Cooperative mechanical arm workbench

Abstract

The invention discloses a cooperative mechanical arm workbench, and belongs to the technical field of mechanical arms, the cooperative mechanical arm workbench comprises a rack, the rack is provided with a workbench, the workbench comprises bedplates which are oppositely arranged, the bedplates are fixedly provided with sliding rails, the workbench is slidably connected with a supporting structure through the sliding rails, and the supporting structure is fixedly connected with the rack. A power device for driving the supporting structure to do translational motion is installed in the workbench. The problems that when a mechanical arm and a workbench work cooperatively, in the position changing process of the mechanical arm, the connecting tightness of the bottom and the workbench is insufficient, deviation and vibration are prone to being generated, and the working stability and efficiency are reduced are solved, and the cooperative stability and working efficiency of the mechanical arm and the workbench are improved.

Description

TECHNICAL FIELD

[0001] The application relates to a collaborative robot workbench and belongs to the technical field of robots. BACKGROUND

[0002] As a high-precision, multi-input, multi-output, highly nonlinear and strongly coupled complex system, the robot has been widely used in many fields such as industrial assembly, safety explosion-proof, etc. due to its unique operation flexibility. Its core function is to meet the complex operation requirements of industrial automation, medical assistance, service innovation and other fields through precise positioning and multi-degree-of-freedom movement. The workbench is usually used as the fixed base or reference plane of the robot, and the coordinate system thereof needs to be calibrated with the coordinate system of the robot end effector. The collaborative work of the two can effectively improve the production efficiency.

[0003] A desktop collaborative robot workbench with the announcement number CN217626399U authorized on October 21, 2022 comprises a placing area, a stacking area and an installation area formed on the tabletop of the workbench; a binocular camera assembly comprises a support frame and a binocular camera, the support frame is installed in one of the installation areas, and the binocular camera is arranged on the support frame; a robot comprises a six-degree-of-freedom robot, a clamping mechanism and a pressure sensor, the six-degree-of-freedom robot is installed in the other installation area, the output end of the six-degree-of-freedom robot is connected with the clamping mechanism, and the pressure sensor is electrically connected with the output end of the six-degree-of-freedom robot; a stacking table is arranged in the stacking area, and the surface of the stacking table is provided with a groove and an extended annular surface; and a host computer is installed on the workbench and is electrically connected with the binocular camera, the pressure sensor and the six-degree-of-freedom robot respectively.

[0004] When the robot and the workbench are used collaboratively, the robot needs to change position to move or stack workpieces, and the bottom of the robot and the workbench are prone to deviation and vibration, thereby affecting the tightness of the connection position of the device and the workbench, reducing the stability during work, increasing the maintenance time and reducing the work efficiency. Therefore, the application provides a collaborative robot workbench to solve the above problems. SUMMARY

[0005] The technical problem to be solved by the application is to overcome the shortcomings of the prior art, provide a collaborative robot workbench, and solve the problems of insufficient tightness of the connection between the bottom of the robot and the workbench during position change, easy deviation and vibration, reduced work stability and efficiency when the robot and the workbench work collaboratively, so as to improve the stability and work efficiency of the collaborative work of the two.

[0006] The technical scheme adopted by the application to solve the existing problems is:

[0007] A cooperative mechanical arm workbench, comprising a rack, a workbench mounted on the rack, the workbench comprising oppositely arranged table plates, the table plates being fixedly mounted with sliding rails, the workbench being slidably connected with a support structure through the sliding rails, and the workbench being internally mounted with a power device for driving the support structure to move in translation.

[0008] Preferably, the rack comprises a plurality of support columns and a storage table, one end of each support column being fixedly connected with the storage table, and the other end of each support column being inserted with the workbench.

[0009] Preferably, the power device comprises oppositely arranged mounting seats fixedly connected with the workbench, a screw rod being rotatably connected between the oppositely arranged mounting seats, a nut being mounted in the middle of the screw rod, a connecting plate being fixedly connected with the nut, and a motor being connected with the end of the screw rod.

[0010] Preferably, a sliding block is slidably connected with the sliding rail.

[0011] Preferably, the support structure comprises a limiting disc, the bottom of the limiting disc being fixedly connected with the connecting plate, the two ends of the limiting disc being fixedly connected with the sliding block, and a platform being rotatably connected with the top of the limiting disc.

[0012] Preferably, a plurality of fixed side plates are arranged along the axial direction of the screw rod, each fixed side plate being provided with a curved surface matched with the outer circular surface of the platform, and a buckle plate being clamped at the two ends of each fixed side plate, the bottom of each buckle plate being abutted with the table plate.

[0013] Compared with the prior art, the present application has the following beneficial effects:

[0014] Strong structural stability: through the multiple fixed connections of the limiting disc, the nut and the sliding block, and the cooperation and fastening of the fixed side plates and the buckle plates, the stability of the mechanical arm during movement and work can be effectively guaranteed, and bottom interference can be avoided.

[0015] Convenient and efficient adjustment: the precise translation of the support structure can be realized by means of the motor-driven screw nut mechanism, the position of the mechanical arm can be quickly adjusted, and the requirements of different working scenes can be met.

[0016] Convenient disassembly and maintenance: the rack columns and the workbench are connected in a plug-in manner, which facilitates later disassembly and maintenance, and reduces equipment maintenance costs.

[0017] Flexible adaptability: through the adaptive design of the curved surface of the fixed side plate and the outer circle of the platform, the platform at different positions can be stabilized, and the adaptive ability of the equipment in diversified work is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Figure 1 is a structural schematic view of a cooperative mechanical arm workbench according to the present application;

[0019] Figure 2Figure 2 is a schematic view of a workbench structure of a collaborative robot according to the present application;

[0020] Figure 3 Figure 3 is a schematic view of a workbench structure of a collaborative robot according to the present application after removing the rack;

[0021] Figure 4 Figure 4 is a schematic view of a workbench structure of a collaborative robot according to the present application after removing the rack, the limiting disc, the platform and the fixed side plate;

[0022] Figure 5 Figure 5 is a schematic view of a support structure of a workbench of a collaborative robot according to the present application;

[0023] Figure 6 Figure 6 is a partial enlarged view of A in the schematic view of the support structure of the workbench of the collaborative robot according to the present application;

[0024] In the drawings:

[0025] 1, rack; 101, support column; 102, object placing table; 2, workbench; 201, table plate; 202, fixed plate; 203, sliding rail; 204, sliding block; 3, power device; 301, motor; 302, mounting seat; 303, screw rod; 304, nut; 30401, connecting plate; 4, support structure; 401, limiting disc; 40101, threaded hole; 402, platform; 403, fixed side plate; 40301, insertion hole; 40302, curved surface; 404, buckle plate; 40401, protruding part; 405, positioning pin. DETAILED DESCRIPTION

[0026] The present specification and claims do not imply that the components are distinguished by the difference in name, but are distinguished by the difference in function. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, and the specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.

[0027] As Figures 1-6The illustrated one kind is a cooperative mechanical arm workstation, including frame 1, the frame 1 is installed with workstation 2, the workstation 2 includes oppositely arranged table plate 201, the table plate 201 is fixedly installed with slide rail 203, the workstation 2 is slidably connected with support structure 4 through slide rail 203, the workstation 2 is internally installed with power device 3 that drives support structure 4 to move.

[0028] The frame 1 includes a plurality of struts 101 and a storage table 102, one end of the strut 101 is fixedly connected with the storage table 102, in order to facilitate disassembly and maintenance work, the other end of the strut 101 is inserted with the workstation 2. The frame 1 provides stable support for the entire device. The bottom of the workstation 2 is provided with a socket adapted to the strut 101. The top surface of the slide rail 203 is provided with a fixed plate 202, the fixed plate 202 is provided with a plurality of counterbores, the slide rail 203 is provided with a plurality of through holes, the table plate 201 is provided with a plurality of threaded holes, the counterbores of the fixed plate 202, the through holes of the slide rail 203 and the threaded holes of the table plate 201 are centrally arranged, the counterbores of the fixed plate 202 are installed with screws, and the fixed plate 202 fixes the slide rail 203 on the table plate 201 through the screws.

[0029] The power device 3 includes oppositely arranged mounting seats 302, the mounting seats 302 are fixedly connected with the workstation 2, a lead screw 303 is rotatably connected between the oppositely arranged mounting seats 302, a nut 304 is installed in the middle of the lead screw 303, a connecting plate 30401 is fixedly connected to the nut 304, and a motor 301 is connected to the end of the lead screw 303.

[0030] The slide rail 203 adopts a linear guide rail structure, and the track surface is provided with a wear-resistant coating. The wear-resistant coating reduces wear caused by friction during long-term sliding of the slide rail, prolongs the service life of the linear guide rail and ensures the movement accuracy. The slide rail 203 is slidably connected with a sliding block 204. The support structure 4 includes a limiting disc 401, the limiting disc 401 is fixedly connected with the connecting plate 30401 at the bottom, the limiting disc 401 is fixedly connected with the sliding block 204 at both ends, screw holes 40101 are respectively formed in the two sides of the limiting disc 401, a positioning pin 405 is threadedly connected in the screw hole 40101, the bottom of the positioning pin 405 extends out of the screw hole 40101 and is fixedly connected with the sliding block 204, the limiting disc 401 is fixedly connected with the sliding block 204 through the positioning pin 405, and the support structure 4 is slidably connected with the slide rail 203 of the workstation 2 through the sliding block 204.

[0031] The top of the limiting disc 401 is rotationally connected with a platform 402, and the top of the platform 402 is connected with a mechanical arm. The workbench 2 is axially provided with a plurality of fixed side plates 403 along the screw rod 303, the fixed side plates 403 are provided with curved surfaces 40302 matched with the outer circular surface of the platform 402, the two ends of the fixed side plates 403 are clamped with buckle plates 404, the two ends of the fixed side plates 403 are provided with insertion holes 40301, the buckle plates 404 are clamped with the fixed side plates 403 through the insertion holes 40301, and the bottom of the buckle plates 404 is provided with a protruding portion 40401 which abuts against the table plate 201.

[0032] When the device is in use, the limiting disc 401 is fixedly connected with the nut 304, the limiting disc 401 is fixedly connected with the sliding block 204 through the positioning pin 405, and the fixed side plates 403 abut against the table plate 201 through the buckle plates 404, so that the stability of the platform 402 and the bottom of the mechanical arm is realized when the sliding block 204 moves on the sliding rail 203.

[0033] The working principle of the cooperative mechanical arm workbench is as follows:

[0034] In the initial state, the two fixed side plates 403 are located at the front end and the rear end of the workbench 2 respectively. When it is necessary to adjust the position of the mechanical arm, the motor 301 is started, the motor 301 drives the screw rod 303 to rotate between the oppositely arranged mounting seats 302, the limiting disc 401 of the support structure 4 is fixedly connected with the nut 304 through the connecting plate 30401, the limiting disc 401 is fixedly connected with the sliding block 204 on the sliding rail 203 through the positioning pin 405, the support structure 4 can slide along the sliding rail 203, therefore, the rotation of the screw rod 303 will be converted into the axial movement of the nut 304, and then the support structure 4 as a whole is translated forward and backward along the sliding rail 203.

[0035] When the support structure 4 moves to the predetermined working position, the motor 301 stops running. At this time, the fixed side plates 403 are moved towards the platform 402 connected with the top of the mechanical arm, until the curved surfaces 40302 of the fixed side plates 403 tightly fit with the outer circular surface of the platform 402, then the buckle plates 404 are inserted into the insertion holes 40301 at the two ends of the fixed side plates 403, so that the protruding portion 40401 at the bottom of the buckle plates 404 abuts against the surface of the table plate 201, and the platform 402 is fixedly fixed through the interaction force between the table plate 201 and the buckle plates 404.

[0036] Through the above process, the flexible adjustment of the position of the mechanical arm is realized by means of the screw rod 303-nut 304 mechanism, the stability of the platform 402 during work is ensured through the cooperation of the fixed side plates 403 and the buckle plates 404, the fixed connection of the limiting disc 401 and the sliding block 204, and the like, so as to ensure the accuracy of the position change of the mechanical arm, avoid the interference of the bottom shaking, and improve the overall work efficiency.

[0037] The embodiments of the present application are described in detail above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.

Claims

1. A collaborative robot arm workbench, characterized by: The invention comprises a frame (1), a workbench (2) is mounted on the frame (1), the workbench (2) comprises table plates (201) arranged opposite to each other, a slide rail (203) is fixedly mounted on the table plates (201), the workbench (2) is slidably connected to a support structure (4) via the slide rail (203), and a power device (3) is mounted inside the workbench (2) for driving the support structure (4) to perform translational motion.

2. The collaborative robot arm workbench according to claim 1, characterized in that: The frame (1) comprises a plurality of pillars (101) and a storage platform (102), one end of the pillar (101) is fixedly connected to the storage platform (102), and the other end of the pillar (101) is plugged into the workbench (2).

3. The collaborative robot arm workbench according to claim 2, characterized in that: The power device (3) comprises mounting seats (302) arranged opposite to each other, the mounting seats (302) being fixedly connected to the workbench (2), a screw rod (303) being rotatably connected between the mounting seats (302), a nut (304) being installed in the middle of the screw rod (303), a connecting plate (30401) being fixed on the nut (304), and a motor (301) being connected to the end of the screw rod (303).

4. The collaborative robot arm workbench according to claim 3, characterized in that: A slider (204) is slidably connected to the slide rail (203).

5. The collaborative robot arm workbench according to claim 4, characterized in that: The support structure (4) comprises a limiting disc (401), the bottom of the limiting disc (401) is fixedly connected to the connecting plate (30401), and both ends of the limiting disc (401) are fixedly connected to the slider (204); the top of the limiting disc (401) is rotatably connected to the platform (402).

6. The collaborative robot arm workbench according to claim 5, characterized in that: The workbench (2) is provided with a plurality of fixed side plates (403) axially along the screw rod (303), the fixed side plates (403) being provided with a curved surface (40302) adapted to the outer circumferential surface of the platform (402), and snap plates (404) being clamped at both ends of the fixed side plates (403), the bottom of the snap plates (404) being in contact with the platform (201).

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