Multi-robot collaborative workstation for manufacturing large water tank template

Abstract

The invention provides a multi-robot cooperative workstation for manufacturing a large water tank template, and relates to the technical field of water tank plate manufacturing, the multi-robot cooperative workstation comprises a production line, the production line comprises a feeding station, a positioning station, a forging and pressing station, a punching station, a corner cutting station and a discharging station which are arranged in sequence, and a plurality of multi-axis robots are arranged on one side of the production line; a connecting column is arranged at the tail end of the multi-axis robot and provided with a suction cup assembly. According to the stainless steel plate conveying device, the multi-axis robot can suck a stainless steel plate through the suction cup assembly and complete the conveying, feeding and discharging processes of the stainless steel plate, manual conveying is replaced with multi-axis robot conveying, manual participation is not needed in the production process, the labor intensity of workers is relieved, production accidents are reduced, and the production efficiency is improved. And through automatic carrying of the multi-axis robot, the automation degree of the production line is improved, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of water tank plate manufacturing, and in particular to a multi-robot collaborative workstation for manufacturing large water tank templates. Background Art

[0002] Stainless steel water tank is a kind of water storage equipment made of stainless steel as the main material. Large stainless steel water tank is usually welded by large water tank template.

[0003] The existing large water tank templates are mainly produced by a combination of forging machines, punching machines, angle cutting machines and other equipment and manual labor. The staff needs to put the stainless steel plate into the equipment for processing, and take it out of the equipment after processing and move it to the next processing equipment. Since manual handling is mostly used during transportation, the sharp edges of the stainless steel plate can easily scratch the staff, which is less safe. In addition, the transportation process requires a lot of manpower, which increases the labor intensity of the staff. Summary of the invention

[0004] The present invention provides a multi-robot collaborative workstation for the production of large water tank templates, which is used to solve the technical problems that the current transportation is mostly done by manual transportation, the sharp edges of stainless steel plates can easily scratch workers, the safety is low, and the transportation process requires a lot of manpower, which increases the labor intensity of workers.

[0005] In order to solve the above technical problems, the present invention discloses a multi-robot collaborative workstation for the production of large water tank templates, including: a production line, the production line includes a loading station, a positioning station, a forging station, a punching station, a corner cutting station and a unloading station arranged in sequence, a plurality of multi-axis robots are arranged on one side of the production line, a connecting column is arranged at the end of the multi-axis robot, and a suction cup assembly is arranged on the connecting column.

[0006] Preferably, the positioning station includes a workpiece positioning mechanism.

[0007] Preferably, the forging station comprises a forging press.

[0008] Preferably, the punching station comprises a punch.

[0009] Preferably, the beveling station comprises a beveling machine.

[0010] Preferably, the unloading station includes a storage AGV trolley.

[0011] Preferably, the suction cup assembly includes a suction platform, an suction pump is arranged on the suction platform, a suction cavity is arranged in the suction platform, an input end of the suction pump is connected with the suction cavity through a first connecting hole, a plurality of sliding cavities are arranged below the suction cavity, a bottom of the sliding cavity is connected with the below of the suction platform through a second connecting hole, a sliding plate is arranged for sliding in the sliding cavity, an upper surface of the sliding plate is connected with an upper surface of the sliding cavity through a plurality of connecting springs, a moving tube is arranged on the lower surface of the sliding plate, a lower end of the moving tube passes through the second connecting hole and a suction cup mechanism is arranged, a first telescopic hose is arranged on the upper end of the moving tube, an upper end of the first telescopic hose is connected with a lower end of a third connecting hole, the third connecting hole is arranged between the suction cavity and the sliding cavity, an upper end of the third connecting hole is connected with the suction cavity, a locking mechanism is arranged in the sliding cavity, and the locking mechanism is used to lock the moving tube.

[0012] Preferably, the suction cup mechanism includes an installation cavity arranged at the lower end of the movable tube, a connecting ball is rotatably arranged in the installation cavity, the inner wall of the installation cavity is adapted to the outer wall of the connecting ball, a first flow channel is arranged in the connecting ball, an air pipe is arranged at the lower end of the connecting ball, the upper end of the air pipe is connected to the first flow channel, and a suction cup body is arranged at the lower end of the air pipe.

[0013] Preferably, a second telescopic hose is arranged in the movable tube, the upper end of the second telescopic hose is communicated with the lower end of the first telescopic hose, and the lower end of the second telescopic hose is communicated with the upper end of the first flow channel.

[0014] Preferably, an anti-rotation mechanism is provided at the lower end of the movable tube, and the anti-rotation mechanism is used to fix the connecting ball in the installation cavity, and the anti-rotation mechanism includes an annular cavity, which is provided inside the lower end of the movable tube, one side of the annular cavity is connected with the inside of the installation cavity, and the midpoint of the annular cavity is located directly below the center of the connecting ball. An annular anti-slide plate is slidably provided in the annular cavity, and the side of the annular anti-slide plate close to the connecting ball is matched with the outer wall of the connecting ball, and the upper surface of the annular anti-slide plate is connected to the top wall of the annular cavity through a plurality of reset springs, and a sealing hole is provided on the annular cavity, and the lower end of the sealing hole is connected with the annular cavity, and a sealing block is provided in the sealing hole, and the lower surface of the sealing block is connected to the upper surface of the annular anti-slide plate through a connecting rod, and the upper end of the sealing hole is connected with one end of the second flow channel, and the other end of the second flow channel is connected to the second telescopic hose through a third telescopic hose, and the second flow channel is provided on the side wall of the movable tube.

[0015] The technical solution of the present invention has the following advantages: the present invention provides a multi-robot collaborative workstation for the production of large water tank templates, which relates to the technical field of water tank plate production, including a production line, the production line includes a loading station, a positioning station, a forging station, a punching station, a corner cutting station and a unloading station arranged in sequence, and a plurality of multi-axis robots are arranged on one side of the production line, and a connecting column is arranged at the end of the multi-axis robot, and a suction cup assembly is arranged on the connecting column. In the present invention, the multi-axis robot can absorb the stainless steel plate through the suction cup assembly, and complete the process of transporting, loading and unloading the stainless steel plate. The multi-axis robot transport replaces manual transport, and no manual participation is required in the production process, which reduces the labor intensity of the staff and reduces the occurrence of production accidents. In addition, the automatic transport of the multi-axis robot improves the automation level of the production line, greatly improving the production efficiency.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the devices particularly pointed out in the written description and the drawings of the description.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is the overall layout diagram of the multi-robot collaborative workstation used for making large water tank templates of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection between the multi-axis robot and the suction cup assembly in the present invention;

[0021] Figure 3 This is a schematic diagram of the internal structure of the suction cup assembly of the present invention;

[0022] Figure 4 For the present invention Figure 3 A magnified view of the structure at center;

[0023] Figure 5 For the present invention Figure 3 A magnified view of the structure at B in the middle;

[0024] Figure 6 It is a side view of the locking mechanism in the present invention.

[0025] In the figure: 1. Loading station; 2. Positioning station; 3. Forging station; 4. Punching station; 5. Angle cutting station; 6. Unloading station; 7. Multi-axis robot; 8. Connecting column; 9. Suction table; 10. Suction pump; 11. Suction cavity; 12. First connecting hole; 13. Sliding cavity; 14. Sliding plate; 15. Connecting spring; 16. Moving tube; 17. First telescopic hose; 18. Third connecting hole; 19. Mounting cavity; 20. Connecting ball; 21. First flow channel; 22. Air pipe; 23. Suction cup body; 24. Second telescopic hose; 25. Annular cavity; 26. Annular anti-slip plate; 27. Reset spring; 28 , sealing hole; 29, sealing block; 30, connecting rod; 31, second flow channel; 32, third telescopic hose; 33, locking rack; 34, locking gear; 35, rotating shaft; 36, arc-shaped shell; 37, fixed plate; 38, air cylinder; 39, piston block; 40, first spring; 41, fourth telescopic hose; 42, first contact plate; 43, first movable plate; 44, first rack; 45, fixed rod; 46, rotating shaft; 47, driving gear; 48, second rack; 49, second movable plate; 50, second contact plate; 51, pressure plate; 52, second spring; 53, long through hole; 54, driving plate. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] Example 1

[0029] The embodiment of the present invention provides a multi-robot collaborative workstation for making large water tank templates, such as Figure 1-Figure 6As shown, it includes: a production line, the production line includes a loading station 1, a positioning station 2, a forging station 3, a punching station 4, a corner cutting station 5 and a unloading station 6 which are arranged in sequence, a plurality of multi-axis robots 7 are arranged on one side of the production line, a connecting column 8 is arranged at the end of the multi-axis robot 7, and a suction cup assembly is arranged on the connecting column 8;

[0030] The positioning station 2 includes a workpiece positioning mechanism;

[0031] The forging station 3 includes a forging press;

[0032] The punching station 4 includes a punching machine;

[0033] The angle cutting station 5 includes an angle cutting machine;

[0034] Unloading station 6 includes a storage AGV trolley.

[0035] The working principle and beneficial effects of the above technical solution are as follows: the production line includes but is not limited to a U-shaped layout or a linear layout, the production line includes a loading station 1, a positioning station 2, a forging station 3, a punching station 4, a corner cutting station 5 and a unloading station 6 which are arranged in sequence, a multi-axis robot 7 can be arranged between two adjacent stations, and the multi-axis robot 7 can select a six-axis robot, a multi-layer stainless steel plate is placed at the loading station 1, the multi-axis robot 7 can absorb the stainless steel plate at the loading station 1 through the suction cup assembly, and then place the stainless steel plate on the workpiece positioning mechanism to complete the loading, the workpiece positioning mechanism can select a stainless steel plate positioning bed, and use the stainless steel plate's own gravity to adjust the position of the stainless steel plate, and then the multi-axis robot 7 absorbs the stainless steel plate after the adjusted position and transports the stainless steel plate to the forging press, the stainless steel plate is forged by the forging press into a large stainless steel water tank template, and then the multi-axis robot 7 transports the large stainless steel water tank template to the punching machine for positioning, and the punching is completed. If the large template of the stainless steel water tank is a non-standard large template, its punching is completed by a laser cutting machine; then the multi-axis robot 7 transports the punched large template of the stainless steel water tank to the angle cutting machine for angle cutting. After the angle cutting is completed, the multi-axis robot 7 transports the large template of the stainless steel water tank after angle cutting to the storage AGV trolley to complete the unloading. Finally, the storage AGV trolley automatically transports the large template of the stainless steel water tank to the set place to complete the automatic production of the large template of the stainless steel water tank. In the present invention, the multi-axis robot 7 can absorb the stainless steel plate through the suction cup assembly, and complete the transportation, loading and unloading processes of the stainless steel plate. The transportation by the multi-axis robot 7 replaces manual transportation. No manual participation is required in the production process, which reduces the labor intensity of the staff, reduces the occurrence of production accidents, and improves the safety of the production of the large template of the water tank. In addition, the automatic transportation of the multi-axis robot 7 improves the automation degree of the production line, greatly improving the production efficiency.

[0036] Example 2

[0037] On the basis of the above-mentioned embodiment 1, Figure 2-Figure 4 As shown, the suction cup assembly includes an air suction platform 9, an air suction pump 10 is arranged on the air suction platform 9, an air suction chamber 11 is arranged in the air suction platform 9, an input end of the air suction pump 10 is connected with the air suction chamber 11 through a first connecting hole 12, a plurality of sliding chambers 13 are arranged below the air suction chamber 11, the bottom of the sliding chamber 13 is connected with the bottom of the air suction platform 9 through a second connecting hole, a sliding plate 14 is slidably arranged in the sliding chamber 13, the upper surface of the sliding plate 14 is connected with the upper surface of the sliding chamber 13 through a plurality of connecting springs 15, a moving tube 16 is arranged on the lower surface of the sliding plate 14, the lower end of the moving tube 16 passes through the second connecting hole and is provided with a suction cup mechanism, a first telescopic hose 17 is arranged on the upper end of the moving tube 16, the upper end of the first telescopic hose 17 is connected with the lower end of the third connecting hole 18, the third connecting hole 18 is arranged between the air suction chamber 11 and the sliding chamber 13, the upper end of the third connecting hole 18 is connected with the air suction chamber 11, a locking mechanism is arranged in the sliding chamber 13, and the locking mechanism is used to lock the moving tube 16;

[0038] The suction cup mechanism includes a mounting cavity 19 disposed at the lower end of the moving tube 16, a connecting ball 20 is rotatably disposed in the mounting cavity 19, the inner wall of the mounting cavity 19 is adapted to the outer wall of the connecting ball 20, a first flow channel 21 is disposed in the connecting ball 20, an air pipe 22 is disposed at the lower end of the connecting ball 20, the upper end of the air pipe 22 is connected to the first flow channel 21, and a suction cup body 23 is disposed at the lower end of the air pipe 22;

[0039] A second telescopic hose 24 is disposed in the moving tube 16 . The upper end of the second telescopic hose 24 is communicated with the lower end of the first telescopic hose 17 , and the lower end of the second telescopic hose 24 is communicated with the upper end of the first flow channel 21 .

[0040] The working principle and beneficial effects of the above technical solution are as follows: a solenoid valve is arranged in the first connecting hole 12. When transporting the stainless steel plate, the suction cup assembly is first moved to the top of the stainless steel plate by the multi-axis robot 7, and then the suction table 9 is placed downward so that the suction cup body 23 contacts the surface of the stainless steel plate, and then the suction pump 10 and the solenoid valve are started. The gas in the suction cup body 23 enters the first flow channel 21 through the air pipe 22, and then flows into the first telescopic hose 17 through the second telescopic hose 24, and flows into the suction cavity 11. After the gas flows out through the suction pump 10, the solenoid valve is closed. At this time, the suction cup body 23 can realize negative pressure adsorption on the surface of the stainless steel plate. After being transported to the target position, the solenoid valve is opened to allow external gas to enter the suction The suction cup body 23 is separated from the surface of the stainless steel plate by the suction chamber 11 and finally flows into the suction cup body 23; a sliding chamber 13 is arranged in the suction platform 9, a sliding plate 14 is slidingly arranged in the sliding chamber 13, a distance sensor and a controller are arranged at the bottom of the suction platform 9, and the controller is electrically connected with the distance sensor, the multi-axis robot 7 and the suction pump 10 respectively. The distance sensor can detect the distance from the lower surface of the suction platform 9 to the upper surface of the stainless steel plate. When the distance from the lower surface of the suction platform 9 to the upper surface of the stainless steel plate detected by the distance sensor reaches the preset distance, the controller controls the multi-axis robot 7 to stop lowering, and then the suction pump 10 starts to start suctioning. When the surface of the stainless steel plate is uneven, different suction cup bodies 23 and the surface of the stainless steel plate are uneven. After contact, it can drive the air pipe 22 to move upward, and drive the moving tube 16 to move upward through the connecting ball 20, and the moving tube 16 drives the sliding plate 14 to slide upward in the sliding cavity 13, and the connecting spring 15 is compressed. For stainless steel plate planes of different heights, the sliding plate 14 slides upward by different distances, so that the suction cup body 23 can all contact with the surface of the stainless steel plate, and then the moving tube 16 is locked by the locking mechanism. After multiple suction cup bodies 23 adsorb the surface of the stainless steel plate, the transportation of the stainless steel plate can be completed. Through the above scheme, the suction cup mechanism can adapt to the uneven stainless steel plate, which improves the adaptability of the suction cup mechanism, and when the inclination degree of the stainless steel plate surface is different, the suction cup body 23 and the stainless steel plate When the surface is in contact, the connecting ball 20 can rotate in the installation cavity 19, thereby adjusting the angle of the suction cup body 23, so that the suction cup body 23 can adapt to stainless steel surfaces with different inclination degrees, expanding the application range of the suction cup mechanism, and multiple suction cup bodies 23 can adsorb the surface of the stainless steel plate, thereby improving the stability and reliability of the transportation process, ensuring the transportation efficiency, and further improving the production efficiency of the large water tank template. At the same time, it avoids the stainless steel plate from falling and being damaged during transportation, improves safety, and ensures the production quality of the large water tank template. When the connecting ball 20 rotates in the installation cavity 19, the second telescopic hose 24 is correspondingly telescopic, ensuring the reliability of the connection between the inside of the second telescopic hose 24 and the first flow channel 21.

[0041] Example 3

[0042] On the basis of Example 2, Figure 3 , Figure 4 As shown, an anti-rotation mechanism is provided at the lower end of the moving tube 16, and the anti-rotation mechanism is used to fix the connecting ball 20 in the installation cavity 19. The anti-rotation mechanism includes an annular cavity 25, and the annular cavity 25 is provided inside the lower end of the moving tube 16. One side of the annular cavity 25 is connected with the inside of the installation cavity 19. The midpoint of the annular cavity 25 is located directly below the center of the connecting ball 20. An annular anti-slide plate 26 is slidably provided in the annular cavity 25. The annular anti-slide plate 26 is adapted to the outer wall of the connecting ball 20 near the side of the connecting ball 20. The upper surface of the annular anti-slide plate 26 is connected to the top wall of the annular cavity 25 through a plurality of return springs 27. A sealing hole 28 is provided on the annular cavity 25. The lower end of the sealing hole 28 is connected with the annular cavity 25. A sealing block 29 is provided in the sealing hole 28. The lower surface of the sealing block 29 is connected to the upper surface of the annular anti-slide plate 26 through a connecting rod 30. The upper end of the sealing hole 28 is connected with one end of the second flow channel 31. The other end of the second flow channel 31 is connected to the second telescopic hose 24 through a third telescopic hose 32. The second flow channel 31 is provided on the side wall of the moving tube 16.

[0043] The working principle and beneficial effects of the above technical solution are as follows: when the suction pump 10 inhales, the gas in the sealing hole 28 can flow into the third telescopic hose 32 through the second flow channel 31, and then flow into the second telescopic hose 24 through the third telescopic hose 32, and the air pressure in the sealing hole 28 is reduced, so that the sealing block 29 slides upward in the sealing hole 28, and the sealing block 29 drives the annular anti-skid plate 26 to slide upward in the annular cavity 25 through the connecting rod 30, and the inner wall of the annular anti-skid plate 26 can be in close contact with the outer wall of the connecting ball 20. The annular anti-skid plate 26 is made of anti-slip material. The contact of the bottom wall of the connecting ball 20 can prevent the connecting ball 20 from rotating in the installation cavity 19, so that the suction cup body 23 is maintained at a fixed angle, avoiding the separation of the suction cup body 23 and the surface of the stainless steel plate during transportation, thereby improving the reliability of the adsorption of the suction cup body 23. After the transportation is completed, gas is introduced into the sealing hole 28. Under the action of the reset spring 27, the annular anti-skid plate 26 slides downward and returns to its original position. At this time, the inner wall of the annular anti-skid plate 26 is separated from the outer wall of the connecting ball 20, and the connecting ball 20 can flexibly rotate and change the angle in the installation cavity 19 to adapt to the surfaces of stainless steel plates of different shapes.

[0044] Example 4

[0045] On the basis of Example 2 or 3, Figure 5 , Figure 6As shown, the locking mechanism includes: a locking rack 33 and a locking gear 34, the locking rack 33 is arranged on the side wall of the moving tube 16, the locking gear 34 is located below the sliding plate 14, the locking gear 34 is rotatably connected to the inner walls of the front and rear sides of the sliding cavity 13 through a rotating shaft 35, the locking gear 34 is meshed with the locking rack 33 on the side away from the moving tube 16, an arc-shaped shell 36 is arranged outside the locking gear 34, the outer wall of the arc-shaped shell 36 is connected to the inner wall of the sliding cavity 13 through a fixing plate 37, an air cylinder 38 is arranged on the inner wall of the arc-shaped shell 36, a piston block 39 is slidably arranged in the air cylinder 38, and the piston block 39 is slidably arranged in the air cylinder 38. The side of the gas cylinder 38 away from the locking gear 34 is connected to the inner wall of the gas cylinder 38 through a plurality of first springs 40, and the side of the gas cylinder 38 away from the locking gear 34 is connected to the inside of the first telescopic hose 17 through a fourth telescopic hose 41. A first contact plate 42 is provided on the side of the locking gear 34 away from the piston block 39, and a first movable plate 43 is provided on the upper end of the first contact plate 42. The upper end of the first movable plate 43 is connected to the inner wall of the upper end of the arc-shaped housing 36 for forward and backward sliding. A first rack 44 is provided on the side of the first movable plate 43 close to the piston block 39, and the first rack 44 is connected to the side wall of the piston block 39 through a fixing rod 45.

[0046] The working principle and beneficial effects of the above technical solution are as follows: after the suction pump 10 is started, the gas in the air cylinder 38 is pumped into the first telescopic hose 17 through the fourth telescopic hose 41, and the piston block 39 moves away from the locking gear 34 under the action of negative pressure, and the first spring 40 is compressed. At the same time, the piston block 39 drives the first rack 44 to move toward the fourth telescopic hose 41 through the fixing rod 45, and the first rack 44 drives the first movable plate 43 to slide along the inner wall of the upper end of the arc-shaped shell 36, and the first movable plate 43 drives the first contact plate 42 to move toward the locking gear 34 and is in close contact with the outer wall of the locking gear 34. The locking gear 34 can be fixed by the contact between the first contact plate 42 and the outer wall of the locking gear 34. It meshes with the locking gear 34. At this time, the locking rack 33 cannot move up and down, making the moving tube 16 unable to move up and down. The moving tube 16 is locked, and the sliding plate 14 in the sliding cavity 13 cannot slide up and down. The suction cup body 23 is not easily separated from the surface of the stainless steel plate, which improves the adsorption capacity of the suction cup body 23 and improves the stability of the stainless steel plate during transportation. After the transportation is completed, gas is introduced into the suction cavity 11, and the gas enters the fourth telescopic hose 41 through the first telescopic hose 17. Then the piston block 39 can return to its original position under the action of the first spring 40, so that the first contact plate 42 is separated from the outer wall of the locking gear 34. At this time, the moving tube 16 can move up and down, so that the suction cup body 23 can adsorb stainless steel plates on different surfaces, thereby improving the adaptability.

[0047] Example 5

[0048] On the basis of Example 4, Figure 6As shown, a rotating shaft 46 is arranged above the locking gear 34, and both ends of the rotating shaft 46 are rotatably connected to the inner wall of the arc-shaped outer shell 36 respectively. The rotating shaft 46 is perpendicular to the first rack 44. A driving gear 47 is arranged on the rotating shaft 46, and the driving gear 47 is meshed with the lower side of the first rack 44. A second rack 48 is arranged below the rotating shaft 46, and the second rack 48 is parallel to the first rack 44. A second movable plate 49 is arranged at one end of the second rack 48 close to the piston block 39, and the upper end of the second movable plate 49 is slidably connected to the inner wall of the upper end of the arc-shaped outer shell 36 front and back. A second contact plate 50 is arranged at the lower end of the second movable plate 49, and the second contact plate 50 is located on the side of the locking gear 34 close to the piston block 39, and the second contact plate 50 and the first contact plate 42 are symmetrically arranged front and back about the center line of the rotating shaft 46.

[0049] The working principle and beneficial effects of the above technical solution are as follows: the distance from the second contact plate 50 to the front side wall of the locking gear 34 is equal to the distance from the first contact plate 42 to the rear side wall of the locking gear 34. When the first contact plate 42 moves toward the direction close to the locking gear 34, the first rack 44 engages with the driving gear 47 to drive the driving gear 47 to rotate. The rotation of the driving gear 47 drives the second rack 48 to move away from the piston block 39. The second movable plate 49 slides toward the direction close to the locking gear 34 and drives the second contact plate 50 to move toward the direction close to the locking gear 34. The second contact plate 50 and the first contact plate 42 are in contact with the front and rear sides of the locking gear 34 respectively. Through the common contact of the first contact plate 42 and the second contact plate 50, the locking gear 34 is locked at the same time to prevent the locking gear 34 from rotating, thereby enhancing the locking effect of the locking gear 34 and improving the reliability of transportation.

[0050] Example 6

[0051] On the basis of Example 4 or 5, Figure 6 As shown, a pressure plate 51 is arranged above the locking gear 34, and one side of the pressure plate 51 is slidably connected to the inner wall of the rear side of the arc-shaped shell 36 up and down, and the upper surface of the pressure plate 51 is connected to the inner wall of the upper end of the arc-shaped shell 36 through a second spring 52, and a long through hole 53 is arranged in the pressure plate 51, and a first inclined surface is arranged at the front end of the long through hole 53, and a driving plate 54 is arranged on the lower surface of the first rack 44, and the driving plate 54 is perpendicular to the first rack 44, and the lower end of the driving plate 54 extends into the long through hole 53, and a second inclined surface is arranged on the lower end of the driving plate 54 close to the piston block 39, and the second inclined surface is parallel to the first inclined surface, and the second inclined surface contacts the first inclined surface.

[0052] The working principle and beneficial effects of the above technical solution are as follows: when the first contact plate 42 moves toward the direction close to the locking gear 34, the first rack 44 drives the driving plate 54 to move toward the direction close to the driving gear 47, and the second inclined surface at the lower end of the driving plate 54 slides along the first inclined surface, thereby driving the pressing plate 51 to slide downward, the second spring 52 is stretched, and the lower surface of the pressing plate 51 gradually contacts the upper side of the locking gear 34 and is pressed by the pressing plate 51. The locking gear 34 is fixed by the cooperation of the pressing plate 51, the first contact plate 42, and the second contact plate 50, so as to avoid the locking gear 34 from rotating at will during the transportation process, thereby enhancing the locking effect of the locking gear 34. The pressing plate 51, the first contact plate 42, and the second contact plate 50 are all made of anti-slip and wear-resistant materials, thereby further enhancing the locking effect of the locking gear 34, thereby preventing the moving tube 16 from moving up and down during the transportation process and causing the suction cup body 23 to separate from the surface of the stainless steel plate, thereby further enhancing the adsorption capacity of the suction cup body 23.

[0053] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-robot collaborative workstation for making large water tank templates, characterized by: include: The production line comprises a loading station (1), a positioning station (2), a forging station (3), a punching station (4), a corner cutting station (5) and a unloading station (6) which are arranged in sequence. A plurality of multi-axis robots (7) are arranged on one side of the production line. A connecting column (8) is arranged at the end of the multi-axis robot (7), and a suction cup assembly is arranged on the connecting column (8).

2. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The positioning station (2) comprises a workpiece positioning mechanism.

3. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The forging station (3) comprises a forging press.

4. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The punching station (4) comprises a punching machine.

5. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The corner cutting station (5) comprises a corner cutting machine.

6. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The unloading station (6) includes a storage AGV trolley.

7. The multi-robot collaborative workstation for making large water tank templates according to claim 1 is characterized in that: The suction cup assembly comprises an air suction platform (9), an air suction pump (10) is arranged on the air suction platform (9), an air suction cavity (11) is arranged in the air suction platform (9), an input end of the air suction pump (10) is connected with the air suction cavity (11) through a first connecting hole (12), a plurality of sliding cavities (13) are arranged below the air suction cavity (11), the bottom of the sliding cavity (13) is connected with the bottom of the air suction platform (9) through a second connecting hole, a sliding plate (14) is slidably arranged in the sliding cavity (13), and the upper surface of the sliding plate (14) is connected to the upper surface of the sliding cavity (13) through a plurality of connecting springs (15). The sliding plate (14) is connected with a second connecting hole, a moving tube (16) is arranged on the lower surface of the sliding plate (14), the lower end of the moving tube (16) passes through the second connecting hole and is provided with a suction cup mechanism, the upper end of the moving tube (16) is provided with a first telescopic hose (17), the upper end of the first telescopic hose (17) is connected with the lower end of the third connecting hole (18), the third connecting hole (18) is arranged between the suction chamber (11) and the sliding chamber (13), the upper end of the third connecting hole (18) is connected with the suction chamber (11), and a locking mechanism is arranged in the sliding chamber (13), the locking mechanism is used to lock the moving tube (16).

8. The multi-robot collaborative workstation for making large water tank templates according to claim 7 is characterized in that: The suction cup mechanism comprises a mounting cavity (19) arranged at the lower end of the moving tube (16), a connecting ball (20) is rotatably arranged in the mounting cavity (19), the inner wall of the mounting cavity (19) is adapted to the outer wall of the connecting ball (20), a first flow channel (21) is arranged in the connecting ball (20), an air pipe (22) is arranged at the lower end of the connecting ball (20), the upper end of the air pipe (22) is connected to the first flow channel (21), and a suction cup body (23) is arranged at the lower end of the air pipe (22).

9. The multi-robot collaborative workstation for making large water tank templates according to claim 8 is characterized in that: A second telescopic hose (24) is arranged in the moving tube (16); the upper end of the second telescopic hose (24) is connected to the lower end of the first telescopic hose (17); and the lower end of the second telescopic hose (24) is connected to the upper end of the first flow channel (21).

10. The multi-robot collaborative workstation for making large water tank templates according to claim 9 is characterized in that: An anti-rotation mechanism is arranged at the lower end of the moving tube (16), and the anti-rotation mechanism is used to fix the connecting ball (20) in the installation cavity (19). The anti-rotation mechanism comprises an annular cavity (25), and the annular cavity (25) is arranged inside the lower end of the moving tube (16). One side of the annular cavity (25) is connected with the inside of the installation cavity (19), and the midpoint of the annular cavity (25) is located directly below the center of the connecting ball (20). An annular anti-slide plate (26) is slidably arranged in the annular cavity (25), and the side of the annular anti-slide plate (26) close to the connecting ball (20) is adapted to the outer wall of the connecting ball (20), and the upper surface of the annular anti-slide plate (26) is connected to the connecting ball (20). The annular cavity (25) is connected to the top wall via a plurality of return springs (27); a sealing hole (28) is provided on the annular cavity (25); the lower end of the sealing hole (28) is communicated with the annular cavity (25); a sealing block (29) is provided in the sealing hole (28); the lower surface of the sealing block (29) is connected to the upper surface of the annular anti-slip plate (26) via a connecting rod (30); the upper end of the sealing hole (28) is communicated with one end of a second flow channel (31); the other end of the second flow channel (31) is connected to the second telescopic hose (24) via a third telescopic hose (32); and the second flow channel (31) is provided on the side wall of the moving tube (16).

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