Robot workstation of automatic displacement clamp

Abstract

The invention discloses a robot workstation of an automatic displacement clamp. The robot workstation comprises a welding robot, a cross beam positioning mechanism, a positioning preassembling table, a positioning clamp, an automatic feeding mechanism, a positioning conveying mechanism and a turnover mechanism. The positioning conveying mechanism comprises a conveying rail and a moving assembly walking along the conveying rail. The cross beam positioning mechanism comprises a support, and the support is installed on the moving assembly; the support is provided with a positioning face, and a cross beam positioning assembly and a first workpiece positioning assembly are arranged on the positioning face. The cross beam positioning mechanism has a front state and a back state; the positioning preassembling table and the positioning clamp are arranged in the moving direction of the moving assembly, two stations are arranged on the positioning clamp along the moving track of the cross beam positioning mechanism, and a first clamp assembly and a second clamp assembly are installed on the two stations correspondingly; the automatic feeding mechanism is used for completing feeding of the second workpiece. The welding utilization rate of the welding robot can be increased, manual movement can be reduced, the labor intensity can be reduced, and meanwhile investment and site occupation are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of automobile manufacturing, and in particular to a robot workstation of an automatic position-changing fixture. Background Art

[0002] In the production of automobile frame torsion bar beams, since the frame torsion bar beam has a circular cross-section and is equipped with multiple mounting brackets, the number of welds on each mounting bracket is small, and the bracket positions are distributed in all directions on the torsion bar beam. The installation time of the parts is long and the welding time period is long. In addition, the torsion bar beam needs to be flipped over for part installation and welding. As a result, the welding operation of the robot workstation accounts for a small proportion, the robot has a long waiting time, and the continuous welding function of the robot cannot be effectively exerted. If two independent beam welding stations are used in the same workstation, there is a problem of excessive labor intensity caused by the back and forth movement of personnel. At the same time, the increase in the fixture projection causes a waste of workstation investment. Summary of the invention

[0003] In order to solve the problems in the prior art, the present invention provides a robot workstation for an automatic position-changing fixture.

[0004] To achieve the above object, the present invention adopts the following technical solution: A robot workstation with an automatic position-changing fixture comprises a welding robot, a beam positioning mechanism, a positioning pre-assembly table, a positioning fixture, an automatic feeding mechanism, a positioning conveying mechanism and a turning mechanism; The positioning conveying mechanism includes a conveying track and a moving component moving along the conveying track; The crossbeam positioning mechanism comprises a support, which is mounted on the moving assembly; the support has a positioning surface, on which a crossbeam positioning assembly and a workpiece positioning assembly are arranged; the crossbeam positioning mechanism has a front state and a rear state, in which the positioning surface faces upwards in the front state, and faces downwards in the rear state; The positioning pre-assembly table and the positioning fixture are arranged along the moving direction of the moving component. Two workstations are provided on the positioning fixture along the moving track of the crossbeam positioning mechanism. The first fixture component and the second fixture component are installed in the two workstations respectively. The automatic feeding mechanism corresponds to the position of the second fixture assembly and is used to complete the feeding of the second workpiece; The working process is as follows: When the crossbeam positioning mechanism moves to the positioning pre-assembly platform, the crossbeam positioning mechanism is in the front state, the crossbeam is positioned by the crossbeam positioning assembly, the product one is positioned by the product one positioning assembly, and the product one is fitted with the torsion bar crossbeam; When the crossbeam positioning mechanism moves to the first fixture assembly, the first fixture assembly fixes the crossbeam positioning mechanism, and then the welding robot completes the welding of the first workpiece and the torsion bar crossbeam; During the movement of the beam positioning mechanism to the second fixture assembly, the flipping mechanism adjusts the beam positioning mechanism to the reverse state, and then moves to the second fixture assembly; the second fixture assembly fixes the beam positioning mechanism, and then the automatic feeding mechanism places the second part on the corresponding position of the torsion bar beam, and the welding robot completes the welding of the second part and the torsion bar beam.

[0005] Furthermore, the beam positioning assembly includes a beam limiting block, a beam supporting block and a beam clamping block arranged on the positioning surface, and the positioning surface is also provided with a positioning hole.

[0006] Furthermore, the workpiece positioning assembly includes a base plate installed on the positioning surface, a positioning rod extending toward the torsion bar beam is fixed on the base plate, a positioning clamping block slidably matched with the positioning rod is provided on the positioning rod, and a clamping spring is sleeved on the positioning rod between the positioning clamping block and the base plate.

[0007] Furthermore, the first clamp assembly and the second clamp assembly have the same structure; The first clamp assembly includes a base installed on the frame, a movable positioning seat is provided on the base, a lifting cylinder is connected to the lower side of the movable positioning seat, and the lifting cylinder is used to drive the movable positioning seat to move up and down; and upper limit blocks are provided on both sides of the movable positioning seat on the base, and the upper limit blocks are used to control the position of the movable positioning seat; a positioning pin and a clamping cylinder are installed on the movable positioning seat, and the clamping cylinder is connected to the clamping block; the positioning pin cooperates with the positioning hole of the beam positioning mechanism.

[0008] Furthermore, the automatic feeding mechanism includes a rotating motor, a connecting rod is installed on the output shaft of the rotating motor, and a flange is installed at the end of the connecting rod; a turning cylinder is installed on the flange, and a positioning suction cup is installed at the end of the turning cylinder; A material box is installed at a position corresponding to the positioning suction cup, and the sorted workpieces are placed in the material box.

[0009] Furthermore, the conveying track is a double-strand conveying chain arranged in a vertical annular shape, and a chain driving device is provided in cooperation with the double-strand conveying chain; The moving assembly includes a chain positioning block distributed on the double-strand conveyor chain, a connecting rod is installed on the chain positioning block, and a conveying hook is installed at the lower end of the connecting rod; the corresponding two conveying hooks form a group, and the two ends of the support are respectively installed on the two conveying hooks.

[0010] Furthermore, the conveying hook is an L-shaped hook rotated 90 degrees counterclockwise, and the lower straight hook end thereof has a protrusion as a limit table, and the cross section of the conveying hook is an isosceles trapezoid; The two ends of the support on the crossbeam positioning mechanism are each provided with a positioning shaft, and the positioning shaft is provided with a V-shaped inclined surface groove, and the V-shaped inclined surface cooperates with the isosceles trapezoidal inclined surface on the conveying hook; The center of gravity of the support of the beam positioning mechanism is offset to the limit table surface, so that the support cooperates with the limit table surface to achieve positive limit, and the support can achieve reverse rotation.

[0011] Furthermore, the flipping mechanism includes a first flipping block, which is located between the first clamp assembly and the second clamp assembly. The first flipping block contacts the beam positioning mechanism, causing the beam positioning mechanism to rotate 180° in the opposite direction, adjusting from the front state to the back state.

[0012] Furthermore, the flipping mechanism also includes a second flipping block, which is located downstream of the second clamp assembly. The second flipping block contacts the beam positioning mechanism, causing the beam positioning mechanism to rotate 180° in the forward direction and adjust from the reverse state to the forward state.

[0013] Furthermore, it also includes a PLC control system.

[0014] Beneficial effects of the present invention: The present invention utilizes the overall displacement and positioning transportation of the beam positioning mechanism to realize the automatic displacement and flipping of the torsion bar beam, utilizes the automatic loading mechanism to automatically load the workpiece in the robot workstation to complete the beam welding, and utilizes the positioning and transportation mechanism to transport the beam positioning mechanism and the torsion bar beam to the manual operation area to complete the installation and removal of the torsion bar beam.

[0015] The present invention senses the different positions of the beam positioning mechanism, controls the automatic operation of the positioning fixture, the automatic feeding mechanism, the positioning conveying mechanism, the welding robot, etc., so that the welding robot completes the welding operation of the torsion bar beam. This can not only improve the welding utilization rate of the welding robot, but also reduce manual movement and labor intensity, and also reduce investment and site occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 It is a front view of the crossbeam positioning mechanism of the present invention; Figure 3 yes Figure 2 A-direction view in the figure; Figure 4 is a top view of the crossbeam positioning mechanism of the present invention; Figure 5 It is a schematic diagram of a positioning assembly of a workpiece in the present invention; Figure 6 yes Figure 5 B view in the figure; Figure 7 It is a front view of the positioning and conveying mechanism of the present invention; Figure 8 is a side view of the positioning and conveying mechanism of the present invention; Fig. 9 is a top view of the positioning and conveying mechanism of the present invention; Fig.10 It is a front view of the positioning fixture in the present invention; Fig.11 is a side view of the positioning fixture of the present invention; Fig.12 is a top view of the positioning fixture of the present invention; Fig.13 It is a schematic diagram of the automatic feeding mechanism in the present invention; Fig.14 It is the arrangement diagram of the second product in the material box of the present invention; Fig.15 It is a schematic diagram of the cooperation between the torsion bar crossbeam and the second component in the present invention.

[0017] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0019] like Figures 1 to 15 As shown, this embodiment provides a robot workstation with an automatic position changing fixture, including a welding robot 1, a frame 2, a positioning fixture 3, a beam positioning mechanism 4, a positioning pre-assembly table, an automatic feeding mechanism, a positioning conveying mechanism, a flipping mechanism and a PLC control system.

[0020] The frame 2 is equipped with a positioning fixture 3, an automatic feeding mechanism, a positioning pre-installation platform, and a PLC control system, and the positioning conveying mechanism is equipped with a beam positioning mechanism 4. A welding robot 1 is installed on the side of the frame 2 to form the entire workstation.

[0021] The beam positioning mechanism includes a support 29 having a positioning surface on which a beam positioning component and a workpiece positioning component are arranged; the beam positioning mechanism has a front state and a rear state. In the front state, the positioning surface faces upward, and in the rear state, the positioning surface faces downward.

[0022] The beam positioning assembly is used for positioning the torsion bar beam 5, and includes a beam limiting block 30, a beam supporting block 32 and a beam clamping block 31 arranged on the positioning surface, and a positioning hole 14 is also provided on the positioning surface.

[0023] The product one positioning assembly is used for positioning the product one 51, and includes a base plate 33 mounted on the positioning surface, a positioning rod extending toward the torsion bar cross beam is fixed on the base plate 33, a positioning clamping block 34 slidably matched with the positioning rod is provided on the positioning rod, and a clamping spring 35 is sleeved on the positioning rod between the positioning clamping block 34 and the base plate 33. A clamping block positioning pin is also provided on the positioning clamping block 34.

[0024] The positioning conveying mechanism includes a steel structure 13 on which a conveying track is installed. The conveying track is a double-strand conveying chain 15 (YZ plane circular track) arranged in a circular vertical manner. A driving wheel 17 and a tensioning wheel 18 are installed on the double-strand conveying chain 15. The driving wheel 17 is connected to a motor 16.

[0025] The double-strand conveyor chain 15 is provided with a chain positioning block 19 , on which a connecting rod 20 is installed, and a conveying hook 21 is installed at the lower end of the connecting rod 20 ; two corresponding conveying hooks 21 form a group, and both ends of the support 26 are respectively installed on the two conveying hooks 21 .

[0026] In this embodiment, the conveying hook 21 is an L-shaped hook rotated 90 degrees counterclockwise, and a protrusion is provided at the lower straight hook end as a limit table, and the cross section of the conveying hook is an isosceles trapezoid. A positioning shaft 28 is provided at each end of the support 29 on the beam positioning mechanism, and a V-shaped inclined groove is provided on the positioning shaft 28, and the V-shaped inclined surface cooperates with the isosceles trapezoidal inclined surface on the conveying hook.

[0027] The center of gravity of the support 29 of the beam positioning mechanism is offset toward the limit table, so that the support 29 cooperates with the limit table to achieve positive limit, which can ensure that the beam positioning mechanism will not flip over during the movement, and also enable the support to achieve reverse rotation, thereby realizing the switching of the beam positioning mechanism between the positive state and the reverse state.

[0028] The turning mechanism includes a first turning block 22 and a second turning block 14 .

[0029] The first flip block 22 is located between the first clamp assembly and the second clamp assembly. During the movement of the beam positioning mechanism 4, the first flip block 22 contacts and acts on the beam positioning mechanism 4, causing the beam positioning mechanism 4 to rotate 180° in the opposite direction, adjusting from the front state to the back state.

[0030] The second flip block 14 is located downstream of the second clamp assembly. During the movement of the beam positioning mechanism 4, the second flip block 14 contacts and acts on the beam positioning mechanism 4, causing the beam positioning mechanism 4 to rotate 180° in the forward direction, adjusting from the reverse state to the forward state.

[0031] The positioning pre-assembly table and the positioning fixture are arranged along the moving direction of the beam positioning mechanism 4 .

[0032] A telescopic positioning pin is provided on the positioning pre-assembly platform, which cooperates with the positioning hole 14 of the beam positioning mechanism 4.

[0033] Two stations (respectively the first station and the second station) are arranged on the positioning fixture along the moving track of the beam positioning mechanism, and the first station and the second station are respectively installed with the first fixture assembly and the second fixture assembly. The first fixture assembly and the second fixture assembly have the same structure.

[0034] The first fixture assembly includes a base 6 mounted on the frame 2, a movable positioning seat 8 is provided on the base 6, a lifting cylinder 7 is connected to the lower side of the movable positioning seat 8, and the lifting cylinder 7 is used to drive the movable positioning seat 6 to move up and down; and upper limit blocks 12 are provided on both sides of the movable positioning seat 8 on the base 6, and the upper limit blocks 12 are used to control the position of the movable positioning seat 6 to ensure the uniqueness and repeatability of the position. A positioning pin 9 and a clamping cylinder 10 are installed on the movable positioning seat 8, and the clamping cylinder 10 is connected to the clamping block 11, and the positioning pin 9 cooperates with the positioning hole 14 of the beam positioning mechanism.

[0035] The automatic feeding mechanism corresponds to the position of the second fixture assembly and is used to complete the feeding of the second workpiece 52 .

[0036] The automatic feeding mechanism includes a rotating motor 25, a connecting rod 24 is installed on the output shaft of the rotating motor 25, and a flange is installed at the end of the connecting rod 24; a turning cylinder 26 is installed on the flange, and a positioning suction cup 23 is installed at the end of the turning cylinder 26. A material box 27 is installed at the position corresponding to the positioning suction cup 23, and the material box 27 contains the sorted parts 52 The working process and principle of the present invention are as follows: When the beam positioning mechanism 4 moves to the positioning pre-assembly table, the positioning hole on its support 29 enters into the telescopic positioning pin on the positioning pre-assembly table. After the operator installs the torsion bar beam in place according to the beam limit block 30, the beam clamping block 31 is clamped, and then the positioning clamping block 34 in the part one positioning assembly is moved backward, and the part one is installed on the positioning clamping block 34. Under the action of the clamping spring 35, the positioning clamping block 34 is reset, driving the part one 51 to fit with the torsion bar beam 5.

[0037] Then the operation starts. Under the control of the PLC control system, the telescopic positioning pin on the positioning pre-installation table is withdrawn, the positioning conveying mechanism moves, and the motor 16 acts to drive the driving wheel 17 and the double-strand conveying chain 15 to rotate. The double-strand conveying chain 15 drives the chain positioning block 19 thereon to move, and drives the connecting suspension rod 20 and the conveying hook 21 thereon to move; the conveying hook 21 is sleeved on the support 29 on the beam positioning mechanism, driving the beam positioning mechanism to move to the corresponding station of the positioning fixture 3, and then the motor 16 stops moving; the lifting cylinder 7 of the first fixture assembly drives the movable positioning seat 8 to move upward, and the positioning pin 9 thereon enters the corresponding positioning hole on the support 29, and then the clamping cylinder 10 drives the clamping block 11 to clamp the base, and the welding robot 1 starts welding at the first station. After welding, the clamping block 11 is opened and the lifting cylinder 7 moves downward.

[0038] The motor 16 continues to work, and the beam positioning mechanism 4 continues to move forward, and it acts on the first flip block 22, and the support 29 rotates 180 degrees in the opposite direction to adjust the beam positioning mechanism to the reverse state, and then moves to the second station.

[0039] The lifting cylinder 7 of the second clamp assembly drives the movable positioning seat 8 to move upward, and the positioning pin 9 thereon enters the corresponding positioning hole on the support 29, and then the clamping cylinder 10 drives the clamping block 11 to clamp the support 29. At this time, the positioning suction cup 23 of the automatic feeding mechanism takes out the second part 52 from the material box 27, and then the turning cylinder 26 acts to turn the position of the second part 52, and then the rotating motor 25 acts to place the second part 52 in the corresponding position of the torsion bar beam 5, and the welding robot 1 starts welding at the second station. After welding, the clamping block 11 is opened, the lifting cylinder 7 moves downward, and the turning cylinder 26 of the automatic feeding mechanism acts to turn the position of the part, and then the rotating motor 25 acts to place the positioning suction cup 23 in the corresponding position of the material box 27 to take out the part and wait for the next operation.

[0040] The motor 16 continues to work, the beam positioning mechanism 4 continues to move forward, and its base acts on the second flip block 14. The support 29 rotates 180° in the positive direction to the front state and then continues to move. Since the conveying track is a YZ plane circular track, after the beam positioning mechanism 4 moves to the initial position of the positioning pre-assembly table, the operator opens the beam clamping block 31, takes out the workpiece, and then repeats the above-mentioned start operation to proceed to the next workstation to form a continuous operation.

[0041] The present invention can be provided with multiple sets of beam positioning mechanisms according to requirements to meet continuous operation. The PLC control system operates the motor, cylinder, robot, etc. according to the different positions of the crossbeam positioning mechanism to ensure the maximum welding efficiency of the robot.

[0042] The present invention can sense the different positions of the beam positioning mechanism, control the automatic operation of the positioning fixture, the automatic feeding mechanism, the positioning conveying mechanism, the robot, etc., so that the robot can complete the welding operation of the torsion bar beam, which can not only improve the welding utilization rate of the robot, but also reduce manual movement and labor intensity, and also reduce investment and site occupation. The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

[0043] If the words "first", "second", etc. are used in this document to limit components, those skilled in the art should know that the use of "first" and "second" is only to facilitate the description of the present invention and simplify the description. Unless otherwise stated, the above words have no special meaning.

[0044] 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.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A robot workstation with an automatic position-changing fixture, including a welding robot, characterized in that: It also includes a beam positioning mechanism, a positioning pre-installation table, a positioning fixture, an automatic feeding mechanism, a positioning conveying mechanism and a turning mechanism; The positioning conveying mechanism includes a conveying track and a moving component moving along the conveying track; The crossbeam positioning mechanism comprises a support, which is mounted on the moving assembly; the support has a positioning surface, on which a crossbeam positioning assembly and a workpiece positioning assembly are arranged; the crossbeam positioning mechanism has a front state and a rear state, in which the positioning surface faces upwards in the front state, and faces downwards in the rear state; The positioning pre-assembly table and the positioning fixture are arranged along the moving direction of the moving component. Two workstations are provided on the positioning fixture along the moving track of the crossbeam positioning mechanism. The first fixture component and the second fixture component are installed in the two workstations respectively. The automatic feeding mechanism corresponds to the position of the second fixture assembly and is used to complete the feeding of the second workpiece; The working process is as follows: When the crossbeam positioning mechanism moves to the positioning pre-assembly platform, the crossbeam positioning mechanism is in the front state, the crossbeam is positioned by the crossbeam positioning assembly, the product one is positioned by the product one positioning assembly, and the product one is fitted with the torsion bar crossbeam; When the crossbeam positioning mechanism moves to the first fixture assembly, the first fixture assembly fixes the crossbeam positioning mechanism, and then the welding robot completes the welding of the first workpiece and the torsion bar crossbeam; During the movement of the beam positioning mechanism to the second fixture assembly, the flipping mechanism adjusts the beam positioning mechanism to the reverse state, and then moves to the second fixture assembly; the second fixture assembly fixes the beam positioning mechanism, and then the automatic feeding mechanism places the second part on the corresponding position of the torsion bar beam, and the welding robot completes the welding of the second part and the torsion bar beam.

2. The robot workstation for automatic position-changing fixture according to claim 1, characterized in that: The crossbeam positioning assembly comprises a crossbeam limiting block, a crossbeam supporting block and a crossbeam clamping block arranged on the positioning surface, and a positioning hole is also provided on the positioning surface.

3. The robot workstation for automatic position-changing fixture according to claim 1, characterized in that: The workpiece positioning assembly includes a base plate installed on the positioning surface, a positioning rod extending toward the torsion bar beam is fixed on the base plate, a positioning clamping block slidably matched with the positioning rod is provided on the positioning rod, and a clamping spring is sleeved on the positioning rod between the positioning clamping block and the base plate.

4. The robot workstation for automatic position-changing fixture according to claim 1, characterized in that: The first clamp assembly and the second clamp assembly have the same structure; The first clamp assembly includes a base installed on the frame, a movable positioning seat is provided on the base, a lifting cylinder is connected to the lower side of the movable positioning seat, and the lifting cylinder is used to drive the movable positioning seat to move up and down; and upper limit blocks are provided on both sides of the movable positioning seat on the base, and the upper limit blocks are used to control the position of the movable positioning seat; a positioning pin and a clamping cylinder are installed on the movable positioning seat, and the clamping cylinder is connected to the clamping block; the positioning pin cooperates with the positioning hole of the beam positioning mechanism.

5. The robot workstation for automatic position-changing fixture according to claim 1, characterized in that: The automatic feeding mechanism comprises a rotating motor, a connecting rod is mounted on the output shaft of the rotating motor, a flange is mounted on the end of the connecting rod; a turning cylinder is mounted on the flange, and a positioning suction cup is mounted on the end of the turning cylinder; A material box is installed at a position corresponding to the positioning suction cup, and the sorted workpieces are placed in the material box.

6. The robot workstation for automatic position-changing fixture according to any one of claims 1 to 5, characterized in that: The conveying track is a double-strand conveying chain arranged in a vertical annular shape, and a chain driving device is provided in cooperation with the double-strand conveying chain; The moving assembly includes a chain positioning block distributed on the double-strand conveyor chain, a connecting rod is installed on the chain positioning block, and a conveying hook is installed at the lower end of the connecting rod; the corresponding two conveying hooks form a group, and the two ends of the support are respectively installed on the two conveying hooks.

7. The robot workstation for automatic position-changing fixture according to claim 6, characterized in that: The conveying hook is an L-shaped hook rotated 90 degrees counterclockwise, and the lower straight hook end has a protrusion as a limit table, and the cross-section of the conveying hook is an isosceles trapezoid; The two ends of the support on the crossbeam positioning mechanism are each provided with a positioning shaft, and the positioning shaft is provided with a V-shaped inclined surface groove, and the V-shaped inclined surface cooperates with the isosceles trapezoidal inclined surface on the conveying hook; The center of gravity of the support of the beam positioning mechanism is offset to the limit table surface, so that the support cooperates with the limit table surface to achieve positive limit, and the support can achieve reverse rotation.

8. The robot workstation for automatic position-changing fixture according to claim 7, characterized in that: The flipping mechanism comprises a first flipping block, which is located between the first clamp assembly and the second clamp assembly. The first flipping block contacts the beam positioning mechanism to rotate the beam positioning mechanism in the opposite direction by 180°, adjusting it from the front state to the back state.

9. The robot workstation for automatic position-changing fixture according to claim 8, characterized in that: The flipping mechanism also includes a second flipping block, which is located downstream of the second clamp assembly. The second flipping block contacts the beam positioning mechanism to rotate the beam positioning mechanism 180° in the forward direction and adjust it from the reverse state to the forward state.

10. The robot workstation for automatic position-changing fixture according to claim 9, characterized in that: Also includes PLC control system.

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