides a shell assembly method, which uses the aforementioned shell assembly equipment for welding, and includes the following steps:

[0021] The base supports the housing to be welded;

[0022] The control system controls the X-axis drive mechanism, Y-axis drive mechanism and Z-axis drive mechanism. The X-axis drive mechanism adjusts the position of the pneumatic welding clamp on the X-axis, the Y-axis drive mechanism adjusts the position of the pneumatic welding clamp on the Y-axis, and the Z-axis drive mechanism adjusts the position of the pneumatic welding clamp on the Z-axis, thereby driving the pneumatic welding clamp to the welding position for welding the shell to be welded and the first reinforcing member.

[0023] The feeding device feeds the second reinforcing member to the riveting position of the shell to be welded;

[0024] The riveting device rivets the second reinforcing member to the shell to be welded.

[0025] The beneficial effects of this invention are as follows:

[0026] The shell assembly equipment and method provided by this invention uses a base to support the shell to be welded. On one hand, a feeding device feeds a second reinforcing member to the riveting position of the shell to be welded, and a riveting device rivets the second reinforcing member to the shell to be welded. On the other hand, a control system controls the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism to adjust the position of the pneumatic welding clamp on the X, Y, and Z axes, respectively, thereby driving the pneumatic welding clamp to the welding position to weld the shell to be welded and the first reinforcing member on the base. This ensures the positioning accuracy of the shell during repeated welding, reduces the unreliability of manual operation, improves the welding quality and efficiency of the shell, and reduces the rework rate of defective shells. This invention has functions such as three-axis positioning, spot welding, electrode cap wear compensation, welding electrode oxidation alarm, and welding electrode grinding early warning. It realizes the welding of the left and right lower reinforcing members of the washing machine shell and the riveting of the lower reinforcing members. This equipment is different from spot welding. The commonly used integrated welding machine, mounted on a six-axis robot, is used for welding products. This equipment adopts a gantry structure and uses a servo motor to control the pneumatic welding gun in three-dimensional motion along the XYZ axes. Compared with the six-axis robot control method, it has a smaller footprint and lower equipment cost. The split welding machine control scheme adopted in this invention is less expensive than the integrated welding machine and can integrate more welding information detection functions. It can detect information such as current and temperature during welding online, reduce product scrap rate, avoid batch scrapping, record the number of welding operations, output welding electrode grinding warning signals, and record welding electrode grinding data after grinding to automatically compensate the welding position of the three-axis servo, improve welding quality, and make the product more competitive in the market. This invention can simultaneously perform the repair welding operation of the first reinforcement and the riveting operation of the second reinforcement on the shell to be welded, realizing the multi-functionality of the equipment, taking into account both welding and riveting operations. It has high integration, diverse functions, rich application scenarios, small footprint, compact production cycle, and low equipment cost. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0028] Figure 1 This is a top view schematic diagram of the shell assembly equipment provided in a specific embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the housing assembly equipment provided in a specific embodiment of the present invention;

[0030] Figure 3This is a schematic diagram of the welding device for the housing assembly equipment provided in a specific embodiment of the present invention from a certain perspective;

[0031] Figure 4 This is a structural schematic diagram of the welding device of the shell assembly equipment provided in a specific embodiment of the present invention from another perspective;

[0032] Figure 5 This is a schematic diagram of the control system of the housing assembly equipment provided in a specific embodiment of the present invention.

[0033] In the picture:

[0034] 1. Base; 2. Welding device; 4. Feeding device; 5. Riveting device; 6. Positioning mechanism;

[0035] 11. Support frame; 12. Position detection module;

[0036] 21. Pneumatic welding clamp; 22. X-axis drive mechanism; 23. Y-axis drive mechanism; 24. Z-axis drive mechanism;

[0037] 221. First driving component; 222. First lead screw; 223. First mounting base;

[0038] 231. Second drive component; 232. Second lead screw; 233. Second mounting base;

[0039] 241. Third drive component; 242. Third lead screw; 243. Third mounting bracket;

[0040] 31. Controller; 32. Touch screen; 33. Servo driver; 34. Welding control cabinet; 35. Ethernet switch; 36. Motor control module;

[0041] 41. Multi-degree-of-freedom robotic arm; 42. Pneumatic gripper;

[0042] 51. Slide; 52. First riveting seat; 53. Second riveting seat;

[0043] 100. Pallet. Detailed Implementation

[0044] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0047] like Figures 1 to 5 As shown, this embodiment provides a shell assembly device, which includes a base 1, a welding device 2, a control system, a feeding device 4, and a riveting device 5. The base 1 is used to support the shell to be welded; the welding device 2 includes a pneumatic welding clamp 21, an X-axis drive mechanism 22, a Y-axis drive mechanism 23, and a Z-axis drive mechanism 24. The X-axis drive mechanism 22 is used to adjust the position of the pneumatic welding clamp 21 on the X-axis, the Y-axis drive mechanism 23 is used to adjust the position of the pneumatic welding clamp 21 on the Y-axis, and the Z-axis drive mechanism 24 is used to adjust the position of the pneumatic welding clamp 21 on the Z-axis; the control system is used to control the X-axis drive mechanism 22, the Y-axis drive mechanism 23, and the Z-axis drive mechanism 24 to drive the pneumatic welding clamp 21 to the welding position to weld the shell to be welded and the first reinforcing member on the base 1; the feeding device 4 is used to feed the second reinforcing member to the riveting position of the shell to be welded; the riveting device 5 is used to rivet and clamp the second reinforcing member to the shell to be welded on the base 1.

[0048] On one hand, the base 1 supports the shell to be welded, and the feeding device 4 feeds the second reinforcing member to the riveting position of the shell to be welded. The riveting device 5 then rivets the second reinforcing member to the shell to be welded. On the other hand, the control system controls the X-axis drive mechanism 22, Y-axis drive mechanism 23, and Z-axis drive mechanism 24. The X-axis drive mechanism 22, Y-axis drive mechanism 23, and Z-axis drive mechanism 24 adjust the position of the pneumatic welding clamp 21 on the X-axis, Y-axis, and Z-axis, respectively, thereby driving the pneumatic welding clamp 21 to the welding position to weld the shell to be welded and the first reinforcing member on the base 1. This ensures the positioning accuracy of the shell during repeated welding, reduces the unreliability factors of manual operation, improves the welding quality and efficiency of the shell, and reduces the rework rate of defective shells. This invention has functions such as three-axis positioning, point welding, electrode cap wear compensation, welding electrode oxidation alarm, and welding electrode grinding early warning. It realizes the welding of the left and right lower reinforcing members (i.e., the first reinforcing member) of the washing machine shell and the riveting of the lower reinforcing member (i.e., the second reinforcing member). This equipment differs from the integrated welding machines commonly used in spot welding applications, which are mounted on a six-axis robot. This equipment employs a gantry structure, controlling the pneumatic welding clamp 21 to move in three dimensions (XYZ) via a servo motor. This results in a smaller footprint and lower cost compared to the six-axis robot control method. The split-type welding machine control scheme adopted in this invention is also less expensive than the integrated welding machine, and it integrates more welding information detection functions. It can detect current, temperature, and other information during welding online, reducing product scrap rates and preventing mass product rejection. It can record the number of welding operations, output welding electrode grinding warning signals, and automatically compensate for the welding position of the three-axis servo motor after welding electrode grinding, improving welding quality and making the product more competitive in the market. This invention can simultaneously perform welding operations on the first reinforcing component and riveting operations on the shell to be welded, achieving multi-functionality. It combines welding and riveting operations, boasts high integration, diverse functions, rich application scenarios, small footprint, compact production cycle, and low equipment cost.

[0049] It should be noted that the first reinforcing member may have been riveted to the shell to be welded in the previous process. The specific riveting method is not limited. The shell to be welded, placed on the base, has been equipped with the first reinforcing member. The first reinforcing member is then welded by the welding device 2 to make the connection between the first reinforcing member and the shell to be welded tighter.

[0050] In some embodiments, a support frame 11 is provided on the base 1, which is used to place the shell to be welded. Placing the shell to be welded on the support frame 11 ensures that the height of the shell meets the welding requirements. The support frame 11 can be two opposing gantry structures, which are lightweight, simple in structure, and make full use of the space occupied by the base 1. Cylinders can be installed at the four corners of the support frame 11 to clamp the shell to be welded, preventing the shell from shifting during welding or riveting.

[0051] Optionally, a position detection module 12 is provided on the support frame 11. The position detection module 12 is used to detect whether the shell to be welded is located on the support frame 11. By detecting whether the shell to be welded is located on the support frame 11 through the position detection module 12, information can be exchanged with the control system to realize automatic position detection of the shell to be welded. The position detection module 12 can be a photoelectric switch or an infrared sensor.

[0052] In some embodiments, the X-axis drive mechanism 22 includes a first drive member 221, a first lead screw 222, and a first mounting base 223. The first mounting base 223 is slidably disposed on the base 1, and the first drive member 221 is connected to the first mounting base 223 via the first lead screw 222. The first drive member 221 can be a motor, which provides a simple and easy-to-control drive method, is stable and reliable, and facilitates multi-motor linkage control. The fixed end of the first drive member 221 is fixed to the base 1, and the output end of the first drive member 221 is connected to the lead screw 222 via a reducer. The working nut of the first lead screw is fixedly connected to the first mounting base 223. The first mounting base 223 can be an L-shaped plate structure and is reinforced with reinforcing ribs.

[0053] Optionally, the Y-axis drive mechanism 23 includes a second drive member 231, a second lead screw 232, and a second mounting base 233. The second mounting base 233 is slidably disposed on the first mounting base 223, and the second drive member 231 is connected to the second mounting base 233 via the second lead screw 232. The second drive member 231 can be a motor, which provides a simple and easy-to-control, stable and reliable drive, and facilitates multi-motor linkage control. The fixed end of the second drive member 231 is fixed to the first mounting base 223, and the output end of the second drive member 231 is connected to the lead screw 232 via a reducer. The working nut of the second lead screw is fixedly connected to the second mounting base 233. The second mounting base 233 can be a flat plate structure.

[0054] In some embodiments, the Z-axis drive mechanism 24 includes a third drive member 241, a third lead screw 242, and a third mounting base 243. The third mounting base 243 is slidably disposed on the second mounting base 233. The third drive member 241 is connected to the third mounting base 243 via the third lead screw 242, and the pneumatic welding clamp 21 is disposed on the third mounting base 243. The third drive member 241 can be a motor, which provides a simple and easy-to-control drive method, is stable and reliable, and facilitates multi-motor linkage control. The fixed end of the third drive member 241 is fixed to the second mounting base 233, and the output end of the third drive member 241 is connected to the lead screw 242 via a reducer. The working nut of the third lead screw is fixedly connected to the third mounting base 243. The third mounting base 243 can be an arm-shaped structure with reinforcing ribs on both sides. Two third mounting bases 243 can be spaced apart to facilitate the installation of two spaced pneumatic welding clamps 21.

[0055] Optionally, the control system includes a controller 31, a touch screen 32, a servo driver 33, and a welding control cabinet 34. The touch screen 32 is used to input operation commands, and the controller 31 is used to control the servo driver 33 and the welding control cabinet 34 according to the operation commands. The welding control cabinet 34 is connected to the pneumatic welding gun 21 via a water-cooled cable to prevent excessive heat transfer from the pneumatic welding gun 21 to the welding control cabinet 34. Communication between the controller 31, touch screen 32, servo driver 33, and welding control cabinet 34 can be achieved through an Ethernet switch 35, resulting in faster and more stable data transmission. The servo driver 33 can control the first drive component 221, the second drive component 231, and the third drive component 241 respectively through the motor control module 36, achieving coordinated control of the three motors. The controller 31 can have both manual and automatic modes to meet the needs of different application scenarios. The controller 31 can automatically compensate for the welding position of the pneumatic welding gun 21 based on the number of welding operations and the number of electrode grinding operations, ensuring accurate positioning and preventing workpiece deformation. The welding control cabinet 34 and the pneumatic welding clamp 21 adopt a split structure. The welding control cabinet 34 can integrate the detection of current, temperature and other parameters, and output detection signals in real time to avoid batch scrapping of products.

[0056] In some embodiments, the feeding device 4 includes a multi-degree-of-freedom robotic arm 41 and a pneumatic gripper 42. The fixed end of the multi-degree-of-freedom robotic arm 41 is mounted on the base 1, and the pneumatic gripper 42 is mounted on the multi-degree-of-freedom robotic arm 41 for gripping the second reinforcing member. The multi-degree-of-freedom robotic arm 41 occupies little space and operates flexibly and stably. The gripping action of the pneumatic gripper 42 is simple, reliable, and easy to control. The multi-degree-of-freedom robotic arm 41 can meet the position and angle requirements of the pneumatic gripper 42. The second reinforcing member can be placed on the tray 100, which has a slot for limiting the second reinforcing member. In addition, the second reinforcing member can be positioned before riveting by the positioning mechanism 6. When the multi-degree-of-freedom robotic arm 41 removes the second reinforcing member from the tray 100, the second reinforcing member is positioned on the positioning mechanism 6 under the action of gravity, ensuring that the state of the second reinforcing member is consistent each time the feeding device 4 picks up the material, which facilitates the subsequent riveting of the second reinforcing member to the shell to be welded.

[0057] Optionally, the riveting device 5 includes a slide 51, a first riveting seat 52, and a second riveting seat 53. The slide 51 is slidably mounted on the base 1, and both the first riveting seat 52 and the second riveting seat 53 are slidably mounted on the slide 51. The distance between the first riveting seat 52 and the second riveting seat 53 is adjustable to rivet the second reinforcing member to the shell to be welded. The sliding of the slide 51 can be driven by a motor or a cylinder, ensuring stable and reliable operation. The first riveting seat 52 and the second riveting seat 53 can be used to clamp the shell to be welded and the second reinforcing member in an up-and-down opening manner, completing the riveting of the second reinforcing member to the shell to be welded. One of the first riveting seat 52 and the second riveting seat 53 can remain stationary while the other moves, or both can move, to suit different application scenarios. The relative movement of the first riveting seat 52 and the second riveting seat 53 can be achieved by a cylinder, or by a motor and a lead screw. It should be noted that the first riveting seat 52 and the second riveting seat 53 can be devices similar to jaws. The second reinforcing member is placed in the jaws. The slide 51 feeds the first riveting seat 52, the second riveting seat 53 and the second reinforcing member into the shell to be welded. The jaws close so that the riveting punch and die installed on the first riveting seat 52 and the second riveting seat 53 respectively engage to rivet the second reinforcing member onto the shell to be welded.

[0058] The shell assembly equipment provided in this embodiment has the following general workflow: After checking that the equipment is ready, the welding control cabinet 34 and controller 31 are powered on. The operation panel of the touchscreen 32 is set to manual mode. The servo control button on the touchscreen 32 causes the controller 31 to control the servo driver 33, which in turn commands the motor control module 36 to drive the first drive component 221, the second drive component 231, and the third drive component 241. The servo moves to the welding position. The welding jog button on the touchscreen 32 is clicked to control the pneumatic welding clamp 21 to perform jog welding. If the jog welding point is correct and the action is normal, the servo position data save button on the touchscreen 32 is clicked to save the servo position parameters to the controller 31. In manual operation mode, the position of the multi-degree-of-freedom robotic arm 41 is taught to ensure that the multi-degree-of-freedom robotic arm 41 can remove the second reinforcing member from the tray 100 and that the second reinforcing member can be positioned on the positioning mechanism 6. This ensures that the multi-degree-of-freedom robotic arm 41 can perfectly place the second reinforcing member on the riveting device 5. The touch screen 32 is manually operated to send the first riveting seat 52, the second riveting seat 53, and the second reinforcing member to the riveting position via the slide 51. The riveting position can be adjusted by adjusting the shims of the slide 51. The riveting operation is completed by clicking the riveting button on the touch screen 32. The riveting head shims are adjusted by measuring data such as the riveting point depth and thickness to improve the riveting quality.

[0059] Select the automatic mode on the operation panel of the touch screen 32 to start the transmission line. When the shell to be welded is placed on the support frame 11, a material feeding completion signal is sent. The position detection module 12 detects that the shell status is normal, and the controller 31 issues a position control command. The servo driver 33 commands the motor control module 36 to drive the first drive component 221, the second drive component 231, and the third drive component 241, which drive the pneumatic welding clamp 21 to move. When the pneumatic welding clamp 21 enters the welding position, the pneumatic welding clamp 21 is controlled to spot weld. After spot welding is completed, it returns to the initial position. During the spot welding process, the welding control cabinet 34 is responsible for monitoring information such as current and temperature in real time. If an abnormality is detected, information is sent to the controller 31, and the touch screen 32 alarms. While the equipment is welding, the robotic arm 41 removes the second reinforcing member from the tray 100, places the second reinforcing member on the positioning mechanism 6 to complete the positioning operation, and then removes the precisely positioned second reinforcing member from the positioning mechanism 6 and places the second reinforcing member on the first riveting seat 52. After placement, the slide 51 sends the first riveting seat 52 and the second riveting seat 53 and the second reinforcing member to the riveting position, and the first riveting seat 52 and the second riveting seat 53 move to complete the riveting operation.

[0060] During the automatic operation of the system, the controller 31 records the number of welding operations. When the number of welding operations reaches the oxidation warning number set by the touch screen 32, the touch screen 32 outputs a warning signal. Each time the electrode cap is polished, the system records the number of polishing operations. Based on the number of polishing operations, the controller 31 automatically calculates the compensation distance and compensates for the welding position.

[0061] This embodiment also provides a shell assembly method, which uses the aforementioned shell assembly equipment for welding, and includes the following steps:

[0062] Base 1 supports the shell to be welded;

[0063] The control system controls the X-axis drive mechanism 22, the Y-axis drive mechanism 23 and the Z-axis drive mechanism 24. The X-axis drive mechanism 22 adjusts the position of the pneumatic welding clamp 21 on the X-axis, the Y-axis drive mechanism 23 adjusts the position of the pneumatic welding clamp 21 on the Y-axis, and the Z-axis drive mechanism 24 adjusts the position of the pneumatic welding clamp 21 on the Z-axis, thereby driving the pneumatic welding clamp 21 to the welding position to weld the shell to be welded and the first reinforcing member.

[0064] The feeding device 4 feeds the second reinforcing member to the riveting position of the shell to be welded;

[0065] The riveting device 5 rivets the second reinforcing member to the shell to be welded.

[0066] On one hand, the base 1 supports the shell to be welded, and the feeding device 4 feeds the second reinforcing member to the riveting position of the shell to be welded. The riveting device 5 then rivets the second reinforcing member to the shell to be welded. On the other hand, the control system controls the X-axis drive mechanism 22, Y-axis drive mechanism 23, and Z-axis drive mechanism 24. The X-axis drive mechanism 22, Y-axis drive mechanism 23, and Z-axis drive mechanism 24 adjust the position of the pneumatic welding clamp 21 on the X-axis, Y-axis, and Z-axis, respectively, thereby driving the pneumatic welding clamp 21 to the welding position to weld the shell to be welded and the first reinforcing member on the base 1. This ensures the positioning accuracy of the shell during repeated welding, reduces the unreliability of manual operation, improves the welding quality and efficiency of the shell, and reduces the rework rate of defective shells. This invention has functions such as three-axis positioning, spot welding, electrode cap wear compensation, welding electrode oxidation alarm, and welding electrode grinding early warning. It realizes the welding of the left and right lower reinforcing members of the washing machine shell and the riveting of the lower reinforcing members. This equipment is different from spot welding. The commonly used integrated welding machine, mounted on a six-axis robot, is used for welding products. This equipment adopts a gantry structure and uses a servo motor to control the pneumatic welding gun 21 to move in three-dimensional motion along the XYZ axes. Compared with the six-axis robot control method, it has a smaller footprint and lower equipment cost. The split welding machine control scheme adopted in this invention is less expensive than the integrated welding machine and can integrate more welding information detection functions. It can detect information such as current and temperature during welding online, reduce product scrap rate, avoid batch scrapping, record the number of welding operations, output welding electrode grinding warning signals, and record welding electrode grinding data after grinding to automatically compensate the welding position of the three-axis servo, improve welding quality, and make the product more competitive in the market. This invention can simultaneously perform the repair welding operation of the first reinforcement and the riveting operation of the second reinforcement on the shell to be welded, realizing the multi-functionality of the equipment, taking into account both welding and riveting operations. It has high integration, diverse functions, rich application scenarios, small footprint, compact production cycle, and low equipment cost.

[0067] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A housing assembly apparatus, characterized by, The application relates to a welding device for welding a shell and a reinforcing piece. The welding device comprises a base (1) for carrying the shell to be welded; a welding device (2) comprising a pneumatic welding tongs (21), an X-axis driving mechanism (22), a Y-axis driving mechanism (23) and a Z-axis driving mechanism (24), the X-axis driving mechanism (22) being used for adjusting the position of the pneumatic welding tongs (21) on the X-axis, the Y-axis driving mechanism (23) being used for adjusting the position of the pneumatic welding tongs (21) on the Y-axis, and the Z-axis driving mechanism (24) being used for adjusting the position of the pneumatic welding tongs (21) on the Z-axis; a control system for controlling the X-axis driving mechanism (22), the Y-axis driving mechanism (23) and the Z-axis driving mechanism (24) to drive the pneumatic welding tongs (21) to a welding position so as to weld the shell to be welded and a first reinforcing piece; a feeding device (4) for feeding a second reinforcing piece to a riveting position of the shell to be welded; and a riveting device (5) for riveting the second reinforcing piece and the shell to be welded, the riveting device (5) comprising a sliding base (51), a first riveting seat (52) and a second riveting seat (53), the sliding base (51) being slidingly arranged on the base (1), the first riveting seat (52) and the second riveting seat (53) being slidingly arranged on the sliding base (51), the feeding device (4) being capable of placing the second reinforcing piece on the first riveting seat (52), the sliding base (51) being capable of sending the first riveting seat (52) and the second riveting seat (53) and the second reinforcing piece to a riveting position, and the distance between the first riveting seat (52) and the second riveting seat (53) being adjustable so as to rivet the second reinforcing piece and the shell to be welded. The base (1) is provided with a carrying frame (11) for placing the shell to be welded. The carrying frame (11) is provided with a position detection module (12) for detecting whether the shell to be welded is located on the carrying frame (11). The X-axis driving mechanism (22) comprises a first driving member (221), a first screw rod (222) and a first mounting seat (223), the first mounting seat (223) being slidingly arranged on the base (1), and the first driving member (221) being connected with the first mounting seat (223) through the first screw rod (222). The Y-axis driving mechanism (23) comprises a second driving member (231), a second screw rod (232) and a second mounting seat (233), the second mounting seat (233) being slidingly arranged on the first mounting seat (223), and the second driving member (231) being connected with the second mounting seat (233) through the second screw rod (232).

2. The housing assembly apparatus of claim 1, wherein, ​ 3. The housing assembly apparatus of claim 2, wherein, ​ 4. The housing assembly apparatus of claim 1, wherein, ​ 5. The housing assembly apparatus of claim 4, wherein, ​ 6. The housing assembly apparatus of claim 5, wherein, The Z-axis driving mechanism (24) comprises a third driving member (241), a third screw rod (242) and a third mounting base (243), the third mounting base (243) is slidingly arranged on the second mounting base (233), the third driving member (241) is connected with the third mounting base (243) through the third screw rod (242), and the pneumatic welding tongs (21) are arranged on the third mounting base (243).

7. The housing assembly apparatus of claim 1, wherein, The control system comprises a controller (31), a touch screen (32), a servo driver (33) and a welding control cabinet (34), the touch screen (32) is used for inputting operation instructions, the controller (31) is used for controlling the servo driver (33) and the welding control cabinet (34) according to the operation instructions, and the welding control cabinet (34) is connected with the pneumatic welding tongs (21) through a water-cooled cable.

8. The housing assembly apparatus of claim 1, wherein, The feeding device (4) comprises a multi-degree-of-freedom mechanical arm (41) and pneumatic clamps (42), the fixed end of the multi-degree-of-freedom mechanical arm (41) is arranged on the base (1), and the pneumatic clamps (42) are arranged on the multi-degree-of-freedom mechanical arm (41) and used for clamping the second reinforcing member.

9. A housing assembly method, characterized by, The shell assembly device is used for welding, comprising the following steps: The base (1) carries a shell to be welded; The control system controls the X-axis driving mechanism (22), the Y-axis driving mechanism (23) and the Z-axis driving mechanism (24), the X-axis driving mechanism (22) adjusts the position of the pneumatic welding tongs (21) in the X-axis, the Y-axis driving mechanism (23) adjusts the position of the pneumatic welding tongs (21) in the Y-axis, the Z-axis driving mechanism (24) adjusts the position of the pneumatic welding tongs (21) in the Z-axis, so as to drive the pneumatic welding tongs (21) to the welding position, thereby welding the shell to be welded and the first reinforcing member; The feeding device (4) feeds the second reinforcing member to the riveting position of the shell to be welded; The riveting device (5) rivets the second reinforcing member and the shell to be welded.

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