Hexagonal robot workstation capable of being reorganized and cooperating with mobile robot

Abstract

The robot hexagonal workstation capable of being recombined and cooperating with the mobile robot comprises a ceiling module, a workbench module and a storage module, the ceiling module is arranged above the workbench module, and the storage module is arranged below the workbench module; the suspended ceiling module comprises a suspended ceiling, an industrial camera, an LED light supplementing lamp and man-machine interaction peripherals, light holes are formed in the upper portion and the outer side of the suspended ceiling, the industrial camera or the LED light supplementing lamp is installed in the light holes, and the man-machine interaction peripherals are installed on stand columns on the two sides of the suspended ceiling; the workbench module comprises a table top, a cooperative arm, a material conveying belt, a material storage frame and self-defined equipment, the cooperative arm is connected to the upper portion of the table top, and the material conveying belt and the material storage frame are connected with the cooperative arm. Compared with the prior art, the working efficiency of the robot can be improved, and resource waste is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing equipment, and particularly relates to a robotic hexagonal workstation that can be reconfigured and cooperate with mobile robots. Background Art

[0002] A robotic workstation is an automated production unit integrating robots, peripheral equipment, and manual assistance operations, aiming to complete specific operations or processes. With the rapid development of the global manufacturing industry and the intensification of market competition, traditional production line designs face many challenges, such as the diversification of production tasks, the shortening of product life cycles, and the increasing demand for customer customization. These challenges require robotic workstations to have higher flexibility and adaptability to quickly respond to market changes and production requirements.

[0003] Most traditional robotic workstations adopt a rigid design, that is, the layout, functions, and processes of production equipment and workstations are fixed. This design often shows the following defects when facing multi-variety and small-batch production tasks:

[0004] 1. Low efficiency: Due to the fixed functions and layout of the workstation, it is difficult to adapt to the production requirements of different products, resulting in low production efficiency.

[0005] 2. Resource waste: The rigid design makes the workstation unable to be flexibly adjusted, resulting in low equipment utilization rate and serious resource waste.

[0006] 3. Long adjustment cycle: When changing production tasks, it takes a long time to adjust the layout and functions of the workstation, affecting the production schedule.

[0007] Currently, there are also some robotic workstations in the market that support replacing production equipment and adjusting the functional layout, but these solutions still have the following limitations:

[0008] 1. Small space for loadable equipment: The space for loadable equipment in the workstation is limited, restricting its ability to adapt to diverse production tasks.

[0009] 2. Contradiction between installation stiffness and flexible installation ability: Existing workstations are difficult to balance both the installation stiffness and flexible installation ability of equipment, affecting production efficiency and equipment stability.

[0010] In addition, when constructing an intelligent reconfigurable production line, mobile robots are often used for the transfer link. In this scenario, the robotic workstation needs to have the ability to dock with mobile robots to complete tasks such as material sorting or intermediate processing. However, when existing robots dock with mobile robots, there are still the following problems:

[0011] 1. Insufficient docking accuracy: The docking accuracy between the workstation and the mobile robot is insufficient, affecting the accuracy of material transfer and processing.

[0012] 2. Lack of flexibility: It is difficult for the workstation to quickly adapt to the docking requirements of different mobile robots, which limits the overall flexibility of the production line. Summary of the Invention

[0013] In view of this, the present invention discloses a reconfigurable robotic hexagonal workstation that collaborates with mobile robots, which helps to improve the working efficiency of robots and reduce resource waste. The technical solution of the present invention is as follows:

[0014] The present invention discloses a reconfigurable robotic hexagonal workstation that collaborates with mobile robots, including: a ceiling module, a workbench module, and a storage module. The ceiling module is arranged above the workbench module, and the storage module is arranged below the workbench module; the ceiling module includes a ceiling, an industrial camera, an LED fill light, and a human-machine interaction peripheral. Light holes are provided above and outside the ceiling, and the industrial camera or the LED fill light is installed in the light holes. The human-machine interaction peripheral is installed on the two side columns of the ceiling; the workbench module includes a tabletop, a collaborative arm, a material conveyor belt, a material storage box, and a custom device. The collaborative arm is connected above the tabletop, and the material conveyor belt and the material storage box are connected to the collaborative arm.

[0015] Specifically, the interior of the workstation is a steel frame welded integrally.

[0016] Specifically, the industrial camera is installed on the ceiling through 6 equally spaced light holes; the LED fill light is installed outside the ceiling through 6 equally spaced light holes; the human-machine interaction peripheral is installed on the ceiling through 4 threaded holes on the two side columns of the ceiling.

[0017] Specifically, the human-machine interaction peripheral includes a display screen, a keyboard, a mouse, and a speaker.

[0018] Specifically, the collaborative arm is installed in the center of the tabletop, or the collaborative arm is installed around the tabletop.

[0019] Specifically, the workbench module is provided with 3 hollow-out parts, and the lifting bolts are connected to the steel frame through the hollow-out parts for transportation.

[0020] Specifically, the tabletop is provided with 6 groups of equally spaced M8 threaded holes with mounting braces, and the custom device is connected to the workbench module through the M8 threaded holes.

[0021] Specifically, the custom device includes a quick-change tool holder, a test tube rack, and a robotic arm control rocker.

[0022] Specifically, the storage module includes drawers, cabinets, and custom spaces.

[0023] Specifically, casters are provided at the bottom of the workstation.

[0024] The advantages of the present invention are as follows:

[0025] 1. The workstation of the present invention has a high degree of modularity and reconfigurability, and can be quickly adjusted and reconfigured according to different production requirements. The design of the workstation allows the functional modules carried thereon, such as collaborative arms, industrial cameras, material storage cabinets, and material conveyor belts, to be quickly installed and disassembled. The workstation adopts a standard installation mode, enabling the functional modules to be flexibly switched between different installation positions. For example, the industrial camera and the LED fill light can be installed at multiple equivalent positions on the ceiling, the collaborative arm can be installed at different positions in the center or around, and even multiple collaborative arms can be installed according to requirements (such as double collaborative arms installed oppositely). This modular design enables the workstation to adapt to a variety of production tasks, improving the flexibility and adaptability of the production line.

[0026] 2. The workstation of the present invention can seamlessly cooperate with mobile robots to achieve efficient material transfer and processing. The six sides of the workstation are all designed in an embedded manner, allowing the mobile robot to dock on any side and perform material docking. The workstation can be installed with a vision calibration board or photoelectric sensors to provide docking position information for the mobile robot. The mobile robot can interact with the workstation through its own conveyor belt or collaborative arm to achieve automatic material handling and sorting. For example, the mobile robot can move the material into the material box of the workstation through a gripper, or dock the conveyor belt of the mobile robot with the conveyor belt of the workstation to achieve automatic material transmission. This cooperation mode greatly improves the automation level and efficiency of the production line.

[0027] 3. The workstation of the present invention can be flexibly combined with other workstations to construct a complex flexible production line. Since the workstation adopts a hexagonal design, it can be densely packed on the same plane. Multiple workstations can be moved and spliced over a short distance through casters to form a function similar to an assembly line. Docking male and female pins and other guiding modules can be installed on the six sides of the workstation to achieve accurate positioning and combination of multiple workstations. This design is particularly suitable for constructing flexible production lines with small and medium scales, short cycles, complex and concentrated processes, and can quickly respond to market changes and production requirements.

[0028] 4. The workstation of the present invention has strong scalability and customization capabilities, and can add and adjust functional modules according to specific requirements. The design of the workstation allows users to customize functional modules according to specific needs. For example, there are 6 groups of equally spaced M8 threaded holes on the workbench, which can be used to install customized equipment. In addition, the storage spaces above the ceiling and under the workbench can also be adjusted and expanded according to needs. For example, wireless antennas, decorative light strips and other additional modules can be installed on the ceiling, and the storage space under the workbench can store equipment such as tools and robot controllers, and even equipment that does not often interact with people such as electrical control cabinets and small air compressors. This scalability and customization ability enable the workstation to adapt to a variety of complex production scenarios.

[0029] 5. The workstation of the present invention has efficient material handling and sorting capabilities, and can cooperate with mobile robots to complete complex material handling tasks. The workstation is equipped with a material conveyor belt and a material storage box, and can cooperate with mobile robots to complete the automatic handling and sorting of materials. For example, in the scenario of blood sample sorting and detection, the workstation can install modules such as test tube racks and quick-change tool racks, and the collaborative arm can perform fine operations such as sorting test tubes and mixing materials. The mobile robot can dock with the workstation through its own conveyor belt or gripper to achieve automatic material transmission and sorting. This efficient material handling ability greatly improves the efficiency and accuracy of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only one embodiment of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0031] Figure 1 is a schematic diagram of the basic structure of the present invention;

[0032] Figure 2 is a schematic diagram of the installation of the collaborative arm in the present invention. In Figure a, one collaborative arm is installed around the workbench and one collaborative arm is installed in the center of the workbench. In Figure b, two collaborative arms are installed in the center of the workbench;

[0033] Figure 3 is a schematic diagram of the installation of the industrial camera in the present invention, where the position marked by the red wire frame is the installation position;

[0034] Figure 4 is a schematic diagram of the installation of the LED fill light in the present invention, where the position marked by the red wire frame is the installation position;

[0035] Figure 5This is a schematic diagram of the installation of the human-computer interaction peripheral in the present invention, where the position marked by the red wireframe is the installation position;

[0036] In the above-mentioned drawings, the meanings of the respective reference numerals are as follows:

[0037] 1. Suspended ceiling;

[0038] 2. Industrial camera;

[0039] 3. LED fill light;

[0040] 4. Human-computer interaction peripheral;

[0041] 5. Workbench module;

[0042] 6. Tabletop;

[0043] 7. Storage module;

[0044] 8. Customizable space;

[0045] 9. Furniture casters. Detailed implementation manners

[0046] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention and their accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0047] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs; the terms used in the detailed implementation manners are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" and any variations thereof in the description of the specification, claims and accompanying drawings of the present invention are intended to cover non-exclusive inclusion.

[0048] In the description of the detailed implementation manners of the present invention, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, "a plurality of" means more than two unless otherwise specifically defined.

[0049] References to "embodiments" in the present invention mean that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in the present invention can be combined with other embodiments.

[0050] In the description of the embodiments of the present invention, the term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present invention generally represents an "or" relationship between the associated objects before and after.

[0051] It should be noted that for the convenience of description, in the following embodiments, all identical technical features are marked with the same symbols.

[0052] A robot workstation is an automated production unit that integrates robots, peripheral equipment, and manual assistance operations, aiming to complete specific operations or processes. With the rapid development of the global manufacturing industry and the intensification of market competition, traditional production line designs face many challenges, such as the diversification of production tasks, the shortening of product life cycles, and the increasing demand for customer customization. These challenges require robot workstations to have higher flexibility and adaptability to quickly respond to market changes and production requirements.

[0053] Most traditional robot workstations adopt a rigid design, that is, the layout, functions, and processes of production equipment and workstations are fixed. This design often shows the following defects when facing multi-variety and small-batch production tasks:

[0054] 1. Low efficiency: Due to the fixed functions and layout of the workstation, it is difficult to adapt to the production requirements of different products, resulting in low production efficiency.

[0055] 2. Resource waste: The rigid design makes the workstation unable to be flexibly adjusted, resulting in low equipment utilization rate and serious resource waste.

[0056] 3. Long adjustment cycle: When it is necessary to change production tasks, it takes a long time to adjust the layout and functions of the workstation, affecting the production schedule.

[0057] Currently, there are also some robot workstations on the market that support replacing production equipment and adjusting function layouts, but these solutions still have the following limitations:

[0058] 1. Small space for loadable equipment: The space for loadable equipment on the workstation is limited, restricting its ability to adapt to diverse production tasks.

[0059] 2. Contradiction between installation stiffness and flexible installation ability: Existing workstations are difficult to balance the installation stiffness and flexible installation ability of equipment simultaneously, which affects production efficiency and equipment stability.

[0060] In addition, when constructing an intelligent reconfigurable production line, mobile robots are often used in the transfer process. In this case, the robot workstation needs to be capable of docking with mobile robots to complete tasks such as material sorting or intermediate processing. However, there are still the following problems when existing robots dock with mobile robots:

[0061] 1. Insufficient docking accuracy: The docking accuracy between the workstation and the mobile robot is not enough, which affects the accuracy of material transfer and processing.

[0062] 2. Lack of flexibility: The workstation is difficult to quickly adapt to the docking requirements of different mobile robots, which limits the overall flexibility of the production line.

[0063] In view of this, the present invention discloses a robot hexagonal workstation that can be reorganized and cooperate with mobile robots, which helps to improve the working efficiency of robots and reduce resource waste. The technical solution of the present invention is as follows:

[0064] As Figures 1-5 shown, the present invention discloses a robot hexagonal workstation that can be reorganized and cooperate with mobile robots. A specific embodiment includes: a ceiling 1 module, a workbench module 5, and a storage module 7. The ceiling 1 module is arranged above the workbench module 5, and the storage module 7 is arranged below the workbench module 5; the ceiling 1 module includes a ceiling 1, an industrial camera 2, an LED fill light 3, and a human-machine interaction peripheral 4. Light holes are provided above and outside the ceiling 1, and the industrial camera 2 or the LED fill light 3 is installed in the light holes. The human-machine interaction peripherals 4 are installed on the two side columns of the ceiling 1; the workbench module 5 includes a collaborative arm, a material conveyor belt, a material storage box, and a custom device. The collaborative arm is connected above the tabletop 6, and the material conveyor belt and the material storage box are connected to the collaborative arm.

[0065] In the above content, the ceiling 1 is the carrier for the industrial camera 2, the LED fill light 3, and the human-machine interaction peripheral 4, and a standard installation mode can also be used to adapt to external modules such as communication wireless antennas and decorative light strips. The material conveyor belt is mainly used for mutual material docking when cooperating with mobile robots, the material storage box is used to place materials, and the custom device is to ensure rapid adaptation, rapid disassembly and assembly, and provide sufficient connection strength.

[0066] In some specific embodiments, the interior of the workstation is a steel frame welded integrally.

[0067] In some specific embodiments, the industrial camera 2 is installed on the ceiling 1 through 6 equally spaced light holes; the LED fill light 3 is installed outside the ceiling 1 through 6 equally spaced light holes; the human-machine interaction peripheral 4 is installed on the ceiling 1 through 4 threaded holes on both sides of the columns of the ceiling 1.

[0068] In the above content, the industrial camera 2 is an observation device used for visual recognition, and in this embodiment, it provides visual information for the eye-in-hand mode when used for cobot control. In addition, the LED fill light 3 provides a more stable light environment for the industrial camera 2, and there are 6 equivalent installation positions outside the ceiling 1 in this embodiment. At the same time, the human-machine interaction peripheral 4 is for the convenience of pre-production debugging or workers to use instruments during production. There are 4 equivalent installation positions (which can be adjusted up and down equally spaced) on both sides of the columns of the ceiling 1 for installing wall-mounted monitor brackets. The brackets are installed with a touch display screen, a keyboard, a mouse, and a small speaker can also be installed. If there is a need for drone interaction, this part of the components can also be easily removed.

[0069] In some preferred embodiments, the standard installation mode of the industrial camera 2 is: using any 2 to 4 of the same equally spaced light holes.

[0070] In some preferred embodiments, the standard installation mode of the LED fill light 3 is: using any 2 of the same equally spaced light holes, so the length of the strip light source depends on actual needs.

[0071] In some preferred embodiments, the standard installation mode of the human-machine interaction peripheral 4 is to use any 4 of the same equally spaced threaded holes.

[0072] In some specific embodiments, the human-machine interaction peripheral 4 includes a display screen, a keyboard, a mouse, and a speaker.

[0073] In some specific embodiments, the cobot is installed in the center of the tabletop 6, or the cobot is installed around the tabletop 6.

[0074] In the above content, the cobot is used to perform fine operations, mostly a six-degree-of-freedom robotic arm. In this embodiment, it supports the installation and adaptation of single cobots and multiple cobots. Since the interior of the workstation is a high-strength steel frame welded as a whole, and the main load-bearing points are set on the six outer edges and the center of the tabletop 6, both the center and the periphery of the workstation are suitable for bearing loads. At the same time, the same standard installation mode is adopted for the positions where cobots can be installed in the center and the periphery.

[0075] In some preferred embodiments, a single cobot is installed in the center of the tabletop 6.

[0076] In some preferred embodiments, a single cobot is installed around the tabletop 6.

[0077] In some preferred embodiments, the dual collaborative arms are installed in the center of the tabletop 6, working together or each covering a part of the working area.

[0078] In some preferred embodiments, the dual collaborative arms are oppositely installed around the tabletop 6.

[0079] In some preferred embodiments, one collaborative arm is installed around the tabletop 6 and one collaborative arm is installed in the center of the tabletop 6.

[0080] In some preferred embodiments, the dual collaborative arms are installed in the center of the tabletop 6

[0081] In some specific embodiments, the tabletop 6 is provided with three hollowed-out areas, and the lifting bolts are connected to the steel frame through the hollowed-out areas for transportation.

[0082] Further explanation, there are three hollowed-out areas on the tabletop 6 through which the lifting bolts can pass, allowing the lifting bolts to be connected to the steel frame structure of the workstation. When long-distance transportation or loading is required, it can be stably lifted and placed on a rack of corresponding size, and transported over a long distance by a forklift.

[0083] In some specific embodiments, the tabletop 6 is provided with 6 groups of equally spaced M8 threaded holes for installing dental braces, and the custom equipment is connected to the workbench module 5 through the M8 threaded holes. Based on this, all custom equipment can design their respective adapter parts with the tabletop 6 in this form.

[0084] In some preferred embodiments, the tabletop 6 is provided with cut-out corners. For all the equipment on the tabletop 6, the cut-out corners on the hexagon of the tabletop 6 can be used to route their connecting cables into the space below the tabletop 6.

[0085] In some specific embodiments, the custom equipment includes a quick-change tool rack, a test tube rack, and a robotic arm control rocker. In addition, if they can all be replaced with functional modules suitable for other scenarios, as long as these functional modules meet the standard installation mode described above, they can be freely designed and disassembled.

[0086] In some specific embodiments, the storage module 7 includes drawers, cabinets, and a custom space 8.

[0087] In the above content, the drawers can store small equipment such as tools and robot controllers for flexible access. The cabinets can store some equipment that needs to be frequently debugged and interact with people for flexible interaction. The custom space 8 can only interact with the inside after removing the side shell of the workstation, and is suitable for installing and debugging equipment such as electrical control cabinets and small air compressors that do not require frequent interaction with people.

[0088] In some specific embodiments, casters 9 are provided at the bottom of the workstation. In the above content, the casters 9 at the bottom of the workstation body can usually be fixed in a certain position or can be manually pushed, which is convenient for short-distance transportation.

[0089] Another advantage of the present invention is that it can also cooperate with mobile robots or other workstations. Specifically, when cooperating with a mobile robot, an embedded appearance design is adopted for all six sides of the workstation, that is, drawers, cabinet doors, etc. are all recessed into the outer surface. Therefore, the mobile robot can dock on all six sides and carry out collaborative activities such as material docking. Among them, four sides are adjacent to the installation points of the ceiling 1 and are only suitable for situations where the docking area is relatively small, and the remaining two sides can have a larger docking area. Visual calibration plates or photoelectric sensors can be installed on all six sides of the workstation to provide information on the docking positions available for the mobile robot. The mobile robot can interact with the workstation through transfer equipment such as a conveyor belt or a collaborative arm carried by itself.

[0090] In a specific embodiment, a mobile robot with autonomous navigation, obstacle avoidance, and material handling functions carries exchangeable materials to the dockable plane of the workstation and moves the materials into the material box installed on the workstation through its own gripper. The collaborative arm in the center of the workstation can pick up the materials and mix them into other material boxes on the tabletop 6.

[0091] In a preferred embodiment, a mobile robot with autonomous navigation, obstacle avoidance, and material handling functions is equipped with a conveyor belt for transferring materials, and the upper surface of the conveyor belt is basically at the same height as the upper surface of the workstation conveyor belt. The mobile robot can then align with the dockable plane of the workstation and transport the materials carried by itself through the same-direction movement of its own conveyor belt and the workstation conveyor belt.

[0092] When the present invention cooperates with other workstations, specifically, when there are multiple workstations implemented by the present invention, since hexagons can be closely packed on the same plane, and the bottom surface of the workstation in the present invention is equipped with casters 9 and can be manually moved over a short distance, multiple workstations can be arbitrarily spliced to achieve a function similar to an assembly line. Guiding modules in the form of docking male and female pins can be correspondingly installed on the six sides of the workstation to achieve approximate positioning when multiple workstations are combined. This cooperation method is suitable for constructing flexible production lines with small and medium scales, short cycles, complex and concentrated processes.

Claims

1. A hexagonal robot workstation that can be reconfigured and collaborate with a mobile robot, characterized in that: include: A ceiling module, a workbench module, and a storage module, wherein the ceiling module is arranged above the workbench module, and the storage module is arranged below the workbench module; The ceiling module includes a ceiling, an industrial camera, an LED fill light, and a human-computer interaction peripheral. Light holes are provided on the top and outside of the ceiling, the industrial camera or the LED fill light is installed in the light holes, and the human-computer interaction peripheral is installed on the two side columns of the ceiling. The workbench module includes a table top, a collaborative arm, a material conveyor belt, a material storage frame, and a customized device. The collaborative arm is connected above the table top, and the material conveyor belt and the material storage frame are connected to the collaborative arm.

2. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: The interior of the workstation is an integrally welded steel frame.

3. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 2, characterized in that: The industrial camera is installed on the ceiling through 6 equally spaced light holes; The LED fill light is installed on the outside of the ceiling through 6 equally distributed light holes; The human-computer interaction peripheral is installed on the ceiling through four threaded holes of the columns on both sides of the ceiling.

4. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 3, characterized in that: The human-computer interaction peripherals include a display screen, a keyboard, a mouse, and a speaker.

5. The hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: The cooperation arm is mounted in the center of the table, or, The cooperation arm is installed around the table top.

6. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: The table top is provided with three hollows, and the hanging bolts are connected to the steel frame through the hollows for transportation.

7. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: The table top is provided with 6 groups of M8 threaded holes distributed at equal intervals and for installing braces, and the custom device is connected to the workbench module via the M8 threaded holes.

8. A hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 7, characterized in that: The customized equipment includes a quick-change tool rack, a test tube rack, and a robotic arm control joystick.

9. The hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: The storage module includes drawers, cabinets, and custom spaces.

10. The hexagonal robot workstation that can be reconfigured and cooperate with a mobile robot according to claim 1, characterized in that: A Forma wheel is arranged at the bottom of the workstation.

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