A dual robot collaborative welding system

Abstract

The application discloses a double-robot cooperative welding system, which comprises a base, two welding robots, two welding toolings and a scrap blowing mechanism. Each welding tooling is provided with an independently angle-adjustable tooling clamp, which is used for clamping a workpiece to be welded. The two welding robots are arranged correspondingly to two tooling mechanisms of a work station, and are arranged in a work area of the work station in a division mode. A single welding robot is responsible for welding a half of a work area of a workpiece in a corresponding work station. The two welding robots synchronously perform welding work on the workpiece in the same work station and synchronously complete a single work station welding process. The welding robot and the base are connected through a rotating position changing mechanism. The rotating position changing mechanism is used for driving the welding robot to rotate to another work station after a single work station welding work is completed, so that the two work stations can alternately perform welding work.

Description

Technical Field

[0001] This application relates to the field of welding robot technology, and in particular to a dual-robot collaborative welding system. Background Technology

[0002] Welding is a core processing step in machinery manufacturing, hardware processing, and automotive parts production. With the rapid popularization of industrial automation, robotic welding has gradually replaced traditional manual welding and become the mainstream welding processing method due to its advantages of high precision, good stability, and continuous operation. Currently, most robotic welding systems on the market adopt a single-robot single-station operation mode, where a single welding robot independently completes all welding processes of the workpiece. This operation mode has a simple structure and is easy to maintain, but it has obvious operational shortcomings when welding large-area, multi-weld, and complex-structure workpieces.

[0003] First, the coverage area of ​​a single robot operation is limited. Complex workpieces require the robot to move and be calibrated multiple times, making the welding operation path cumbersome and greatly reducing welding efficiency. This makes it unsuitable for the needs of large-scale, high-efficiency industrial production. Second, existing dual-station welding equipment mostly adopts a fixed robot and rotating station operation mode. The two stations operate independently and do not cooperate with each other, resulting in low equipment utilization. Moreover, the station tooling is mostly a fixed structure, which cannot be flexibly adjusted according to the welding angle requirements of the workpiece, resulting in poor adaptability and difficulty in meeting the processing needs of workpieces with different specifications and welding angles.

[0004] Meanwhile, welding operations generate a large amount of welding slag and metal dust. Most existing welding equipment lacks an automatic chip removal structure. Welding slag accumulates on tooling fixtures, workpiece welding positions, and workstation surfaces, which not only affects the welding accuracy of the workpiece and causes defects such as porosity, slag inclusion, and poor adhesion in the weld, reducing the quality of the welded product, but also wears down tooling fixtures and shortens the service life of the equipment. In addition, the chip removal operation of existing equipment mostly relies on manual shutdown for cleaning, which requires interrupting the welding production process, further reducing the continuity of production and overall processing efficiency. Manual cleaning also poses safety hazards and incomplete cleaning problems.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is the closest prior art to this application. Summary of the Invention

[0006] Based on this, this application provides a dual-robot collaborative welding system that solves at least one of the above-mentioned technical problems.

[0007] The technical solution adopted by this application to solve its technical problem is: a dual-robot collaborative welding system, including a base, two welding robots, two welding fixtures and a chip blowing mechanism; Each of the aforementioned welding fixtures is equipped with an independent angle-adjustable fixture clamp, which is used to clamp the workpiece to be welded; The two welding robots are set up with tooling mechanisms corresponding to two workstations. The two welding robots are matched with the workpiece working area of ​​the same welding workstation and are arranged in a division of labor. Each welding robot is responsible for half of the welding area of ​​the workpiece at the corresponding workstation. The two welding robots simultaneously perform welding operations on the workpiece at the same workstation and simultaneously complete the single-workstation welding process. The welding robot is connected to the base via a rotary positioning mechanism. The rotary positioning mechanism is used to drive the welding robot to rotate to another welding station after the workpiece welding at a single welding station is completed, so as to realize the alternating welding operation between the two stations. The chip blowing mechanism includes a triggering part, a miniature air compressor, and an air duct. The triggering part is driven by a rotary positioning mechanism and includes a first triggering section and a second triggering section. The first triggering section is electrically connected to the tooling reset driving component. After being triggered, it drives the corresponding welding station to be adjusted from an inclined state to a horizontal state. The second triggering section is electrically connected to the air compressor. It is triggered after the tooling fixture has completed its horizontal reset and starts the air compressor.

[0008] In some embodiments, a single set of the welding fixture includes a positioning frame and an angle adjustment section; The positioning frame is fixed to the base at an angle; The angle adjustment unit includes a first motor and an adjustment disc, wherein the first motor is fixed inside the positioning frame; One end of the adjusting disc extends a shaft, which is rotatably mounted on the positioning frame, and one end of the shaft is fixedly connected to the output shaft of the first motor or connected via a worm gear transmission.

[0009] In some embodiments, a horizontal plate is fixed to the other end of the adjusting plate, the horizontal plate has a receiving groove, and a countersunk hole is provided on the side of the horizontal plate that penetrates the horizontal plate and communicates with the receiving groove.

[0010] In some embodiments, the tooling fixture is detachably mounted on the horizontal plate via a disassembly assembly; The disassembly and assembly assembly includes a rotating component and a locking nut, which are rotatably disposed in a receiving groove via a pin, the pin being disposed in a countersunk hole; The rotating component is provided with a threaded section, and the locking nut is threaded on the threaded section of the rotating component; After the locking nut is tightened and fixed, the rotating part and the clamping and positioning fixture are limited and fixed. The positioning groove cooperates with the rotating part to achieve precise positioning and clamping of the clamping and positioning fixture.

[0011] In some embodiments, the rotary transposition mechanism includes a second motor and a rotary disk; The top of the rotating disk is fixedly connected to the welding robot, and the bottom of the disk is provided with a support shaft and a trigger block. The trigger block is arc-shaped, and the support shaft is rotatably mounted on the base. The second motor is fixed inside the base, and its output shaft is connected to the support shaft for transmission.

[0012] In some embodiments, the triggering part includes at least two sets corresponding to two welding fixtures; The trigger unit of a single unit includes a positioning cylinder, a slider, and a return spring; The positioning cylinder is fixed to the base, and a through groove is provided on the positioning cylinder; The slider is slidably disposed inside the positioning cylinder, and cylindrical blocks are fixed at both ends of the slider. The cylindrical blocks are slidably disposed inside the through groove. The slider is provided with an inclined surface that cooperates with the trigger block; The slider is equipped with a roller at its top.

[0013] In some embodiments, the slider has a circular hole; One of the cylindrical blocks has a through hole that communicates with the circular hole; The reset spring is located inside the positioning cylinder, with one end fixed to the bottom wall of the positioning cylinder and the other end fixed to the bottom of the slider.

[0014] In some embodiments, the first trigger segment includes a column and a crossbar; The column is fixed inside the positioning cylinder, and a groove is provided on the column, in which an electric contact strip is fixed; The crossbar is fixed in the through hole, and one end of it extends into the round hole and is fixed with an electrical contact. The electrical contact is electrically coupled with the electrical contact strip.

[0015] In some embodiments, the second trigger segment includes a first electrical contact and a second electrical contact; The first electrical contact is fixed inside the through groove; The second electrical contact is fixed to one of the cylindrical blocks, and the second electrical contact is electrically coupled to the first electrical contact.

[0016] In some embodiments, the air duct is a one-end sealed structure with several outlet holes. One end of the air duct is fixed with a connecting pipe, and the outer wall of the connecting pipe is provided with a number of nested grooves, which are hemispherical. The air outlet of the miniature air compressor is connected to the connecting pipe via a quick-release part; The quick-release part includes a retaining sleeve, and a sealing ring is provided inside the retaining sleeve; The inner wall of the fixed sleeve is provided with several slots, and a compression spring is provided in the slot. The end of the compression spring is fixed with a retaining bead, and the retaining bead is embedded in the nesting slot under the force of the compression spring.

[0017] The beneficial effects of this application are as follows: two welding robots work collaboratively at the same welding station, with each robot responsible for half of the welding area of ​​the workpiece. The two robots complete the welding process synchronously. Compared with the single robot full-coverage welding mode, the welding time of a single workpiece is greatly shortened, and the tedious steps of multiple robot positioning and calibration are avoided. At the same time, the dual-robot partitioned operation can optimize the welding path and reduce the single welding forming error. The synchronous operation can ensure that the weld seam of the workpiece is uniform and effectively improve the quality of the welded product. A linkage-type chip removal mechanism is set up. Relying on the repositioning action of the rotary repositioning mechanism to trigger the triggering unit, the first triggering section drives the tilting fixture to automatically reset to a horizontal state. Then, the second triggering section precisely starts the micro air compressor, which automatically blows and cleans the welding slag and dust on the workstation, fixture and workpiece surface through the air duct. The entire process does not require manual intervention, realizing the integrated linkage operation of workstation repositioning, fixture reset and automatic chip removal. It completely avoids welding defects caused by welding slag accumulation, effectively ensures welding accuracy, and at the same time reduces the amount of manual cleaning work and eliminates the safety hazards of manual cleaning. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional schematic diagram of this application.

[0020] Figure 2 This is a schematic diagram of the positioning frame connection in this application.

[0021] Figure 3 This is a schematic diagram of the tooling and fixture connection in this application.

[0022] Figure 4 This application is Figure 3 Enlarged diagram of point A in the middle.

[0023] Figure 5 This is a schematic diagram of the angle adjustment section of this application.

[0024] Figure 6 This is a schematic diagram of the turntable connection in this application.

[0025] Figure 7This is a schematic cross-sectional view of the positioning cylinder in this application.

[0026] Figure 8 This is a schematic diagram of the roller connection in this application.

[0027] Figure 9 This application is Figure 8 Enlarged diagram of point B in the middle.

[0028] Figure 10 This is a schematic cross-sectional view of the slider in this application.

[0029] Figure 11 This application is Figure 10 Enlarged diagram of point C in the middle.

[0030] Figure 12 This is a schematic diagram of the air duct connection in this application.

[0031] Figure 13 This is a schematic diagram of the connecting pipe in this application.

[0032] Figure 14 This application is Figure 13 Enlarged diagram of point D in the middle.

[0033] Reference numerals: 1. Base; 2. Welding robot; 3. Welding fixture; 31. Fixture jig; 32. Positioning frame; 33. Angle adjustment unit; 3301. Adjustment disc; 3302. Shaft; 3303. Horizontal plate; 34. Assembly / disassembly assembly; 3401. Rotating component; 3402. Locking nut; 4. Chip blowing mechanism; 41. Trigger; 4101. Positioning cylinder; 4102. Slider; 4103. Return spring; 4104. Cylindrical block; 4105. Roller; 42. 43. Miniature air compressor; 44. Air duct; 45. Connecting pipe; 46. First trigger section; 47. Column; 48. Crossbar; 49. Electrical contact strip; 400. Electrical contact; 41. Second trigger section; 42. First electrical contact piece; 43. Second electrical contact piece; 44. Quick release part; 45. Fixing sleeve; 46. Compression spring; 47. Engraving ball; 58. Switching mechanism; 59. Turntable; 50. Support shaft; 51. Trigger block. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection of this application.

[0035] like Figure 1-14 As shown, a dual-robot collaborative welding system includes a base 1, two welding robots 2, two welding fixtures 3, and a chip blowing mechanism 4.

[0036] Furthermore, each of the welding fixtures 3 is equipped with an independent angle-adjustable fixture clamp 31, which is used to clamp the workpiece to be welded; The single welding fixture 3 includes a positioning frame 32 and an angle adjustment part 33; The positioning frame 32 is fixed to the base 1 in an inclined position; The angle adjustment unit 33 includes a first motor and an adjustment disk 3301, wherein the first motor is fixed inside the positioning frame 32; One end of the adjusting disc 3301 extends a shaft 3302, which is rotatably mounted on the positioning frame 32, and one end of which is fixedly connected to the output shaft of the first motor or connected via a worm gear transmission.

[0037] The other end of the adjusting plate 3301 is fixed with a horizontal plate 3303. The horizontal plate 3303 has a receiving groove, and the side of the horizontal plate 3303 has a countersunk hole that penetrates the horizontal plate 3303 and communicates with the receiving groove.

[0038] The tooling fixture 31 is detachably mounted on the horizontal plate 3303 via the disassembly assembly 34; The disassembly and assembly assembly 34 includes a rotating part 3401 and a locking nut 3402, which is rotatably disposed in a receiving groove by means of a pin, the pin being disposed in a countersunk hole; The rotating component 3401 is provided with a threaded section, and the locking nut 3402 is threaded on the threaded section of the rotating component 3401; After the locking nut 3402 is tightened and fixed, the rotating part 3401 and the clamping and positioning fixture are limited and fixed. The positioning groove cooperates with the rotating part 3401 to achieve precise positioning and clamping of the clamping and positioning fixture. The rotating part 3401 has an external thread section on its outer side. The locking nut 3402 is threaded onto the thread section. During assembly, the clamping and positioning fixture is placed against the positioning surface of the horizontal plate 3303, the rotating part 3401 is rotated to fit against the positioning groove of the fixture, and the locking nut 3402 is tightened to achieve the limitation and fixation of the rotating part 3401 and the clamping and positioning fixture. The fixture can be quickly disassembled by loosening the locking nut 3402. The positioning is accurate, the disassembly and assembly are convenient, and it is easy to change the workpiece and maintain the fixture.

[0039] Furthermore, the two welding robots 2 are set up with tooling mechanisms corresponding to two workstations. The two welding robots 2 are matched with the workpiece operation area of ​​the same welding workstation and are arranged in a division of labor. Each welding robot 2 is responsible for half of the welding area of ​​the workpiece at the corresponding workstation. The two welding robots 2 simultaneously perform welding operations on the workpiece at the same workstation and simultaneously complete the single-workstation welding process.

[0040] Furthermore, the welding robot 2 is connected to the base 1 via a rotary positioning mechanism 5. The rotary positioning mechanism 5 is used to drive the welding robot 2 to rotate to another welding station after the workpiece welding at a single welding station is completed, so as to realize the alternating welding operation between the two stations. The rotary transposition mechanism 5 includes a second motor and a rotary disk 51; The top of the rotating disk 51 is fixedly connected to the welding robot 2, and the bottom of the disk is provided with a support shaft 52 and a trigger block 53. The trigger block 53 is arc-shaped, and the support shaft 52 is rotatably mounted on the base 1. The trigger block 53 is set as an arc shape of at least one-third circle, and the two ends of the trigger block 53 are chamfered. The base 1 is provided with a protective frame, which has a through hole for the rotating disk 51 to rotate. The second motor is fixed inside the base 1, and its output shaft is connected to the support shaft 52 for transmission.

[0041] Furthermore, the chip blowing mechanism 4 includes a triggering part 41, a miniature air compressor 42, and an air duct 43. The triggering part 41 is driven by a rotary positioning mechanism 5 and includes a first triggering section 44 and a second triggering section 45. The first triggering section 44 is electrically connected to the tooling reset driving assembly. After being triggered, it drives the corresponding welding station to be adjusted from an inclined state to a horizontal state. The second triggering section 45 is electrically connected to the miniature air compressor 42. It is triggered after the tooling fixture 31 completes horizontal reset and starts the miniature air compressor 42 to work. The triggering part 41 includes at least two sets, corresponding to two welding fixtures 3; The single trigger unit 41 includes a positioning cylinder 4101, a slider 4102, and a return spring 4103; The positioning cylinder 4101 is fixed on the base 1, and a through groove is provided on the positioning cylinder 4101; The slider 4102 is slidably disposed inside the positioning cylinder 4101. A cylindrical block 4104 is fixed at both ends of the slider 4102. The cylindrical block 4104 is slidably disposed inside the through groove. The slider 4102 is provided with an inclined surface that cooperates with the trigger block 53; both sides of the slider 4102 are provided with inclined surfaces, and the inclined surfaces are provided so that when the trigger block 53 contacts the inclined surface on the slider 4102, the slider 4102 is subjected to force and moves into the positioning cylinder 4101. The top of the slider 4102 is provided with a roller 4105; the roller 4105 is rotatably disposed in the positioning groove at the top of the slider 4102. The setting of the roller 4105 makes the bottom of the trigger block 53 contact the roller 4105 at the top of the slider 4102 as the slider 4102 moves into the positioning cylinder 4101, reducing the friction between the two and making the movement of the trigger block 53 smoother. The slider 4102 has a circular hole; One of the cylindrical blocks 4104 has a through hole that communicates with the circular hole; The reset spring 4103 is located inside the positioning cylinder 4101, with one end fixed to the bottom wall of the positioning cylinder 4101 and the other end fixed to the bottom of the slider 4102. The first trigger segment 44 and the second trigger segment 45 are both electrically connected to the central controller in this device. The first trigger segment 44 is electrically connected to the first motor and is used to issue a reset command to the first motor. The second trigger segment 45 is electrically connected to the micro air compressor 42 and is used to issue a single-operation command to the micro air compressor 42. The first trigger segment 44 includes a column 4401 and a crossbar 4402; The column 4401 is fixed inside the positioning cylinder 4101. A groove is provided on the column 4401, and an electric contact strip 4403 is fixed inside the groove. The crossbar 4402 is fixed inside the through hole, and one end of it extends into the circular hole and is fixed with an electrical contact 4404. The electrical contact 4404 is electrically engaged with the electrical contact strip 4403. The crossbar 4402 is synchronously driven by the movement of the slider 4102, thereby connecting the electrical contact 4404 at the end of the crossbar 4402 with the electrical contact strip 4403, thus achieving an electrical connection between the two for feedback. The second trigger segment 45 includes a first electrical contact 4501 and a second electrical contact 4502; The first electrical contact 4501 is fixed inside the through groove; The second electrical contact 4502 is fixed on one of the cylindrical blocks 4104, and the second electrical contact 4502 is electrically coupled to the first electrical contact 4501; The air duct 43 is a one-end sealed structure with several outlet holes. One end of the air duct 43 is fixed with a connecting pipe 4301. The outer wall of the connecting pipe 4301 is provided with a plurality of nested grooves, and the nested grooves are hemispherical. The air outlet of the miniature air compressor 42 is connected to the connecting pipe 4301 via a quick-release part 46; The quick-release part 46 includes a fixing sleeve 4601, and a sealing ring is provided inside the fixing sleeve 4601; when the connecting tube 4301 is combined with the fixing sleeve 4601, the sealing ring is clamped between the two to achieve a seal at the connection between the two. The inner wall of the fixed sleeve 4601 has several slots, and a compression spring 4602 is installed in each slot. A retaining bead 4603 is fixed to the end of the compression spring 4602. The retaining bead 4603 is embedded in the nesting slot under the force of the compression spring 4602, and is slidably disposed within the slot. The second motor adjusts the movement of the welding robot 2 in real time to match the welding work. During this process, the trigger block 53 moves on the trigger part 41 corresponding to another workstation opposite to this workstation, keeping the other corresponding workstation in a reset state.

[0042] When disassembling or assembling the tooling fixture 31, the locking bead 4603 is affected by external force and moves into the slot, causing the compression spring 4602 to be compressed. When it is not subjected to external force, it is driven out of the slot and embedded in the nested slot under the action of the compression spring 4602.

[0043] First, according to the welding process requirements of the workpiece to be welded, the first motor drives the adjustment plate 3301 to rotate in real time, adjusts the tilt angle of the clamping and positioning fixture, and clamps and fixes the workpiece on the fixture 31. Subsequently, the two welding robots 2 started simultaneously, each responsible for the welding operation of the two halves of the workpiece, and completed the welding process of the single workpiece at the same station. After the welding at a single station is completed, the second motor drives the rotary disk 51 to rotate, which in turn drives the dual robots to rotate and change position. At the same time, the arc-shaped trigger block 53 squeezes the slider 4102 to slide down, first triggering the first trigger section 44 to complete the horizontal reset of the tooling, and then triggering the second trigger section 45 to start the micro air compressor, which blows out high-pressure air through the air duct 43 to thoroughly clean the welding slag and dust on the station, tooling and workpiece surface. After the robot completes the repositioning, it performs synchronous welding operations on the workpieces that have been clamped at another station. The two stations alternate and cycle, operating in a fully automated and coordinated manner without human intervention, efficiently completing the welding processing of batch workpieces.

[0044] Various embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0045] Finally, it should be noted that the above description is only a preferred embodiment of this application. The foregoing embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A dual-robot collaborative welding system, characterized in that, Includes a base, two welding robots, two welding fixtures, and a chip blowing mechanism; Each of the aforementioned welding fixtures is equipped with an independent angle-adjustable fixture clamp, which is used to clamp the workpiece to be welded; The two welding robots are set up with tooling mechanisms corresponding to two workstations. The two welding robots are matched with the workpiece working area of ​​the same welding workstation and are arranged in a division of labor. Each welding robot is responsible for half of the welding area of ​​the workpiece at the corresponding workstation. The two welding robots simultaneously perform welding operations on the workpiece at the same workstation and simultaneously complete the single-workstation welding process. The welding robot is connected to the base via a rotary positioning mechanism. The rotary positioning mechanism is used to drive the welding robot to rotate to another welding station after the workpiece welding at a single welding station is completed, so as to realize the alternating welding operation between the two stations. The chip blowing mechanism includes a triggering part, a miniature air compressor, and an air duct. The triggering part is driven by a rotary positioning mechanism and includes a first triggering section and a second triggering section. The first triggering section is electrically connected to the tooling reset driving component. After being triggered, it drives the corresponding welding station to be adjusted from an inclined state to a horizontal state. The second triggering section is electrically connected to the air compressor. It is triggered after the tooling fixture has completed its horizontal reset and starts the air compressor.

2. The dual-robot collaborative welding system according to claim 1, characterized in that, The welding fixture described in the single set includes a positioning frame and an angle adjustment unit; The positioning frame is fixed to the base at an angle; The angle adjustment unit includes a first motor and an adjustment disc, wherein the first motor is fixed inside the positioning frame; One end of the adjusting disc extends a shaft, which is rotatably mounted on the positioning frame, and one end of the shaft is fixedly connected to the output shaft of the first motor or connected via a worm gear transmission.

3. The dual-robot collaborative welding system according to claim 2, characterized in that, The other end of the adjusting plate is fixed with a horizontal plate, which has a receiving groove. A countersunk hole that penetrates the horizontal plate and communicates with the receiving groove is provided on the side of the horizontal plate.

4. The dual-robot collaborative welding system according to claim 3, characterized in that, The tooling fixture is detachably mounted on the horizontal plate via a disassembly assembly; The disassembly and assembly assembly includes a rotating component and a locking nut, which are rotatably disposed in a receiving groove via a pin, the pin being disposed in a countersunk hole; The rotating component is provided with a threaded section, and the locking nut is threaded on the threaded section of the rotating component; After the locking nut is tightened and fixed, the rotating part and the clamping and positioning fixture are limited and fixed. The positioning groove cooperates with the rotating part to achieve precise positioning and clamping of the clamping and positioning fixture.

5. The dual-robot collaborative welding system according to claim 1, characterized in that, The rotary transposition mechanism includes a second motor and a rotary disk; The top of the rotating disk is fixedly connected to the welding robot, and the bottom of the disk is provided with a support shaft and a trigger block. The trigger block is arc-shaped, and the support shaft is rotatably mounted on the base. The second motor is fixed inside the base, and its output shaft is connected to the support shaft for transmission.

6. The dual-robot collaborative welding system according to claim 5, characterized in that, The triggering part includes at least two sets, corresponding to two welding fixtures; The trigger unit of a single unit includes a positioning cylinder, a slider, and a return spring; The positioning cylinder is fixed to the base, and a through groove is provided on the positioning cylinder; The slider is slidably disposed inside the positioning cylinder, and cylindrical blocks are fixed at both ends of the slider. The cylindrical blocks are slidably disposed inside the through groove. The slider is provided with an inclined surface that cooperates with the trigger block; The slider is equipped with a roller at its top.

7. The dual-robot collaborative welding system according to claim 1, characterized in that, The slider has a circular hole; One of the cylindrical blocks has a through hole that communicates with the circular hole; The reset spring is located inside the positioning cylinder, with one end fixed to the bottom wall of the positioning cylinder and the other end fixed to the bottom of the slider.

8. A dual-robot collaborative welding system according to claim 1, characterized in that, The first trigger segment includes a column and a crossbar; The column is fixed inside the positioning cylinder, and a groove is provided on the column, in which an electric contact strip is fixed; The crossbar is fixed in the through hole, and one end of it extends into the round hole and is fixed with an electrical contact. The electrical contact is electrically coupled with the electrical contact strip.

9. A dual-robot collaborative welding system according to claim 1, characterized in that, The second trigger segment includes a first electrical contact and a second electrical contact; The first electrical contact is fixed inside the through groove; The second electrical contact is fixed to one of the cylindrical blocks, and the second electrical contact is electrically coupled to the first electrical contact.

10. A dual-robot collaborative welding system according to claim 1, characterized in that, The air duct is a one-end sealed structure with several outlet holes. One end of the air duct is fixed with a connecting pipe, and the outer wall of the connecting pipe is provided with a number of nested grooves, which are hemispherical. The air outlet of the miniature air compressor is connected to the connecting pipe via a quick-release part; The quick-release part includes a retaining sleeve, and a sealing ring is provided inside the retaining sleeve; The inner wall of the fixed sleeve is provided with several slots, and a compression spring is provided in the slot. The end of the compression spring is fixed with a retaining bead, and the retaining bead is embedded in the nesting slot under the force of the compression spring.

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