Multi-robot collaborative workstation for the production of large formwork for water tanks

Abstract

The present invention provides a multi-robot collaborative workstation for the production of large formwork for water tanks, which relates to the technical field of water tank plate production. It includes a production line, which comprises a feeding station, a positioning station, a forging station, a punching station, a chamfering station and a blanking station arranged in sequence. Several 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 suck the stainless steel plate through the suction cup assembly, and complete the handling, feeding and blanking processes of the stainless steel plate. The handling by the multi-axis robot replaces manual handling, and there is no need for manual participation in the production process, which reduces the labor intensity of the staff, reduces the occurrence of production accidents, and improves the automation degree of the production line through the automatic handling of the multi-axis robot, greatly improving the production efficiency.

Description

Technical Field

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

[0002] A stainless steel water tank is a water storage device mainly made of stainless steel. Large stainless steel water tanks are usually welded by large water tank templates.

[0003] The existing large water tank templates are mainly produced by a combination of equipment such as forging presses, punching machines, and chamfering machines and manual labor. Workers need to put stainless steel plates into the equipment for processing, and after processing, take them out of the equipment and transport them to the next processing equipment. Since manual handling is mostly used during transportation, the sharp edges of the stainless steel plates are likely to scratch the workers, resulting in low safety, and the transportation process requires a large amount of labor, increasing the labor intensity of the workers. Summary of the Invention

[0004] The present invention provides a multi-robot collaborative workstation for manufacturing large water tank templates to solve the technical problems that during the current transportation, manual handling is mostly used, the sharp edges of the stainless steel plates are likely to scratch the workers, resulting in low safety, and the transportation process requires a large amount of labor, increasing the labor intensity of the workers.

[0005] To solve the above technical problems, the present invention discloses a multi-robot collaborative workstation for manufacturing large water tank templates, including: a production line, which includes a loading station, a positioning station, a forging station, a punching station, a chamfering station, and an unloading station arranged in sequence. Several 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.

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

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

[0008] Preferably, the punching station includes a punching machine.

[0009] Preferably, the chamfering station includes a chamfering machine.

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

[0011] Preferably, the suction cup assembly includes a suction table, a suction pump is arranged on the suction table, a suction cavity is arranged inside the suction table, the input end of the suction pump is communicated with the suction cavity through a first communication hole, a plurality of sliding cavities are arranged below the suction cavity, the bottom of the sliding cavity is communicated with the lower part of the suction table through a second communication hole, a sliding plate is slidably arranged in the sliding cavity, the upper surface of the sliding plate is connected with the upper surface of the sliding cavity through a plurality of connecting springs, a moving pipe is arranged on the lower surface of the sliding plate, the lower end of the moving pipe passes through the second communication hole and is provided with a suction cup mechanism, the upper end of the moving pipe is provided with a first telescopic hose, the upper end of the first telescopic hose is connected with the lower end of a third communication hole, the third communication hole is arranged between the suction cavity and the sliding cavity, the upper end of the third communication hole is communicated with the suction cavity, and a locking mechanism is arranged in the sliding cavity and is used for locking the moving pipe.

[0012] Preferably, the suction cup mechanism includes an installation cavity arranged at the lower end of the moving pipe, a communicating ball is rotatably arranged in the installation cavity, the inner wall of the installation cavity is adapted to the outer wall of the communicating ball, a first flow channel is arranged in the communicating ball, an air pipe is arranged at the lower end of the communicating ball, the upper end of the air pipe is communicated with 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 moving pipe, 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 arranged at the lower end of the moving pipe, and the anti-rotation mechanism is used for fixing the communicating ball in the installation cavity. The anti-rotation mechanism includes an annular cavity arranged inside the lower end of the moving pipe, one side of the annular cavity is communicated with the inside of the installation cavity, the midpoint of the annular cavity is directly below the center of the ball of the communicating ball, an annular anti-slip plate is slidably arranged in the annular cavity, the side of the annular anti-slip plate close to the communicating ball is adapted to the outer wall of the communicating ball, the upper surface of the annular anti-slip plate is connected with the top wall of the annular cavity through a plurality of return springs, a sealing hole is arranged on the annular cavity, the lower end of the sealing hole is communicated with the annular cavity, a sealing block is arranged in the sealing hole, the lower surface of the sealing block is connected with the upper surface of the annular anti-slip plate through a connecting rod, the upper end of the sealing hole is communicated with one end of a second flow channel, the other end of the second flow channel is connected with the second telescopic hose through a third telescopic hose, and the second flow channel is arranged on the side wall of the moving pipe.

[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 formworks for water tanks, which relates to the technical field of water tank plate production. It includes a production line, which successively includes a loading station, a positioning station, a forging station, a punching station, a chamfering station, and an unloading station. Several 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 suck the stainless steel plate through the suction cup assembly, and complete the handling, loading, and unloading processes of the stainless steel plate. The handling by the multi-axis robot replaces manual handling, and no manual participation is required during the production process, which reduces the labor intensity of the staff, reduces the occurrence of production accidents, and improves the automation level of the production line through the automatic handling of the multi-axis robot, thus greatly improving the production efficiency.

[0016] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the devices specifically pointed out in the written specification and the accompanying drawings of the specification.

[0017] The following will further describe the technical solution of the present invention in detail through the drawings and embodiments. Description of the Drawings

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

[0019] Figure 1 is the overall layout diagram of the multi-robot collaborative workstation for the production of large formworks for water tanks of the present invention;

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

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

[0022] Figure 4 is for the present invention Figure 3 is the enlarged view of the structure at A in the present invention;

[0023] Figure 5 is for the present invention Figure 3 is the enlarged view of the structure at B in the present invention;

[0024] Figure 6 is the 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, chamfering station; 6, unloading station; 7, multi-axis robot; 8, connecting column; 9, suction table; 10, suction pump; 11, suction chamber; 12, first communication hole; 13, sliding chamber; 14, sliding plate; 15, connecting spring; 16, moving pipe; 17, first telescopic hose; 18, third communication hole; 19, installation chamber; 20, communicating ball; 21, first flow channel; 22, air pipe; 23, suction cup body; 24, second telescopic hose; 25, annular chamber; 26, annular anti-slip plate; 27, return 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 housing; 37, fixing plate; 38, air cylinder; 39, piston block; 40, first spring; 41, fourth telescopic hose; 42, first contact plate; 43, first moving plate; 44, first rack; 45, fixed rod; 46, rotating shaft; 47, driving gear; 48, second rack; 49, second moving plate; 50, second contact plate; 51, pressing plate; 52, second spring; 53, long strip through hole; 54, driving plate. Detailed implementation manners

[0026] The preferred embodiments of the present invention will be described below with reference to 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, descriptions such as "first" and "second" are only for descriptive purposes, and do not particularly refer to the meaning of 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 quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions and technical features between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0028] Embodiment 1

[0029] The embodiment of the present invention provides a multi-robot collaborative workstation for the production of large formworks for water tanks, as Figures 1-6As shown in the figure, it includes: a production line, which includes a feeding station 1, a positioning station 2, a forging station 3, a punching station 4, a chamfering station 5 and a blanking station 6 arranged in sequence. Several 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 chamfering station 5 includes a chamfering machine;

[0034] The blanking station 6 includes a warehousing AGV cart.

[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 feeding station 1, a positioning station 2, a forging station 3, a punching station 4, a chamfering station 5 and a blanking station 6 arranged in sequence. Multi-axis robots 7 can be arranged between adjacent two stations. The multi-axis robot 7 can be a six-axis robot. Multiple layers of stainless steel plates are placed at the feeding station 1. The multi-axis robot 7 can suck the stainless steel plates at the feeding station 1 through the suction cup assembly, and then place the stainless steel plates on the workpiece positioning mechanism to complete feeding. The workpiece positioning mechanism can be a stainless steel plate positioning bed, which uses the self-gravity of the stainless steel plate to adjust the position of the stainless steel plate. Then the multi-axis robot 7 sucks the stainless steel plate after adjusting the position and transports the stainless steel plate to the forging press. The stainless steel plate is forged into a large template of a stainless steel water tank by the forging press. Then the multi-axis robot 7 transports the large template of the stainless steel water tank to the punching machine for positioning and completes punching. If the large template of the stainless steel water tank is a non-standard large template, the 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 chamfering machine for chamfering. After chamfering, the multi-axis robot 7 transports the chamfered large template of the stainless steel water tank to the warehousing AGV cart to complete blanking. Finally, the warehousing AGV cart automatically transports the large template of the stainless steel water tank to a 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 suck the stainless steel plates through the suction cup assembly and complete the transportation, feeding and blanking processes of the stainless steel plates. The transportation by the multi-axis robot 7 replaces manual transportation. No manual participation is required during the production process, which reduces the labor intensity of the staff, reduces the occurrence of production accidents, improves the safety of the production of the large template of the water tank, and improves the automation degree of the production line through the automatic transportation of the multi-axis robot 7, thus greatly improving the production efficiency.

[0036] Embodiment 2

[0037] On the basis of the above Embodiment 1, asFigures 2-4 As shown, the suction cup assembly includes a suction table 9, a suction pump 10 is arranged on the suction table 9, a suction cavity 11 is arranged inside the suction table 9, the input end of the suction pump 10 is communicated with the suction cavity 11 through a first communication hole 12, several sliding cavities 13 are arranged below the suction cavity 11, the bottom of the sliding cavity 13 is communicated with the lower part of the suction table 9 through a second communication hole, a sliding plate 14 is slidably arranged in the sliding cavity 13, the upper surface of the sliding plate 14 is connected with the upper surface of the sliding cavity 13 through several connecting springs 15, a moving pipe 16 is arranged on the lower surface of the sliding plate 14, the lower end of the moving pipe 16 passes through the second communication hole and is provided with a suction cup mechanism, the upper end of the moving pipe 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 a third communication hole 18, the third communication hole 18 is arranged between the suction cavity 11 and the sliding cavity 13, the upper end of the third communication hole 18 is communicated with the suction cavity 11, and a locking mechanism is arranged in the sliding cavity 13 for locking the moving pipe 16;

[0038] The suction cup mechanism includes an installation cavity 19 arranged at the lower end of the moving pipe 16, a communicating ball 20 is rotatably arranged in the installation cavity 19, the inner wall of the installation cavity 19 is adapted to the outer wall of the communicating ball 20, a first flow channel 21 is arranged inside the communicating ball 20, an air pipe 22 is arranged at the lower end of the communicating ball 20, the upper end of the air pipe 22 is communicated with the first flow channel 21, and a suction cup body 23 is arranged at the lower end of the air pipe 22;

[0039] A second telescopic hose 24 is arranged inside the moving pipe 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: An electromagnetic valve is provided in the first communication hole 12. When handling the stainless steel plate, first, the multi-axis robot 7 moves the suction cup assembly above the stainless steel plate, and then the suction table 9 is placed downward so that the suction cup body 23 contacts the surface of the stainless steel plate. Then, the suction pump 10 and the electromagnetic valve are started. The gas in the suction cup body 23 enters the first flow channel 21 through the air pipe 22, 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 electromagnetic valve is closed. At this time, the suction cup body 23 can achieve negative pressure adsorption on the surface of the stainless steel plate. After being transported to the target position, the electromagnetic valve is opened, and external gas is introduced into the suction cavity 11 and finally flows into the suction cup body 23, so that the suction cup body 23 can be separated from the surface of the stainless steel plate; A sliding cavity 13 is provided in the suction table 9, and a sliding plate 14 is slidably arranged in the sliding cavity 13. A distance sensor and a controller are provided at the bottom of the suction table 9. The controller is electrically connected to 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 table 9 to the upper surface of the stainless steel plate. When the distance from the lower surface of the suction table 9 detected by the distance sensor to the upper surface of the stainless steel plate reaches the preset distance, the controller controls the multi-axis robot 7 to stop lowering, and then the suction pump 10 starts to suck air. When the surface of the stainless steel plate is uneven, after different suction cup bodies 23 contact the surface of the stainless steel plate, they can drive the air pipe 22 to move upward, and drive the moving pipe 16 to move upward through the connecting ball 20. The moving pipe 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 with different heights, the upward sliding distance of the sliding plate 14 is different, so that the suction cup body 23 can contact the surface of the stainless steel plate. Then, the moving pipe 16 is locked by the locking mechanism. After multiple suction cup bodies 23 adsorb the surface of the stainless steel plate, the handling of the stainless steel plate can be completed. Through the above solution, the suction cup mechanism can adapt to the uneven stainless steel plate, improving the adaptability of the suction cup mechanism. Moreover, when the inclination degree of the stainless steel plate surface is different, when the suction cup body 23 contacts the surface of the stainless steel plate, 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 applicable range of the suction cup mechanism. Multiple suction cup bodies 23 can adsorb the surface of the stainless steel plate, improving the stability and reliability of the handling process, ensuring the handling efficiency, further improving the production efficiency of the water tank formwork, and at the same time avoiding damage to the stainless steel plate due to dropping during the handling process, improving safety and ensuring the quality of the water tank formwork. When the connecting ball 20 rotates in the installation cavity 19, the second telescopic hose 24 expands and contracts correspondingly, ensuring the reliability of the connection between the inside of the second telescopic hose 24 and the first flow channel 21.

[0041] Embodiment 3

[0042] On the basis of Embodiment 2, as Figure 3 and Figure 4 shown, an anti-rotation mechanism is provided at the lower end of the moving pipe 16. The anti-rotation mechanism is used to fixedly install the communication ball 20 in the installation cavity 19. The anti-rotation mechanism includes an annular cavity 25. The annular cavity 25 is arranged inside the lower end of the moving pipe 16. One side of the annular cavity 25 communicates with the inside of the installation cavity 19. The midpoint of the annular cavity 25 is directly below the center of the sphere of the communication ball 20. An annular anti-slip plate 26 is slidably arranged in the annular cavity 25. The side of the annular anti-slip plate 26 close to the communication ball 20 is adapted to the outer wall of the communication ball 20. The upper surface of the annular anti-slip 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 communicates with the annular cavity 25. A sealing block 29 is arranged 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 through a connecting rod 30. The upper end of the sealing hole 28 communicates 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 through a third telescopic hose 32. The second flow channel 31 is arranged on the side wall of the moving pipe 16.

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

[0044] Embodiment 4

[0045] On the basis of Embodiment 2 or 3, as Figure 5 and Figure 6As shown in the figure, 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 pipe 16. The locking gear 34 is located below the sliding plate 14. The locking gear 34 is rotatably connected to the front and rear inner walls of the sliding cavity 13 through a rotating shaft 35. The locking gear 34 meshes with the side of the locking rack 33 away from the moving pipe 16. An arc-shaped outer shell 36 is arranged outside the locking gear 34. The outer wall of the arc-shaped outer 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 outer shell 36. A piston block 39 is slidably arranged in the air cylinder 38. One side of the piston block 39 away from the locking gear 34 is connected to the inner wall of the air cylinder 38 through a plurality of first springs 40. One side of the air cylinder 38 away from the locking gear 34 is internally communicated with the inside of the first telescopic hose 17 through a fourth telescopic hose 41. One side of the locking gear 34 away from the piston block 39 is provided with a first contact plate 42. The upper end of the first contact plate 42 is provided with a first moving plate 43. The upper end of the first moving plate 43 is slidably connected to the upper inner wall of the arc-shaped outer shell 36 in the front and rear directions. One side of the first moving plate 43 close to the piston block 39 is provided with a first rack 44. 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. The piston block 39 moves in the direction 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 in the direction close to the fourth telescopic hose 41 through the fixing rod 45. The first rack 44 drives the first moving plate 43 to slide along the upper inner wall of the arc-shaped outer shell 36. The first moving plate 43 drives the first contact plate 42 to move in the direction close to 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. Since the locking rack 33 meshes with the locking gear 34, the locking rack 33 cannot move up and down at this time, so that the moving pipe 16 cannot move up and down, the moving pipe 16 is locked, the sliding plate 14 in the sliding cavity 13 cannot slide up and down, and the suction cup body 23 is not easily separated from the surface of the stainless steel plate, improving the adsorption capacity of the suction cup body 23 and the stability of the stainless steel plate during the handling process. After the handling is completed, gas is introduced into the suction cavity 11. 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 pipe 16 can move up and down, so that the suction cup body 23 can adsorb stainless steel plates with different surfaces, improving the adaptability.

[0047] Embodiment 5

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

[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 towards the locking gear 34, the first rack 44 meshes 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 moving plate 49 slides towards the locking gear 34 and drives the second contact plate 50 to move towards the locking gear 34. The second contact plate 50 and the first contact plate 42 respectively contact the front and rear sides of the locking gear 34. Through the common contact of the first contact plate 42 and the second contact plate 50, the locking gear 34 is locked simultaneously, preventing the locking gear 34 from rotating, enhancing the locking effect on the locking gear 34, and improving the reliability of handling.

[0050] Embodiment 6

[0051] On the basis of Embodiment 4 or 5, as Figure 6 shown in the figure, a pressing plate 51 is arranged above the locking gear 34. One side of the pressing plate 51 is slidably connected to the inner wall of the rear side of the arc-shaped housing 36 in the up and down direction. The upper surface of the pressing plate 51 is connected to the inner wall of the upper end of the arc-shaped housing 36 through a second spring fifty-two. A long strip through hole 53 is arranged in the pressing plate 51. A first inclined surface is arranged at the front end of the long strip through hole 53. A driving plate 54 is arranged on the lower surface of the first rack 44. The driving plate 54 is perpendicular to the first rack 44. The lower end of the driving plate 54 extends into the long strip through hole 53. A second inclined surface is arranged on the side of the lower end of the driving plate 54 close to the piston block 39. The second inclined surface is parallel to the first inclined surface. 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 towards the locking gear 34, the first rack 44 drives the driving plate 54 to move towards the driving gear 47. The second inclined surface at the lower end of the driving plate 54 then slides along the first inclined surface, thereby driving the pressing plate 51 to slide downwards. The second spring 52 is stretched, and the lower surface of the pressing plate 51 gradually comes into contact with the upper side of the locking gear 34 and presses it tightly. Through the cooperation of the pressing plate 51, the first contact plate 42, and the second contact plate 50, the locking gear 34 is fixed, preventing the locking gear 34 from rotating randomly during handling, enhancing the locking effect on 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, further enhancing the locking effect on the locking gear 34, preventing the moving pipe 16 from moving up and down during handling and causing the suction cup body 23 to separate from the surface of the stainless steel plate, and further enhancing the adsorption capacity of the suction cup body 23.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0054] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, 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, it is not limited to only the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrated examples here.

Claims

1. A multi-robot collaborative workstation for the production of large formwork for water tanks, characterized in that, Including: A production line, which includes a loading station (1), a positioning station (2), a forging station (3), a punching station (4), a chamfering station (5), and an unloading station (6) arranged in sequence. Several 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). The suction cup assembly includes a suction table (9). A suction pump (10) is arranged on the suction table (9). A suction cavity (11) is arranged inside the suction table (9). The input end of the suction pump (10) is communicated with the suction cavity (11) through a first communication hole (12). Several sliding cavities (13) are arranged below the suction cavity (11). The bottom of the sliding cavity (13) is communicated with the lower part of the suction table (9) through a second communication hole. A sliding plate (14) is slidably arranged in the sliding cavity (13). The upper surface of the sliding plate (14) is connected with the upper surface of the sliding cavity (13) through several connecting springs (15). A moving pipe (16) is arranged on the lower surface of the sliding plate (14). The lower end of the moving pipe (16) passes through the second communication hole and a suction cup mechanism is arranged. The upper end of the moving pipe (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 a third communication hole (18). The third communication hole (18) is arranged between the suction cavity (11) and the sliding cavity (13). The upper end of the third communication hole (18) is communicated with the suction cavity (11). A locking mechanism is arranged in the sliding cavity (13), and the locking mechanism is used to lock the moving pipe (16). 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 pipe (16). The locking gear (34) is located below the sliding plate (14). The locking gear (34) is rotatably connected with the front and rear inner walls of the sliding cavity (13) through a rotating shaft (35). The locking gear (34) meshes with the side of the locking rack (33) away from the moving pipe (16). An arc-shaped outer shell (36) is arranged outside the locking gear (34). The outer wall of the arc-shaped outer shell (36) is connected with 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 outer shell (36). A piston block (39) is slidably arranged in the air cylinder (38). The side of the piston block (39) away from the locking gear (34) is connected with the inner wall of the air cylinder (38) through several first springs (40). The side of the air cylinder (38) away from the locking gear (34) is communicated with the inside of the first telescopic hose (17) through a fourth telescopic hose (41). A first contact plate (42) is arranged on the side of the locking gear (34) away from the piston block (39). A first moving plate (43) is arranged at the upper end of the first contact plate (42). The upper end of the first moving plate (43) is slidably connected with the upper inner wall of the arc-shaped outer shell (36) in the front and rear directions. A first rack (44) is arranged on the side of the first moving plate (43) close to the piston block (39). The first rack (44) is connected with the side wall of the piston block (39) through a fixing rod (45). Above the locking gear (34), a rotating shaft (46) is provided. Both ends of the rotating shaft (46) are rotatably connected to the inner wall of the arc-shaped housing (36). The rotating shaft (46) is perpendicular to the first rack (44). A driving gear (47) is provided on the rotating shaft (46). The driving gear (47) meshes with the lower side of the first rack (44). Below the rotating shaft (46), a second rack (48) is provided. The second rack (48) is parallel to the first rack (44). At one end of the second rack (48) close to the piston block (39), a second moving plate (49) is provided. The upper end of the second moving plate (49) is slidably connected to the front and rear inner walls of the upper end of the arc-shaped housing (36). The lower end of the second moving plate (49) is provided with a second contact plate (50). The second contact plate (50) is located on the side of the locking gear (34) close to the piston block (39). The second contact plate (50) and the first contact plate (42) are symmetrically arranged about the center line of the rotating shaft (46) in the front and rear directions. Above the locking gear (34), a pressing plate (51) is provided. One side of the pressing plate (51) is slidably connected to the upper and lower inner walls of the rear side of the arc-shaped housing (36). The upper surface of the pressing plate (51) is connected to the upper inner wall of the arc-shaped housing (36) through a second spring (52). A long strip through hole (53) is provided in the pressing plate (51). A first inclined surface is provided at the front end of the long strip through hole (53). A driving plate (54) is provided on the lower surface of the first rack (44). The driving plate (54) is perpendicular to the first rack (44). The lower end of the driving plate (54) extends into the long strip through hole (53). A second inclined surface is provided on the side of the lower end of the driving plate (54) close to the piston block (39). The second inclined surface is parallel to the first inclined surface, and the second inclined surface contacts the first inclined surface.

2. The multi-robot collaborative workstation for the production of large formworks for water tanks according to claim 1, characterized in that, The positioning station (2) includes a workpiece positioning mechanism.

3. The multi-robot collaborative workstation for the production of large formwork for water tanks according to claim 1, characterized in that, The forging station (3) includes a forging press.

4. The multi-robot collaborative workstation for the production of large formwork for water tanks according to claim 1, characterized in that, The drilling station (4) includes a drilling machine.

5. The multi-robot collaborative workstation for the production of large formworks for water tanks according to claim 1, characterized in that, The chamfering station (5) includes a chamfering machine.

6. The multi-robot collaborative workstation for the production of large formwork for water tanks according to claim 1, characterized in that, The blanking station (6) includes a warehousing AGV cart.

7. The multi-robot collaborative workstation for the production of large formwork for water tanks according to claim 1, characterized in that The suction cup mechanism includes an installation cavity (19) provided at the lower end of the moving pipe (16). A communicating ball (20) is rotatably provided in the installation cavity (19). The inner wall of the installation cavity (19) is adapted to the outer wall of the communicating ball (20). A first flow channel (21) is provided in the communicating ball (20). A trachea (22) is provided at the lower end of the communicating ball (20). The upper end of the trachea (22) is communicated with the first flow channel (21). A suction cup body (23) is provided at the lower end of the trachea (22).

8. The multi-robot collaborative workstation for the production of large formworks for water tanks according to claim 7, characterized in that, A second telescopic hose (24) is provided in the moving pipe (16). The upper end of the second telescopic hose (24) is communicated with the lower end of the first telescopic hose (17). The lower end of the second telescopic hose (24) is communicated with the upper end of the first flow channel (21).

9. The multi-robot collaborative workstation for the production of large formwork for water tanks according to claim 8, characterized in that, An anti-rotation mechanism is provided at the lower end of the movable pipe (16). The anti-rotation mechanism is used to fix the communication ball (20) in the installation cavity (19). The anti-rotation mechanism includes an annular cavity (25). The annular cavity (25) is arranged inside the lower end of the movable pipe (16). One side of the annular cavity (25) is communicated with the inside of the installation cavity (19). The midpoint of the annular cavity (25) is directly below the center of the communication ball (20). An annular anti-slip plate (26) is slidably arranged in the annular cavity (25). The side of the annular anti-slip plate (26) close to the communication ball (20) is adapted to the outer wall of the communication ball (20). The upper surface of the annular anti-slip 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 communicated with the annular cavity (25). A sealing block (29) is arranged 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) through a connecting rod (30). The upper end of the sealing hole (28) is communicated 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 arranged on the side wall of the movable pipe (16).

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