A flexible execution platform

Abstract

The present disclosure provides a flexible execution platform, including: a master station device, including a base, a turntable arranged above the base, and a rotating drive structure driving the turntable to rotate around a vertical axis, a plurality of product carriers are arranged in sequence in the rotation direction of the turntable, and each product carrier is detachably connected to the turntable; a slave station device, which is provided in plurality, and the plurality of slave station devices are surrounded outside the master station device, and a docking structure is provided between each slave station device and the master station device, and the slave station device and the master station device are detachably connected through the docking structure. The present disclosure solves the problem of small batch and multi-batch production of products; secondly, the master station device and the slave station device are detachably connected through the docking structure, so the slave station devices can be freely combined; and the corresponding slave station device can be adjusted in time according to process changes, so the line change time is short and the equipment utilization rate is high.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automation equipment, and in particular to a flexible execution platform. Background Art

[0002] With the vigorous promotion of Industry 4.0, various automation equipment is applied to all walks of life. The demand for automated assembly, welding, assembly and packaging is increasing. However, many products are produced in small batches and multiple batches. With traditional automation equipment, a production line can only produce one or a few products of the same type, which leads to the need for enterprises to invest a lot of money to purchase automation equipment, and there are disadvantages such as low start-up rate, fast equipment replacement and low utilization rate during the production process. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present disclosure provides a flexible execution platform.

[0004] According to one aspect of the present disclosure, a flexible execution platform includes:

[0005] The main station device comprises a base, a turntable arranged above the base and a rotation driving structure for driving the turntable to rotate around a vertical axis, wherein a plurality of product carriers are sequentially arranged in the rotation direction of the turntable, and each product carrier is detachably connected to the turntable;

[0006] There are multiple slave station devices, and the multiple slave station devices are surrounded by the master station device. A docking structure is provided between each slave station device and the master station device, and the slave station device and the master station device are detachably connected through the docking structure.

[0007] According to at least one embodiment of the present disclosure, a plurality of mounting holes are formed on the upper surface of the base; and the plurality of mounting holes are distributed in a strip shape outside the turntable.

[0008] According to at least one embodiment of the present disclosure, the master station device further includes:

[0009] Gripper, used to grasp the product;

[0010] The manipulator is fixedly connected to the base and is used to drive the clamping claw to reciprocate between the product carrier and the slave device.

[0011] According to at least one embodiment of the present disclosure, the master station device further includes:

[0012] A manipulator, fixedly connected to the base;

[0013] The CCD vision system includes a CCD camera connected to the moving end of the manipulator.

[0014] According to at least one embodiment of the present disclosure, the method further includes:

[0015] There are multiple electrical junction boxes, all of which are fixed to the base and arranged along the rotation direction of the turntable. Each electrical junction box is fixed with an air connector connected to the air source, a power connector connected to the power source, and a communication interface connected to the main station device.

[0016] According to at least one embodiment of the present disclosure, the rotation driving structure includes:

[0017] The inner ring of the slewing bearing is fixedly connected to the base, the outer ring of the slewing bearing is fixedly connected to the turntable, and the outer cylindrical surface of the outer ring of the slewing bearing is integrally formed with an external gear;

[0018] A driving gear meshingly connected with the external gear;

[0019] A servo motor, the output end of which is fixedly connected to the driving gear;

[0020] The clearance compensation mechanism comprises a motor connecting plate fixedly connected to the servo motor and an elastic member driving the motor connecting plate to move toward the center direction of the slewing bearing;

[0021] Alternatively, the rotation drive structure comprises:

[0022] The outer ring of the slewing bearing is fixedly connected to the base, the inner ring of the slewing bearing is fixedly connected to the turntable, and the inner circumferential surface of the inner ring of the slewing bearing is integrally formed with an internal gear;

[0023] A driving gear meshingly connected with the internal gear;

[0024] A servo motor, the output end of which is fixedly connected to the driving gear;

[0025] The clearance compensation mechanism comprises a motor connecting plate fixedly connected to the servo motor and an elastic member driving the motor connecting plate to move in a direction away from the center of the slewing support.

[0026] According to at least one embodiment of the present disclosure, a vertical through hole is opened in the middle of the turntable, and a bracket is arranged in the through hole, one end of the bracket is fixed to the base, and the other end of the bracket is fixed to a mounting plate; a plurality of electrical interface boxes are fixed to the mounting plate, and the plurality of electrical interface boxes are arranged along the rotation direction of the turntable, and each electrical interface box is respectively fixed with an air pipe joint connected to the air source and a power interface connected to the power source.

[0027] According to at least one embodiment of the present disclosure, the gap compensation mechanism further includes:

[0028] A bolt is arranged in a horizontal direction and is threadedly connected to the base;

[0029] One end of the motor connecting plate is hinged to the base, and the other end of the motor connecting plate is sleeved outside the bolt;

[0030] The elastic member is a compression spring, and two ends of the compression spring respectively abut against the head of the bolt and the motor connecting plate.

[0031] According to at least one embodiment of the present disclosure, the docking structure includes:

[0032] A locking link is horizontally disposed in the slave device, the locking link can rotate and slide relative to the slave device, and the rotation axis of the locking link is parallel to the sliding direction of the locking link;

[0033] A first limiter is fixed to one end of the locking link close to the master station device;

[0034] A second stopper is fixed to an end of the locking link away from the master station device, and two ends of the second stopper in a direction perpendicular to the axis of the locking link are respectively a first end and a second end, and a distance between the first end and the rotation axis of the locking link is not equal to a distance between the second end and the rotation axis of the locking link;

[0035] The base has a cavity for accommodating the second position-limiting member, and an insertion hole is formed in the side wall of the cavity facing the slave device; the shape of the insertion hole matches the shape of the second position-limiting member.

[0036] According to at least one embodiment of the present disclosure, an end of the locking link away from the slave device is provided with an external thread; and the first limiting member is provided with an internal thread adapted to the external thread. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0038] Figure 1 is a schematic diagram of a flexible execution platform according to an embodiment of the present disclosure.

[0039] Figure 2 yes Figure 1 The structural schematic diagram of the master station device in the flexible execution platform is shown.

[0040] Figure 3 yes Figure 1 Schematic diagram of the rotational drive structure in the flexible execution platform shown (turntable omitted).

[0041] Figure 4 yes Figure 1 An exploded schematic diagram of the rotational drive structure in the flexible actuator platform is shown.

[0042] Figure 5 yes Figure 1An exploded schematic diagram of the rotary drive structure in the flexible execution platform is shown (the slewing bearing is omitted).

[0043] Figure 6 yes Figure 1 An exploded schematic diagram of the electrical interface box in the flexible execution platform is shown.

[0044] Figure 7 yes Figure 1 Schematic diagram of the connection between the manipulator and the gripper and the connection between the manipulator and the CCD vision system in the flexible execution platform shown.

[0045] Figure 8 Yes Yes Figure 1 A schematic diagram of the connection between a slave device and a master device in a flexible execution platform is shown.

[0046] Fig. 9 yes Figure 8 Middle AA section view.

[0047] Fig.10 yes Figure 8 Middle BB section view.

[0048] Fig.11 Yes Yes Figure 1 Schematic diagram of the locking link in the flexible execution platform shown.

[0049] Reference numerals:

[0050] 100-main station device; 101-base; 102-turntable; 1021-through hole; 103-product carrier; 104-mounting hole; 105-gripper; 106-manipulator; 107-CCD camera; 108-positive light source; 109-slewing bearing; 110-driving gear; 111-servo motor; 112-motor connecting plate; 113-bolt; 114-elastic member; 115-bracket; 116-mounting plate; 117-insertion hole; 118-cavity; 119-electrical interface box; 1191-trachea interface; 1192-power interface;

[0051] 200-slave device; 201-locking connecting rod; 202-first limiting member; 203-second limiting member; 204-universal caster; 205-spring;

[0052] 300-electrical connector box; 301-gas connector; 302-power connector; 303-communication interface;

[0053] 400- docking positioning structure; 401- positioning pin shaft. DETAILED DESCRIPTION

[0054] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0055] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] The present invention transfers product workstations through a master station device, and completes various operations on the product, such as loading, unloading, packaging, assembly and testing, through various slave station devices docked with the master station device. By replacing different product carriers and different slave station devices, a variety of different types of products can be produced, solving the problem of small batch and multi-batch production of products; secondly, the master station device and the slave station device are detachably connected through a docking structure, so the slave station devices can be freely combined; and, according to process changes, the corresponding slave station devices can be adjusted in time, the line change time is short, and the equipment utilization rate is high.

[0057] According to a first embodiment of the present disclosure, a flexible execution platform is provided, including:

[0058] The main station device 100 includes a base 101, a turntable 102 disposed above the base 101, and a rotation driving structure for driving the turntable 102 to rotate around a vertical axis. A plurality of product carriers 103 are sequentially arranged in the rotation direction of the turntable 102, and each product carrier 103 is detachably connected to the turntable 102;

[0059] There are multiple slave station devices 200, and the multiple slave station devices 200 are surrounded by the master station device 100. A docking structure is provided between each slave station device 200 and the master station device 100, and the slave station device 200 and the master station device 100 are detachably connected through the docking structure.

[0060] The rotary drive structure can be implemented by using existing technologies such as a cam divider. The rotary drive structure in this embodiment can be implemented by using the following two structures:

[0061] (a) The rotary drive structure may include

[0062] The inner ring of the slewing bearing 109 is fixedly connected to the base 101, the outer ring of the slewing bearing 109 is fixedly connected to the turntable 102, and the outer circumferential surface of the outer ring of the slewing bearing 109 is integrally formed with an external gear;

[0063] A driving gear 110 is meshed and connected with the external gear;

[0064] A servo motor 111, whose output end is fixedly connected to the driving gear 110;

[0065] The clearance compensation mechanism includes a motor connecting plate 112 fixedly connected to the servo motor 111 and an elastic member 114 driving the motor connecting plate 112 to move toward the center direction of the slewing bearing 109 .

[0066] (ii) The rotation drive structure may include:

[0067] The outer ring of the slewing bearing 109 is fixedly connected to the base 101, the inner ring of the slewing bearing 109 is fixedly connected to the turntable 102, and the inner circumferential surface of the inner ring of the slewing bearing 109 is integrally formed with an internal gear;

[0068] A driving gear 110 is meshed and connected with the internal gear;

[0069] A servo motor 111, whose output end is fixedly connected to the driving gear 110;

[0070] The clearance compensation mechanism includes a motor connecting plate 112 fixedly connected to the servo motor 111 and an elastic member 114 driving the motor connecting plate 112 to move in a direction away from the center of the slewing bearing 109 .

[0071] In order to facilitate the installation of other parts in the inner ring of the slewing bearing 109, in this embodiment, the first type of rotary drive structure is adopted.

[0072] The turntable 102 is driven to rotate by the servo motor 111, and can be divided at any angle to form any number of workstations; secondly, the servo motor 111 can start with uniform acceleration and stop with uniform deceleration, thereby making the start and stop of the turntable 102 smoother.

[0073] The motor connecting plate 112 can be set to slide along the radial direction of the turntable 102. For example, a linear rolling guide can be used to connect the motor connecting plate 112 and the base 101 respectively to realize the sliding of the motor connecting plate 112. An elastic member 114 such as a rectangular spring or a gas spring can be installed on the side of the motor connecting plate 112 away from the slewing bearing 109. An elastic member 114 such as a tension spring can also be installed on the side of the motor connecting plate 112 close to the slewing bearing 109. An elastic member 114 such as a torsion spring can also be installed on the side of the motor connecting plate 112 away from the slewing bearing 109. Therefore, the motor connecting plate 112 is driven to move in the center direction of the slewing bearing 109 through the elastic member 114, thereby driving the driving gear 110 to engage tightly with the external gear, thereby eliminating the error caused by mechanical wear.

[0074] The gap compensation mechanism in this embodiment may also include:

[0075] Bolt 113, arranged in the horizontal direction and threadedly connected to the base 101;

[0076] One end of the motor connecting plate 112 is hinged to the base 101, and the other end of the motor connecting plate 112 is sleeved outside the bolt 113;

[0077] The elastic member 114 is a compression spring, and two ends of the compression spring abut against the head of the bolt 113 and the motor connecting plate 112 respectively.

[0078] The motor connecting plate 112 is hinged to the base 101 through a hinge pin. In this embodiment, the compression spring is sleeved outside the screw of the bolt 113 to guide the compression spring. The bolt 113 is rotated to adjust the compression amount of the compression spring, thereby adjusting the pressing force of the compression spring to ensure that the driving gear 110 is tightly meshed with the gear of the slewing bearing 109. It can be understood that when the motor connecting plate 112 rotates, the gap between the motor connecting plate 112 and the screw of the bolt 113 can prevent the motor connecting plate 112 and the screw of the bolt 113 from interfering with each other. On this basis, the gap compensation mechanism may also include:

[0079] A pressing plate, located above the motor connecting plate 112, with a space formed between the pressing plate and the base 101 to match the motor connecting plate 112;

[0080] A connecting column, both ends of which are fixedly connected to the pressing plate and the base 101 respectively;

[0081] The motor connecting plate 112 is provided with a relief hole for escaping the connecting column.

[0082] The motor connecting plate 112 is guided by forming a space between the pressing plate and the base 101 to match the gap with the motor connecting plate 112. It should be noted that when the motor connecting plate 112 rotates, the gap between the avoidance hole and the connecting column can prevent the connecting column from interfering with the hole wall of the avoidance hole.

[0083] A vertical through hole 1021 is provided in the middle of the turntable 102 in this embodiment, and a bracket 115 is arranged in the through hole 1021. One end of the bracket 115 is fixed to the base 101, and the other end of the bracket 115 is fixed to a mounting plate 116. The mounting plate 116 is fixed with a plurality of electrical interface boxes 119, and the plurality of electrical interface boxes 119 are arranged along the rotation direction of the turntable 102. Each electrical interface box 119 is respectively fixed with an air pipe interface 1191 connected to the air source and a power supply interface 1192 connected to the power supply. Therefore, when replacing the fixture, the cylinder and / or motor of the actuator in the fixture can be directly connected to the power supply and the air source through the air pipe interface 1191 and the power supply interface 1192, respectively, so as to achieve the purpose of quickly replacing the fixture.

[0084] The product carrier 103 is detachably connected to the turntable 102, so that when changing the production product, a different product carrier 103 can be replaced. The product carrier 103 in this embodiment includes a connecting portion detachably connected to the turntable 102 and a positioning portion for positioning the product. The positioning portion can be integrally formed with the connecting portion, and the specific structure of the positioning portion is determined according to the specific production product. Preferably, a positioning structure is provided between the connecting portion and the turntable 102, such as a positioning pin and a positioning hole adapted to the positioning pin, a positioning groove and a positioning protrusion adapted to the positioning groove, etc.; in this embodiment, the connecting portion and the turntable 102 are both provided with vertical positioning holes, and the positioning holes of the turntable 102 are matched with positioning pins, and the positioning pins are positioned and matched with the positioning holes of the connecting portion. The connecting portion is connected to the turntable 102 through the positioning structure, so that after replacing different product carriers 103, no unnecessary adjustments are required, thereby reducing the line change time.

[0085] Preferably, the product carriers 103 are distributed at equal intervals along the rotation direction of the turntable 102, so that the product carriers 103 can perform production actions, such as assembly, testing, etc., at the same time, thereby improving production efficiency.

[0086] The docking structure can be implemented by using an existing positioning structure or a quick-change joint, etc. The docking structure in this embodiment may include:

[0087] The locking link 201 is horizontally disposed in the slave device 200. The locking link 201 can rotate and slide relative to the slave device 200, and the rotation axis of the locking link 201 is parallel to the sliding direction of the locking link 201.

[0088] A first stopper 202 is fixed to one end of the locking link 201 close to the master station device 100;

[0089] The second stopper 203 is fixed to the end of the locking link 201 away from the master station device 100. The two ends of the second stopper 203 along the axis direction perpendicular to the locking link 201 are respectively a first end and a second end. The distance between the first end and the rotation axis of the locking link 201 is not equal to the distance between the second end and the rotation axis of the locking link 201.

[0090] The base 101 has a cavity 118 for accommodating the second stopper 203 . The cavity 118 has an insertion hole 117 formed on a side wall facing the slave device 200 . The shape of the insertion hole 117 matches the shape of the second stopper 203 .

[0091] When docking, push the slave device 200 toward the master device 100, and then push the locking rod 201 toward the master device 100. After the second limiter 203 enters the cavity 118, rotate the locking rod 201 to dock the slave device 200 with the master device 100.

[0092] Preferably, an external thread is provided at one end of the locking link 201 away from the slave device 200; the first stopper 202 is provided with an internal thread adapted to the external thread, and after the second stopper 203 enters the cavity 118 and rotates the locking link 201, the locking link 201 is kept from rotating, and the first stopper 202 is rotated, so that the slave device 200 is locked to the master device 100. To facilitate the rotation of the first stopper 202, the first stopper 202 in this embodiment is in the shape of a hand wheel. To facilitate the operation of the locking connecting rod, a rotating hand wheel is fixed at one end of the locking link 201 in this embodiment away from the second stopper 203, and the rotating hand wheel is located on the side of the first stopper 202 away from the second stopper 203.

[0093] Preferably, in order to facilitate the adjustment of the slave station device 200 so that the second stop member 203 can be inserted into the insertion hole 117 , a plurality of universal casters 204 can be installed at the bottom of the slave station device 200 in this embodiment.

[0094] The docking mechanism in this embodiment may also include:

[0095] The spring 205 is arranged between the slave device 200 and the locking link 201, and drives the locking link 201 to move in a direction away from the master device 100. On the one hand, when the master device 100 and the slave device 200 are not docked, the spring 205 can prevent the locking link 201 from extending and damaging the locking link 201; on the other hand, when the master device 100 and the slave device 200 are separated, the spring 205 can drive the locking link 201 to reset. The spring 205 can be a tension spring, a compression spring, etc. In this embodiment, the spring 205 is a compression spring, and the spring 205 is sleeved outside the locking link 201. On this basis, the locking link 201 located between the first limiting member 202 and the second limiting member 203 has a limiting step; the two ends of the spring 205 respectively abut against the limiting step and the slave device 200.

[0096] The upper surface of the base 101 in this embodiment is provided with a plurality of mounting holes 104, which are distributed in a strip shape outside the turntable 102. Thus, a linear vibration feeder, an ultrasonic welding machine and other production process devices can be directly installed on the base 101 according to product process requirements.

[0097] The master station device 100 of this embodiment may further include:

[0098] The clamping jaw 105 is used to grasp the product;

[0099] The manipulator 106 is fixedly connected to the base 101 and is used to drive the clamping claw 105 to reciprocate between the product carrier 103 and the slave device 200 .

[0100] The gripper 105 can be implemented by using an existing gripper 105 cylinder or the like. The manipulator 106 can be implemented by using existing technology, such as the four-axis manipulator 106 produced by EPSON, the four-axis manipulator 106 and the six-axis manipulator 106 produced by FANUC, etc., which can all be purchased directly from the market as finished products and will not be described in detail here. In this embodiment, the manipulator 106 is fixed to the mounting plate 116. Obviously, the manipulator 106 can also be fixed to other positions of the base 101. The gripper 105 is fixed to the moving end of the manipulator 106. By setting the manipulator 106 and the gripper 105 to pick and place products, the master station device 100 can take products from the slave station device 200, and put the products on the turntable 102 into the slave station device 200, thereby completing the loading and unloading process.

[0101] The master station device 100 of this embodiment may further include:

[0102] A manipulator 106 is fixedly connected to the base 101;

[0103] The CCD vision system includes a CCD camera 107 connected to the moving end of the manipulator 106 .

[0104] The CCD camera 107 can be implemented by using existing technology, such as the CCD camera 107 produced by Cognex. The CCD vision system can also include a light source, such as a positive light source 108, which is fixed to the moving end of the manipulator 106 and is located directly below the CCD camera 107; or a backlight source, which is fixed to the base 101 and is located below the product.

[0105] By setting the manipulator 106 and the CCD vision system, the products on the turntable 102 can be inspected, such as appearance inspection, etc. At the same time, the position error of the slave device 200 can be detected in combination with the corresponding marks on the slave device 200, such as the rectangular groove, the "cross" symbol, etc., to complete the position calibration of the slave device 200; at the same time, the information of the slave device 200 can be confirmed by posting a QR code mark on the slave device 200 to ensure that the slave device 200 is correctly docked, that is, the process action of the slave device 200 is consistent with the set value.

[0106] The flexible execution platform may also include:

[0107] There are multiple electrical connector boxes 300, all of which are fixed to the base 101. The multiple electrical connector boxes 300 are arranged along the rotation direction of the turntable 102. Each electrical connector box 300 is respectively fixed with a gas connector 301 connected to the gas source, a power connector 302 connected to the power source, and a communication interface 303 connected to the master station device. Therefore, the gas connector 301 and the power connector 302 can be used to supply power and gas to the slave station device 200, and the slave station device 200 can be connected to the master station device 100 through the communication interface 303, thereby reducing the line change time.

[0108] The flexible execution platform may also include:

[0109] The docking positioning structure 400 is used for the positioning connection between the master station device 100 and the slave station device 200, and can be realized by using existing technology. For example, it can be realized by a positioning pin shaft 401 and a positioning hole adapted to the positioning pin shaft 401. One of the master station device 100 and the slave station device 200 has a positioning hole, and the other is fixed to the positioning pin shaft 401 adapted to the positioning hole. Preferably, the insertion hole 117 is a positioning hole, and a plurality of insertion holes 117 can be provided, so that which insertion holes 117 among the plurality of insertion holes 117 can be selected according to the size of the slave station device 200 to match the positioning pin shaft 401 and which insertion holes 117 match the second stopper 203.

[0110] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0112] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A flexible execution platform, characterized in that: include: The main station device comprises a base, a turntable arranged above the base and a rotation driving structure for driving the turntable to rotate around a vertical axis, wherein a plurality of product carriers are sequentially arranged in the rotation direction of the turntable, and each product carrier is detachably connected to the turntable; There are multiple slave station devices, and the multiple slave station devices are surrounded by the master station device. A docking structure is provided between each slave station device and the master station device, and the slave station device and the master station device are detachably connected through the docking structure; The rotary drive structure comprises: The inner ring of the slewing bearing is fixedly connected to the base, the outer ring of the slewing bearing is fixedly connected to the turntable, and the outer cylindrical surface of the outer ring of the slewing bearing is integrally formed with an external gear; A driving gear meshingly connected with the external gear; A servo motor, the output end of which is fixedly connected to the driving gear; The clearance compensation mechanism comprises a motor connecting plate fixedly connected to the servo motor and an elastic member driving the motor connecting plate to move toward the center direction of the slewing bearing; Alternatively, the rotation drive structure comprises: The outer ring of the slewing bearing is fixedly connected to the base, the inner ring of the slewing bearing is fixedly connected to the turntable, and the inner circumferential surface of the inner ring of the slewing bearing is integrally formed with an internal gear; A driving gear meshingly connected with the internal gear; A servo motor, the output end of which is fixedly connected to the driving gear; The clearance compensation mechanism comprises a motor connecting plate fixedly connected to the servo motor and an elastic member driving the motor connecting plate to move in a direction away from the center of the slewing support.

2. The flexible execution platform according to claim 1, characterized in that: The upper surface of the base is provided with a plurality of mounting holes; the plurality of mounting holes are distributed outside the turntable in a strip shape.

3. The flexible execution platform according to claim 1, characterized in that: The master station device also includes: Gripper, used to grasp the product; The manipulator is fixedly connected to the base and is used to drive the clamping claw to reciprocate between the product carrier and the slave device.

4. The flexible execution platform according to claim 1, characterized in that: The master station device also includes: A manipulator, fixedly connected to the base; The CCD vision system includes a CCD camera connected to the moving end of the manipulator.

5. The flexible execution platform according to claim 1, characterized in that: Also includes: There are multiple electrical junction boxes, all of which are fixed to the base. The multiple electrical junction boxes are arranged along the rotation direction of the turntable. Each electrical junction box is fixed with an air connector connected to the air source, a power connector connected to the power source, and a communication interface connected to the main station device.

6. The flexible execution platform according to claim 1, characterized in that: A vertical through hole is opened in the middle of the turntable, and a bracket is arranged in the through hole. One end of the bracket is fixed to the base, and the other end of the bracket is fixed to a mounting plate; a plurality of electrical interface boxes are fixed to the mounting plate, and the plurality of electrical interface boxes are arranged along the rotation direction of the turntable, and each electrical interface box is respectively fixed with an air pipe joint connected to the air source and a power interface connected to the power source.

7. The flexible execution platform according to claim 1, characterized in that: The gap compensation mechanism also includes: A bolt is arranged in a horizontal direction and is threadedly connected to the base; One end of the motor connecting plate is hinged to the base, and the other end of the motor connecting plate is sleeved outside the bolt; The elastic member is a compression spring, and two ends of the compression spring respectively abut against the head of the bolt and the motor connecting plate.

8. The flexible execution platform according to claim 1, characterized in that: The docking structure comprises: A locking link is horizontally disposed in the slave device, the locking link can rotate and slide relative to the slave device, and the rotation axis of the locking link is parallel to the sliding direction of the locking link; A first limiter is fixed to one end of the locking link close to the master station device; A second stopper is fixed to an end of the locking link away from the master station device, and two ends of the second stopper in a direction perpendicular to the axis of the locking link are respectively a first end and a second end, and a distance between the first end and the rotation axis of the locking link is not equal to a distance between the second end and the rotation axis of the locking link; The base has a cavity for accommodating the second position-limiting member, and an insertion hole is formed in the side wall of the cavity facing the slave device; the shape of the insertion hole matches the shape of the second position-limiting member.

9. The flexible execution platform according to claim 8, characterized in that: An end of the locking link away from the slave device is provided with an external thread; and the first limiting member is provided with an internal thread matched with the external thread.

Images