A multi-throw interchangeable adjustable positioning device based on collaborative robots

Abstract

The application discloses a multi-throwing-distance replaceable and adjustable pulling and positioning device based on a collaborative robot, relates to the technical field of mechanical automation, and comprises a feeding unit, a plurality of layers of trays loaded with products to be electroplated are stacked on the upper part of the conveying end, an electroplating storage unit is provided with an electroplating basket serving as a plurality of electroplating carriers of the products to be electroplated on the upper part, the electroplating storage unit can cause elastic deformation of each product support and can quickly and effectively fix the products, a collaborative robot is located between the feeding unit and the electroplating storage unit and is used for placing the products to be electroplated in the trays into the electroplating basket in a clamping mode, and a product clamp is installed at the driving end of the collaborative robot and is used for clamping the products to be electroplated. The multi-throwing-distance replaceable and adjustable pulling and positioning device based on the collaborative robot replaces the existing mode of placing products in a specified area by manual work in a mechanical mode, is high in efficiency, and can greatly reduce the cost in the long run.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical automation, in particular to a multi-throw replaceable and adjustable positioning device based on a collaborative robot. BACKGROUND

[0002] The product is placed in a specified area, and the product is independently positioned in the area. In industrial production, the product needs to be placed in a fixed iron fence and a plastic fence for positioning. Various types of contraction and tension mechanisms may be used to easily place the product and then tension it. The positioning process requires a large amount of manpower and time, and the existing common pull-in device technology mainly has the following several ways:

[0003] 1. The steel wire is pulled in by a pneumatic method to achieve the positioning of the product placed in the contracted steel wire and then expanded.

[0004] 2. The steel wire is manually pulled in to achieve the positioning of the product placed in the contracted steel wire. SUMMARY

[0005] The purpose of the present application is to provide a device for quickly contracting the positioning steel wire of the product positioning and quickly positioning the product in the positioning steel wire to replace the traditional manual pull-in positioning method and the pneumatic pull-in positioning method.

[0006] To achieve the above purpose, the present application realizes the following technical scheme: a multi-throw replaceable and adjustable pull-in positioning device based on a collaborative robot, comprising:

[0007] A feeding unit, the upper part of the conveying end is stacked with several layers of trays containing products to be electroplated;

[0008] An electroplating storage unit, the upper part is fixed with an electroplating basket serving as an electroplating carrier for several products to be electroplated, the electroplating basket is provided with several product support members, the electroplating storage unit can cause elastic deformation of each product support member and quickly and effectively fix the product;

[0009] A collaborative robot located between the feeding unit and the electroplating storage unit, used to place the product to be electroplated in the tray into the electroplating basket by clamping;

[0010] A product clamp installed at the driving end of the collaborative robot, used to clamp the product to be electroplated.

[0011] Further, the feeding unit comprises a device box and a material box fixed to the front end of the device box, a limiting frame for restricting lateral movement of the material disc is fixed in the material box, a sliding hole is formed in the front end surface of the device box, a lifting frame is slidably arranged in the sliding hole, a lifting mechanism for driving the lifting frame to move up and down is installed in the device box, and a plurality of material discs loaded with products to be electroplated are stacked on the lifting frame.

[0012] Further, the lifting mechanism comprises a base installed in the device box, a lifting drive motor is installed on the outside of the base, a lifting transmission screw is rotatably connected to the inside of the base, a driving pulley one is installed on the driving end of the lifting drive motor, a driven pulley one is installed on the end of the lifting transmission screw, the driving pulley one and the driven pulley one are connected by a synchronous belt one, a lifting seat is threadedly connected to the outside of the lifting transmission screw, and the lifting seat is fixedly connected with the lifting frame.

[0013] Further, the electroplating storage unit comprises a workbench, an outer frame is installed on the top end of the workbench, a plurality of basket pressing mechanisms for pressing the electroplating basket to prevent vertical movement are respectively installed on the top end of the outer frame, a plurality of positioning guide blocks for preventing the electroplating basket from moving laterally are installed on the top end of the outer frame, the end surface of the positioning guide block towards the electroplating basket is provided as a guide surface, the guide surface is an inclined surface, and a photoelectric sensing mechanism for detecting whether the electroplating basket is placed on the outer frame is also installed.

[0014] Further, a variable-distance replaceable adjustable module is installed in the inside of the outer frame, a containing cavity is formed in the top end of the outer frame, the electroplating basket is located above the containing cavity, and the driving end of the variable-distance replaceable adjustable module extends to the inside of the electroplating basket through the containing cavity.

[0015] Further, the basket pressing mechanism comprises a bottom plate installed on the top end of the outer frame, a guide block is fixed to the top end of the bottom plate, a guide hole is formed in the inside of the guide block, a driving plate is slidably arranged in the inside of the guide hole, a basket pressing cylinder is installed on the top end of the guide block, the driving end of the basket pressing cylinder and the end portion of the driving plate are connected through a mounting plate, a basket pressing plate for pressing the electroplating basket is installed on the end of the driving plate adjacent to the electroplating basket, and a protective cover one is installed on the upper portion of the bottom plate.

[0016] Further, the photoelectric sensing mechanism comprises a sensor mounting seat installed on the top end of the outer frame, a proximity photoelectric sensor for detecting whether the electroplating basket is placed on the outer frame is installed on the top end of the sensor mounting seat, and a protective cover two is arranged on the outside of the proximity photoelectric sensor.

[0017] Further, the electroplating basket comprises a frame body, a plurality of product supporting members capable of elastically deforming are regularly fixed on the frame body, one end of the product supporting member is a fixed part, the other end is a movable part, the fixed part is fixed on the frame body, and the movable part is not connected with the frame body.

[0018] Further, the variable-distance interchangeable adjustable module comprises a bearing seat fixed at the top end of the outer frame, a linear guide rail I and a horizontal movement driving motor, the inside of the bearing seat is rotationally connected with a horizontal movement transmission screw rod, the outside of the horizontal movement transmission screw rod is threadedly connected with a sliding seat, the sliding seat is slidingly arranged on the linear guide rail I, lifting cylinders are installed on the two sides of the sliding seat, lifting plates are installed on the telescopic ends of the lifting cylinders, the lifting plates are guided by guide rods when being driven to lift by the lifting cylinders, a driven pulley II is installed at the end of the horizontal movement transmission screw rod, a driving pulley II is installed at the driving end of the horizontal movement driving motor, a synchronous belt II is connected between the driven pulley II and the driving pulley II, a linear guide rail II is installed at the top end of the lifting plate, a variable-distance sliding groove plate is slidingly connected to the outside of the linear guide rail II, a plurality of variable-distance adjusting holes are formed in the side of the variable-distance sliding groove plate, a plurality of variable-distance pressing plates in the shape of 'V' are fixed in the inside of the variable-distance sliding groove plate, the variable-distance adjusting holes correspond to the variable-distance pressing plates, and a pressing plate driving cylinder is installed on the side of the lifting plate, and the telescopic ends of the pressing plate driving cylinder and the end of the variable-distance sliding groove plate are connected through a linkage plate.

[0019] Further, the product clamp comprises a connecting seat installed at the driving end of the collaborative robot, a double-head cylinder is installed in the inside of the connecting seat, clamping plate movable groove plates are installed at the two telescopic ends of the double-head cylinder, a plurality of clamping plate spacing adjusting holes are formed in the side of each clamping plate movable groove plate, and a plurality of clamps are installed in the inside of each clamping plate movable groove plate.

[0020] The application provides a multi-variable-distance interchangeable adjustable positioning device based on a collaborative robot.

[0021] The multi-variable-distance interchangeable adjustable positioning device based on the collaborative robot replaces the existing manual product placement mode in a mechanical manner, is high in efficiency, and can greatly reduce the cost in the long run. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The figure is a structural schematic diagram of the application;

[0023] Figure 2 The figure is a structural schematic diagram of the first perspective of the feeding unit in the application;

[0024] Figure 3The second perspective view of the feeding unit in the present application;

[0025] Figure 4 The assembly structure diagram of the electroplating storage unit in the present application;

[0026] Figure 5 The top view of Figure 4 ;

[0027] Figure 6 The exploded structure diagram of the electroplating storage unit in the present application;

[0028] Figure 7 The exploded structure diagram of the pressing basket mechanism in the present application;

[0029] Figure 8 The assembly structure diagram of the pressing basket mechanism after removing the protective cover in the present application;

[0030] Figure 9 The structure diagram of the positioning guide block in the present application;

[0031] Figure 10 The structure diagram of the photoelectric sensing mechanism in the present application;

[0032] Figure 11 The structure diagram of the variable-distance replaceable adjustable module in the present application;

[0033] Figure 12 The diagram of the product support shrinking by the variable-distance pressing plate extrusion movable part in the present application;

[0034] Figure 13 The top view of Figure 12 ;

[0035] Figure 14 The structure diagram of the product clamp in the present application.

[0036] In the figure: 1, tray; 2, feeding unit; 21, equipment box; 22, material box; 23, limiting frame; 24, sliding hole; 25, lifting frame; 26, base; 27, lifting drive motor; 28, lifting transmission screw; 29, driving pulley one; 210, driven pulley one; 211, lifting seat; 3, electroplating storage unit; 31, workbench; 32, outer frame; 33, basket pressing mechanism; 331, bottom plate; 332, guide block; 333, guide hole; 334, basket pressing cylinder; 335, mounting plate; 336, driving plate; 337, basket pressing plate; 338, protective cover one; 34, positioning guide block; 341, guide surface; 35, electroplating basket; 351, frame body; 352, product support; 3521, fixed part; 3522, movable part; 36, photoelectric sensing mechanism; 361, sensor mounting seat; 362, proximity photoelectric sensor; 363, protective cover two; 37, variable-distance replaceable adjustable module; 371, bearing seat; 372, linear guide rail one; 373, transverse movement drive motor; 374, transverse movement transmission screw; 375, sliding seat; 376, lifting cylinder; 377, lifting plate; 378, guide rod; 379, driven pulley two; 3710, driving pulley two; 3711, linear guide rail two; 3712, variable-distance sliding slot plate; 3713, variable-distance adjusting hole; 3714, variable-distance pressing plate; 3715, linkage plate; 3716, pressing plate drive cylinder; 4, collaborative robot; 5, product clamp; 51, connecting seat; 52, double-head cylinder; 53, clamp movable slot plate; 54, clamp spacing adjusting hole; 55, clamp. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] Please refer to Figure 1The application provides a technical scheme: a multi-throw replaceable and adjustable positioning device based on a collaborative robot, which comprises a tray 1, a feeding unit 2, an electroplating storage unit 3, a collaborative robot 4 and a product clamp 5, wherein the upper part of the conveying end of the feeding unit 2 is stacked with a plurality of layers of trays 1 loaded with products to be electroplated, the upper part of the electroplating storage unit 3 is fixed with an electroplating basket 35 serving as a plurality of electroplating carriers of the products to be electroplated, a plurality of product support pieces 352 are arranged in the electroplating basket 35, the electroplating storage unit 3 can cause elastic deformation of each product support piece 352, can quickly and effectively fix the products, the collaborative robot 4 is located between the feeding unit 2 and the electroplating storage unit 3, and is used for placing the products to be electroplated in the tray 1 into the electroplating basket 35 in a clamping mode, and the product clamp 5 is installed at the driving end of the collaborative robot 4 and is used for clamping the products to be electroplated.

[0039] Please refer to Figure 2 、 3 The feeding unit 2 comprises an equipment box 21 and a material box 22 fixed at the front end of the equipment box 21, the inside of the material box 22 is fixed with a limiting frame 23 for restricting the tray 1 from moving transversely, the front end surface of the equipment box 21 is provided with a sliding hole 24, the inside of the sliding hole 24 is slidably provided with a lifting frame 25, the inside of the equipment box 21 is installed with a lifting mechanism for driving the lifting frame 25 to move up and down, a plurality of layers of trays 1 loaded with products to be electroplated are stacked on the lifting frame 25, the lifting mechanism comprises a base 26 installed in the inside of the equipment box 21, the outside of the base 26 is installed with a lifting driving motor 27, and the inside of the base 26 is rotationally connected with a lifting transmission screw rod 28, the driving end of the lifting driving motor 27 is installed with a driving pulley one 29, the end of the lifting transmission screw rod 28 is installed with a driven pulley one 210, the driving pulley one 29 and the driven pulley one 210 are connected through a synchronous belt one, the outside of the lifting transmission screw rod 28 is threadedly connected with a lifting seat 211, and the lifting seat 211 is fixedly connected with the lifting frame 25.

[0040] When the feeding unit 2 works, a plurality of trays 1 loaded with products to be electroplated are stacked on the lifting frame 25, the lifting driving motor 27 works, drives the driving pulley one 29 to rotate, drives the driven pulley one 210 to rotate through the synchronous belt one, further drives the lifting transmission screw rod 28 to rotate, drives the lifting seat 211 to drive the lifting frame 25 to move up and down synchronously, and when moving up, only moves a distance of the thickness of one tray 1 each time.

[0041] Please refer to Figure 4 、 5, 6, 9, the electroplating storage unit 3 includes a workbench 31, the top of the workbench 31 is provided with an outer frame 32, the top of the outer frame 32 is provided with a plurality of basket pressing mechanisms 33 for pressing the electroplating basket 35 to prevent vertical movement, a plurality of positioning guide blocks 34 for preventing the electroplating basket 35 from moving horizontally, the end face of the positioning guide block 34 towards the electroplating basket 35 is provided as a guide surface 341, the guide surface 341 is an inclined surface, and a photoelectric sensing mechanism 36 for detecting whether the electroplating basket 35 is placed on the outer frame 32 is also installed, a variable-distance interchangeable adjustable module 37 is installed inside the outer frame 32, and a cavity 321 is formed at the top of the outer frame 32, the electroplating basket 35 is located above the cavity 321, and the driving end of the variable-distance interchangeable adjustable module 37 extends into the interior of the electroplating basket 35 through the cavity 321.

[0042] The electroplating storage unit 3 works as follows: the electroplating basket 35 is placed in the outer frame 32 by hand, and is positioned inside the plurality of positioning guide blocks 34, then the photoelectric sensing mechanism 36 senses that the electroplating basket 35 has been placed, and the plurality of basket pressing mechanisms 33 simultaneously press the edges of the electroplating basket 35 to fix the electroplating basket 35.

[0043] Please refer to Figure 7 , 8 , the basket pressing mechanism 33 includes a bottom plate 331 installed at the top of the outer frame 32, the top of the bottom plate 331 is fixed with a guide block 332, the inside of the guide block 332 is provided with a guide hole 333, the inside of the guide hole 333 is slidably provided with a driving plate 336, the top of the guide block 332 is provided with a basket pressing cylinder 334, the driving end of the basket pressing cylinder 334 and the end of the driving plate 336 are connected through a mounting plate 335, one end of the driving plate 336 adjacent to the electroplating basket 35 is provided with a basket pressing plate 337 for pressing the electroplating basket 35, and a protective cover one 338 is installed on the upper part of the bottom plate 331.

[0044] The basket pressing mechanism 33 works as follows: the basket pressing cylinder 334 retracts, drives the driving plate 336 to move inside the guide hole 333 through the mounting plate 335, thereby driving the basket pressing plate 337 to move towards the electroplating basket 35, until the basket pressing plate 337 moves above the edge of the electroplating basket 35 and generates downward pressure.

[0045] Please refer to Figure 10 , the photoelectric sensing mechanism 36 includes a sensor mounting seat 361 installed at the top of the outer frame 32, the top of the sensor mounting seat 361 is provided with a proximity photoelectric sensor 362 for detecting whether the electroplating basket 35 is placed on the outer frame 32, and the proximity photoelectric sensor 362 is covered with a protective cover two 363.

[0046] When the photoelectric sensing mechanism 36 is in operation: after the electroplating basket 35 is placed above the outer frame 32, the proximity photoelectric sensor 362 can detect it. Specifically, the photoelectric proximity sensor is a common type of sensor that uses the photoelectric effect to detect the presence of an object. The photoelectric proximity sensor consists of a light source, a receiver, and a processing circuit. When an object approaches the sensor, it blocks the light emitted by the light source, thus reducing the amount of light received by the receiver and generating a signal to the processing circuit indicating the presence of the object.

[0047] Please see Figure 12 , 13 The electroplating basket 35 includes a frame body 351, and a number of product support members 352 capable of elastic deformation are regularly fixed on the frame body 351. One end of the product support member 352 is a fixed part 3521, and the other end is a movable part 3522. The fixed part 3521 is fixed on the frame body 351, and the movable part 3522 is not connected to the frame body 351.

[0048] When using the electroplating basket 35: The product to be electroplated needs to be placed over the product support 352. If the size of the product support 352 is the same as the size of the reserved placement hole for the product to be electroplated, the product will easily fall off after being placed on it. Therefore, one end of the product support 352 is designed as a fixed part 3521 (the fixed part 3521 is welded to the frame 351), and the other end is designed as a movable part 3522. Before placing the product, push the movable part 3522 to retract the entire product support 352. After the product is placed on it, the product support 352 will spring back. By using the tension of the product support 352, the product can be firmly fixed on the product support 352 and will not fall off during subsequent electroplating.

[0049] Please see Figure 11 , 12, 13, the variable distance replaceable adjustable module 37 includes the bearing seat 371 fixed at the top end of the outer frame 32, the linear guide rail one 372, the horizontal movement driving motor 373, the horizontal movement driving motor 373 is internally rotatably connected with the horizontal movement transmission screw rod 374, the horizontal movement transmission screw rod (374) is externally threaded with the sliding seat 375, the sliding seat 375 is slidably arranged on the linear guide rail one 372, the sliding seat 375 is provided with the lifting cylinder 376 on both sides, the lifting cylinder 376 is provided with the lifting plate 377 on the telescopic end, the lifting plate 377 is guided by the guide rod 378 when being driven to lift by the lifting cylinder 376, the end of the horizontal movement transmission screw rod 374 is provided with the driven pulley two 379, the driving end of the horizontal movement driving motor 373 is provided with the driving pulley two 3710, the driven pulley two 379 and the driving pulley two 3710 are connected with the synchronous belt two, the top end of the lifting plate 377 is provided with the linear guide rail two 3711, the linear guide rail two 3711 is externally slidably connected with the variable distance sliding groove plate 3712, a plurality of variable distance adjusting holes 3713 are formed in the side of the variable distance sliding groove plate 3712, a plurality of "V"-shaped variable distance pressing plates 3714 are fixed in the variable distance sliding groove plate 3712, the variable distance adjusting hole 3713 corresponds to the variable distance pressing plate 3714, the side of the lifting plate 377 is provided with the pressing plate driving cylinder 3716, and the telescopic end of the pressing plate driving cylinder 3716 is connected with the end of the variable distance sliding groove plate 3712 through the linkage plate 3715.

[0050] The variable distance replaceable adjustable module 37 works as follows: first, the horizontal movement driving motor 373 works, drives the driving pulley two 3710 to rotate, drives the driven pulley two 379 to rotate through the synchronous belt two, drives the horizontal movement transmission screw rod 374 to rotate, moves the sliding seat 375 along the linear guide rail one 372, and a plurality of variable distance pressing plates 3714 also move synchronously, stops when the variable distance pressing plate 3714 moves to the position directly below a certain row of product support members 352, the lifting cylinder 376 pushes the lifting plate 377 to move upwards, so that the variable distance pressing plate 3714 moves to the side of the movable part 3522, at this time, the pressing plate driving cylinder 3716 is elongated, drives the variable distance sliding groove plate 3712 to move along the linear guide rail two 3711 through the linkage plate 3715, in the process, the variable distance pressing plate 3714 gradually approaches the movable part 3522 until a pressure is generated on the movable part 3522, so that the product support member 352 is contracted, at this time, the product to be electroplated is sleeved on the product support member 352, then the pressing plate driving cylinder 3716 is shortened, drives the variable distance pressing plate 3714 to reset, after stopping applying pressure, the product support member 352 expands, and the product is fixed by using the tension of the product support member 352, according to the different sizes of the product, the position of the variable distance pressing plate 3714 in the variable distance sliding groove plate 3712 also needs to be adjusted, when adjusting, the bolts connecting the variable distance pressing plate 3714 and the variable distance adjusting hole 3713 are loosened, and the variable distance pressing plate 3714 is moved to the appropriate position.

[0051] Referring to Figure 14 The product clamp 5 comprises a connecting seat 51 mounted at the driving end of the collaborative robot 4, a double-head cylinder 52 is mounted inside the connecting seat 51, and a clamping plate movable slot plate 53 is mounted at each of the two telescopic ends of the double-head cylinder 52. A plurality of clamping plate spacing adjustment holes 54 are formed in the side of each clamping plate movable slot plate 53, and a plurality of clamping plates 55 are mounted inside each clamping plate movable slot plate 53, and the clamping plate spacing adjustment holes 54 correspond to the clamping plates 55.

[0052] When the product clamp 5 works, the two telescopic ends of the double-head cylinder 52 are synchronously telescoped, thereby driving the two clamping plate movable slot plates 53 and the clamping plates 55 to approach or move away, so as to realize clamping and releasing of the products. Similarly, the spacing of the clamping plates 55 can be adjusted according to the size of the products, and the adjustment method is the same as that of the variable-distance pressing plate 3714, which will not be described here.

[0053] When used, a plurality of trays 1 storing products to be electroplated are stacked and placed in the feeding unit 2, the feeding unit 2 provides products to the collaborative robot 4, the collaborative robot 4 takes 8 products at a time by using the product clamp 5, when the products in one tray 1 are taken out, the tray 1 is manually taken away, the feeding unit 2 provides the next layer of tray 1 to the collaborative robot 4, and after the products are taken away, they are placed in the electroplating basket 35 of the electroplating storage unit 3 by the collaborative robot 4, and the cycle is repeated.

Claims

1. A multi-range interchangeable and adjustable retraction and positioning device based on a collaborative robot, characterized in that, include: The feeding unit (2) has several layers of trays (1) containing products to be electroplated stacked on the upper part of the conveying end. The electroplating storage unit (3) has an electroplating basket (35) fixed on the upper part, which serves as an electroplating carrier for several products to be electroplated. Several product support members (352) are provided in the electroplating basket (35). The electroplating storage unit (3) can make each product support member (352) undergo elastic deformation, which can quickly and effectively fix the products. The collaborative robot (4) is located between the feeding unit (2) and the electroplating storage unit (3) and is used to place the products to be electroplated in the tray (1) into the electroplating basket (35) by clamping. Product clamp (5) is installed on the drive end of the collaborative robot (4) for clamping the product to be electroplated; the electroplating storage unit (3) includes a workbench (31), an outer frame (32) is installed on the top of the workbench (31), and a variable distance replaceable and adjustable module (37) is installed inside the outer frame (32). The electroplating basket (35) includes a frame body (351), and a number of product support members (352) capable of elastic deformation are regularly fixed on the frame body (351). One end of each product support member (352) is a fixed part (3521), and the other end is a movable part (3522). The fixed part (3521) is fixed on the frame body (351), and the movable part (3522) is not connected to the frame body (351). The variable-pitch interchangeable and adjustable module (37) includes a bearing seat (371) fixed to the top of the outer frame (32), a linear guide rail (372), and a transverse drive motor (373). The bearing seat (371) is rotatably connected to a transverse transmission screw (374). The external thread of the transverse transmission screw (374) is connected to a slide (375). The slide (375) is slidably mounted on the linear guide rail (372). Lifting cylinders (376) are installed on both sides of the slide (375). A lifting plate (377) is installed at the telescopic end of the lifting cylinder (376). When the lifting plate (377) is driven to rise and fall by the lifting cylinder (376), it is guided by a guide rod (378). A driven pulley (379) is installed at the end of the transverse transmission screw (374). A driving pulley (3710) is installed at the driving end of the transverse drive motor (373). The driven pulley two (379) and the driving pulley two (3710) are connected by a synchronous belt two. A linear guide rail two (3711) is installed on the top of the lifting plate (377). A variable pitch slide plate (3712) is slidably connected to the outside of the linear guide rail two (3711). Several variable pitch adjustment holes (3713) are opened on the side of the variable pitch slide plate (3712). Several variable pitch adjustment holes (3713) are fixed inside the variable pitch slide plate (3712). A "V"-shaped variable-pitch pressure plate (3714) is provided, which can adjust the movable part (3522). The variable-pitch adjustment hole (3713) corresponds to the variable-pitch pressure plate (3714). A pressure plate drive cylinder (3716) is installed on the side of the lifting plate (377). The extension end of the pressure plate drive cylinder (3716) is connected to the end of the variable-pitch slide plate (3712) through a linkage plate (3715).

2. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 1, characterized in that, The feeding unit (2) includes an equipment box (21) and a material box (22) fixed at the front end of the equipment box (21). The material box (22) has a limiting frame (23) fixed inside to constrain the material tray (1) from moving laterally. The front end face of the equipment box (21) has a sliding hole (24). A lifting frame (25) is slidably arranged inside the sliding hole (24). The equipment box (21) has a lifting mechanism installed inside to drive the lifting frame (25) to move up and down. Several layers of material trays (1) containing products to be electroplated are stacked on the lifting frame (25).

3. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 2, characterized in that, The lifting mechanism includes a base (26) installed inside the equipment box (21), a lifting drive motor (27) installed on the outside of the base (26), and a lifting transmission screw (28) rotatably connected inside the base (26). A drive pulley (29) is installed at the drive end of the lifting drive motor (27), and a driven pulley (210) is installed at the end of the lifting transmission screw (28). The drive pulley (29) and the driven pulley (210) are connected by a synchronous belt. A lifting seat (211) is threadedly connected to the outside of the lifting transmission screw (28), and the lifting seat (211) is fixedly connected to the lifting frame (25).

4. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 1, characterized in that, The top of the outer frame (32) is equipped with several basket pressing mechanisms (33) for pressing down the electroplating basket (35) to prevent it from moving vertically, and several positioning guide blocks (34) for preventing the electroplating basket (35) from moving laterally. The end face of the positioning guide block (34) facing the electroplating basket (35) is set as a guide surface (341). The guide surface (341) is an inclined surface. A photoelectric sensing mechanism (36) for detecting whether the electroplating basket (35) is placed on the outer frame (32) is also installed.

5. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 4, characterized in that, The outer frame (32) has a cavity (321) at its top, and the electroplating basket (35) is located above the cavity (321). The drive end of the variable distance interchangeable and adjustable module (37) extends into the interior of the electroplating basket (35) through the cavity (321).

6. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 4, characterized in that, The basket pressing mechanism (33) includes a base plate (331) installed on the top of the outer frame (32). A guide block (332) is fixed on the top of the base plate (331). A guide hole (333) is opened inside the guide block (332). A drive plate (336) is slidably arranged inside the guide hole (333). A basket pressing cylinder (334) is installed on the top of the guide block (332). The drive end of the basket pressing cylinder (334) and the end of the drive plate (336) are connected by a mounting plate (335). A pressing plate (337) for pressing the electroplating basket (35) is installed on the end of the drive plate (336) adjacent to the electroplating basket (35). A protective cover (338) is installed on the upper part of the base plate (331).

7. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 4, characterized in that, The photoelectric sensing mechanism (36) includes a sensor mounting base (361) installed on the top of the outer frame (32). The top of the sensor mounting base (361) is equipped with a proximity photoelectric sensor (362) for detecting whether the electroplating basket (35) is placed on the outer frame (32). The outer cover of the proximity photoelectric sensor (362) is provided with a protective cover (363).

8. The multi-range interchangeable and adjustable retraction positioning device based on a collaborative robot according to claim 1, characterized in that, The product fixture (5) includes a connecting seat (51) installed on the drive end of the collaborative robot (4). A double-headed cylinder (52) is installed inside the connecting seat (51). Both telescopic ends of the double-headed cylinder (52) are equipped with clamping plate movable slots (53). Several clamping plate spacing adjustment holes (54) are opened on the side of each clamping plate movable slot (53). Several clamping plates (55) are installed inside each clamping plate movable slot (53). The clamping plate spacing adjustment holes (54) correspond to the clamping plates (55).

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