Man-machine collaborative robot workbench and machine tool feeding and discharging method thereof

Abstract

The invention discloses a man-machine collaborative robot workbench and a machine tool feeding and discharging method thereof, and relates to the technical field of automatic production equipment. The workbench comprises a rack assembly, a button box assembly, a tricolor lamp, an overturning table assembly, a material disc assembly, a table board large plate and a robot; the machine frame assembly serves as a basic support and integrates a base anchor, a supporting foot cup, trundles, a robot controller, a switchboard and other components, and the fixing, leveling, moving and electrical control functions of the workbench are achieved. The charging tray assembly is detachably connected with the table top large plate through a quick change structure, and is suitable for quick change of various workpieces; the robot is installed on the rack assembly, the working range of the robot covers the material disc assembly and the overturning table assembly, workpiece grabbing and transferring and machine tool feeding and discharging can be completed, and the overturning table assembly can adjust the posture of the workpiece. The problems that a traditional automatic production line is tedious in production changing, single in product, low in man-machine cooperation flexibility and insufficient in integration degree can be solved.

Description

Technical Field

[0001] This application belongs to the field of glass manufacturing technology, and specifically relates to a human-machine collaborative robot workbench and its machine tool loading and unloading method. Background Technology

[0002] As the manufacturing industry shifts towards a multi-variety, small-batch production model, traditional automated production lines, due to their inherent defects such as sequential processes, highly specialized equipment, and cumbersome changeover processes, are struggling to adapt to rapidly changing production demands. These production lines often can only process a single product, and switching products requires extensive adjustments and debugging to the equipment connection structure and positioning references, resulting in low equipment utilization and significant resource waste.

[0003] In addition, traditional industrial robots, due to their high speed and strength, need to be separated from personnel through physical isolation facilities. This not only limits the flexibility of human-machine collaboration but also increases system complexity and floor space, further reducing the utilization rate of production line space.

[0004] While collaborative robots have broken through the limitations of physical isolation, allowing humans and robots to work safely in shared spaces, existing collaborative applications mostly focus on the safety control of the robot itself, lacking a complementary, highly integrated, flexible workstation solution. This is particularly true in machine tool loading and unloading scenarios, where rapid workpiece switching relies on precise docking between the tray and the worktable. The overall movement of the work unit needs to balance stability and convenience. Existing equipment either lacks standardized connection structures, resulting in low changeover efficiency, or requires additional peripherals such as controllers and interactive components due to insufficient integration, making it difficult to form compact work units. Summary of the Invention

[0005] The purpose of this application is to provide a human-machine collaborative robot workbench and its machine tool loading and unloading method. This addresses the problems mentioned in the background art, such as cumbersome changeover processes, limited flexibility in human-machine collaboration, low integration of work units, and poor mobility in traditional automated production lines.

[0006] To achieve the above objectives, this application adopts the following technical solution: Firstly, a human-robot collaborative robot workbench is provided, comprising: frame; A tabletop is mounted on the frame; At least one tray is detachably mounted on the table panel for supporting workpieces; A collaborative robot is mounted on the frame, and its working range covers the area where the material tray is set. A quick-change mechanism is provided between the material tray and the table panel to enable quick disassembly and installation of the material tray; A moving mechanism, located at the bottom of the frame, is used to move the entire worktable.

[0007] In one possible implementation, the quick-change mechanism includes a positioning pin assembly, one end of which is connected to the table panel and the other end of which is adapted to the tray, thereby achieving precise positioning of the tray and the table panel.

[0008] In one possible implementation, a flipping and positioning device is also included, which is mounted on the frame and located within the working range of the collaborative robot, for flipping or adjusting the posture of the workpiece.

[0009] In one possible implementation, the flipping and positioning device includes a driving component and a workpiece support. The driving component is connected to the frame, and the workpiece support is connected to the output end of the driving component. The driving component can drive the workpiece support to rotate the workpiece.

[0010] In one possible implementation, the moving mechanism includes casters connected to the bottom of the frame, which can drive the entire worktable to move.

[0011] In one possible implementation, a leveling support is also included, which is located at the bottom of the frame and connected to the frame. The leveling support can be adjusted to achieve horizontal calibration of the worktable by adjusting its own height.

[0012] In one possible implementation, a control cabinet is also included, which is integrated inside or outside the rack. The control cabinet contains the controller and electrical components of the collaborative robot, and the controller is electrically connected to the collaborative robot.

[0013] In one possible implementation, a human-computer interaction component is also included, which is disposed on the frame. The human-computer interaction component includes a button box and a status indicator light. The button box is electrically connected to the control circuit of the workbench, and the status indicator light is electrically connected to the working status of the collaborative robot.

[0014] In one possible implementation, a safety panel is provided on the outside of the rack, the safety panel is connected to the rack, and forms a protective structure to protect the internal components of the rack, and the safety panel has ventilation holes.

[0015] Secondly, a method for loading and unloading machine tools is provided, employing the human-machine collaborative robot workbench described in the first aspect, including the following steps: S1: In response to the loading request signal issued by the machine tool, control the collaborative robot to pick up the workpiece to be processed from the currently installed material tray; S2: Control the collaborative robot to move the workpiece to be processed to the machine tool processing position, and perform the unloading operation to take away the processed workpiece; S3: Control the collaborative robot to move the processed workpiece out of the machine tool processing position and place it on the material tray; S4: When it is necessary to change the production type, the current tray is replaced with a tray that is suitable for another type of workpiece through the quick change mechanism. After the changeover is completed, the above steps are repeated.

[0016] Compared with the prior art, this application has the following beneficial effects: This application provides a collaborative robot workbench, which provides stable support for each component through a frame, and the table panel realizes a reasonable layout of the material tray and the robot. The detachable material tray, combined with a quick-change mechanism, solves the problem of cumbersome changeover in traditional production lines, and can quickly adapt to different workpieces, improving the flexibility of the production line. The collaborative robot can work in conjunction with personnel without physical isolation, reducing the equipment footprint and improving the flexibility of human-robot collaboration. The bottom moving mechanism facilitates the overall movement of the workbench, adapting to the adjustment needs of different production line layouts. The overall structure has a high degree of integration, effectively improving the production line utilization rate and reducing resource waste.

[0017] In one possible implementation, a quick-change mechanism composed of positioning pin components is simple in structure and low in cost. It can quickly disassemble and assemble the material tray without complicated operations. Compared with the traditional bolt-connected material tray, it significantly shortens the changeover time. At the same time, the precise matching of the positioning pin and the positioning hole ensures the positional accuracy of the material tray after installation, avoiding errors in the robot's workpiece grasping due to material tray offset. This further improves the operational stability and changeover efficiency of the workbench, and better meets the needs of small-batch, multi-variety production.

[0018] In one possible implementation, the workpiece can be automatically adjusted in posture according to the machine tool's processing requirements by setting up a flipping and positioning device, eliminating the need for manual workpiece flipping, reducing manual intervention, and lowering labor intensity and safety risks. At the same time, the flipping and positioning device is integrated into the frame, eliminating the need for additional production line space, and precisely matching the working range of the collaborative robot to ensure the continuity of workpiece flow, improve the overall efficiency of machine tool loading and unloading, and further enhance the automation and integration level of the worktable.

[0019] In one possible implementation, the rotary cylinder serves as the driving component, ensuring reliable operation and convenient maintenance. It can precisely control the rotation angle and speed of the workpiece support, meeting the posture adjustment needs of different workpieces. The structural design of the workpiece support is adapted to specific workpieces, ensuring the stability of the workpiece during the flipping process, preventing the workpiece from falling or being damaged, and reducing production losses. The reliable connection between the driving component and the workpiece support ensures efficient power transmission, avoids flipping failures due to loose connections, further improves the working stability and service life of the flipping positioning device, and ensures continuous operation of the production line.

[0020] A machine tool loading and unloading method automates the entire process from workpiece gripping, transfer, loading and unloading to changeover, eliminating the need for manual intervention. This significantly reduces labor costs and human error, improving production accuracy and efficiency. Signal interaction between the worktable and the machine tool ensures precise matching between loading and unloading actions and the machine tool's processing rhythm, preventing idle machine operation or workpiece accumulation and increasing machine tool uptime. The quick-change tray operation is simple and fast, greatly shortening changeover time and meeting the needs of small-batch, multi-variety production. The overall process is coherent and reliable, effectively enhancing the flexibility and overall competitiveness of the production line. Attached Figure Description

[0021] Figure 1 This application provides an overall structural schematic diagram of a human-robot collaborative robot workbench. Figure 2 A partial schematic diagram of a human-robot collaborative robot workbench provided in this application; Figure 3 A partial schematic diagram of another human-robot collaborative robot workbench provided in this application; Figure 4 This is a schematic diagram of the overall structure of a flipping positioning device provided in this application.

[0022] The attached diagram shows the following labels: 100, frame; 200, button box; 300, status indicator light; 400, flipping and positioning device; 500, material tray; 600, tabletop; 700, collaborative robot; 110, base plate; 120, leveling support; 130, caster; 140, safety panel; 150, robot mounting plate; 160, robot controller; 170, fan; 180, power distribution panel; 111, teach pendant; 112, solenoid valve; 113, air source processor; 410, flipping table support; 420, rotary cylinder; 430, flipping connection plate; 440, workpiece support block. Detailed Implementation

[0023] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly defined. The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0027] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, this application discloses a human-robot collaborative robot workbench, which may include: Frame 100: A frame-type frame 100 is manufactured, which is made of high-strength steel and welded to ensure structural stability.

[0030] Furthermore, in order to facilitate the support of the frame 100, four foot plates 110 are provided at the bottom of the frame 100, and the foot plates 110 are fixed to the frame 100 by bolts.

[0031] The tabletop 600 is mounted on the rack 100.

[0032] Optionally, a metal tabletop 600 is laid horizontally on top of the rack 100. The tabletop 600 is detachably connected to the pre-set connection holes on the top of the rack 100 by bolts.

[0033] At least one tray 500 is detachably mounted on the table panel 600 for supporting workpieces.

[0034] Specifically, multiple trays 500 for supporting workpieces are set on the table panel 600. The trays 500 are made of plastic or metal and their size is adapted to common workpiece sizes.

[0035] The collaborative robot 700 is mounted on the frame 100, and its working range covers the area where the tray 500 is located.

[0036] Optionally, a robot mounting plate 150 is bolted to one side of the frame 100, and the bottom of the collaborative robot 700 is bolted to the robot mounting plate 150. The robot's motion parameters are adjusted to ensure its working range covers the entire area of ​​the tray 500.

[0037] To facilitate the control of the collaborative robot 700, a robot controller 160 is also provided on the frame 100 to facilitate the control of the collaborative robot 700's movements.

[0038] Furthermore, the rack 100 is also equipped with a fan 170, which can be fixed to the rack 100 by an M6×20 socket head cap screw, thereby cooling the internal electrical components.

[0039] The frame 100 is also equipped with a distribution panel 180, which can be fixed to the frame 100 by means of M6×20 socket head cap screws to facilitate the installation of electrical components.

[0040] Furthermore, a teach pendant 111 is provided on the frame 100. The teach pendant 111 is fixed on the frame 100 by a bracket, which facilitates the use of robot programming and control.

[0041] The frame 100 is also equipped with a solenoid valve 112 and an air source processor 113, both of which are fixed inside the frame 100 by M4×20 hexagonal head screws. The opening and closing of the robot gripper can be controlled by the solenoid valve 112 and the air source processor 113.

[0042] The quick-change mechanism is located between the tray 500 and the panel 600 to enable the quick disassembly and installation of the tray 500.

[0043] A quick-change mechanism is installed between the bottom of the tray 500 and the upper surface of the table panel 600. Specifically, a positioning pin is fixed on the table panel 600, and a positioning hole that matches the positioning pin is opened on the bottom of the tray 500.

[0044] At the four corners of the bottom of the frame 100, a moving mechanism with locking function is installed on each of the wheel seats, and the wheel seats are bolted to the bottom of the frame 100.

[0045] Specifically, the moving mechanism can be located at the bottom of the frame 100 to enable the overall movement of the worktable.

[0046] In this embodiment, the frame 100 provides stable support for each component, the table panel 600 achieves a reasonable layout of the material tray 500 and the robot, the detachable material tray 500 is equipped with a quick-change mechanism, which solves the problem of cumbersome changeover in traditional production lines, can quickly adapt to different workpieces, and improve the flexibility of the production line; the collaborative robot 700 can work in collaboration with personnel without physical isolation, reducing the equipment footprint and improving the flexibility of human-machine collaboration; the bottom moving mechanism facilitates the overall movement of the worktable, adapts to the adjustment needs of different production line layouts, has a high degree of overall structural integration, effectively improves the production line utilization rate, and reduces resource waste.

[0047] In one possible embodiment, the quick-change mechanism includes a positioning pin assembly, one end of which is connected to the table panel 600 and the other end of which is adapted to the tray 500 to achieve precise positioning of the tray 500 and the table panel 600.

[0048] Specifically, the quick-change mechanism uses a positioning pin assembly, which consists of 2-4 cylindrical positioning pins welded at a preset interval on the upper surface of the table panel 600. The diameter of the positioning pin is 8-12mm and the length is 15-20mm.

[0049] At the bottom of the material tray 500, corresponding to the position of the positioning pin, a positioning hole is made that matches the diameter and length of the positioning pin. The inner wall of the positioning hole is smooth to reduce insertion and extraction resistance.

[0050] When it is necessary to install the tray 500, align the positioning hole at the bottom of the tray 500 with the positioning pin on the table panel 600, and simply lower it to complete the precise positioning and initial fixation. To disassemble, simply lift the tray 500 upwards to separate it.

[0051] In this embodiment, the quick-change mechanism composed of positioning pin components has a simple structure and low cost. It can quickly disassemble and assemble the material tray 500 without complicated operations. Compared with the traditional bolt-connected material tray 500, it significantly shortens the changeover time. At the same time, the precise matching of the positioning pin and the positioning hole ensures the positional accuracy of the material tray 500 after installation, avoiding errors in robot workpiece grasping due to the offset of the material tray 500. This further improves the operational stability and changeover efficiency of the workbench, and better meets the needs of small-batch, multi-variety production.

[0052] In one possible embodiment, a flipping and positioning device 400 is also included, which is disposed on the frame 100 and located within the working range of the collaborative robot 700, for flipping or adjusting the posture of the workpiece.

[0053] Optionally, a bracket can be welded from angle steel in the area between the tabletop 600 and the collaborative robot 700 as the mounting base for the flipping positioning device 400.

[0054] The flipping and positioning device 400 may include a metal workpiece support, on which a groove adapted to the shape of the workpiece is formed. A rotary cylinder 420 is fixed to one side of the workpiece support as a driving component by bolts. The output shaft of the rotary cylinder 420 is rigidly connected to one side of the workpiece support via a coupling.

[0055] The adjustment of the bracket position and the parameters of the rotary cylinder 420 ensures that the collaborative robot 700 can place the workpiece in the groove of the workpiece support, and the rotary cylinder 420 can drive the workpiece support to rotate 90°-180° around the output shaft to achieve workpiece posture adjustment.

[0056] In this embodiment, the flipping and positioning device 400 can automatically adjust the posture of the workpiece according to the processing requirements of the machine tool, eliminating the need for manual flipping of the workpiece, reducing manual intervention, and lowering the labor intensity and safety risks of personnel. At the same time, the flipping and positioning device 400 is integrated on the frame 100, eliminating the need for additional production line space, and precisely matches the working range of the collaborative robot 700, ensuring the continuity of workpiece flow, improving the overall efficiency of machine tool loading and unloading, and further enhancing the automation and integration level of the workbench.

[0057] In one possible embodiment, such as Figure 4 As shown, the flipping and positioning device 400 includes a driving component and a workpiece support. The driving component is connected to the frame 100, and the workpiece support is connected to the output end of the driving component. The driving component can drive the workpiece support to rotate the workpiece.

[0058] Specifically, the driving component of the flipping positioning device 400 is a rotary cylinder 420 of the CDRQ2B series. The rated working pressure of the cylinder is 0.15-0.8MPa, and the rotation angle can be infinitely adjusted from 0° to 180°.

[0059] The workpiece support is made of stainless steel with a thickness of 5-8mm. Its surface groove is designed according to the cylindrical workpiece to be processed. The groove diameter is 0.5-1mm larger than the workpiece diameter to ensure that the workpiece can be placed stably without shaking.

[0060] A tilting table bracket 410 is provided between the drive unit and the frame 100, and the tilting table bracket 410 can be fixed to the frame 100 with bolts. The cylinder body of the rotary cylinder 420 is fixed to the tilting table bracket 410 with four M6 bolts. The output shaft of the rotary cylinder 420 is connected to the connecting shaft of the workpiece support through a flat key, and then locked with a nut to ensure the stability of power transmission.

[0061] Specifically, the workpiece support may include a flipping connecting plate 430 and at least two workpiece support blocks 440; the bottom of the rotary cylinder 420 is provided with a flipping table bracket 410, which is fixed to the frame 100 by bolts, and the base of the rotary cylinder 420 is fixed to the flipping table bracket 410 by bolts.

[0062] The workpiece support block 440 is fixed to the flip-connecting plate 430 by bolts, and the workpiece support blocks 440 are used to fix the workpiece.

[0063] The output shaft of the rotary cylinder 420 is rigidly connected to the flip connecting plate 430. By adjusting the rotary cylinder 420, the rotary cylinder 420 can drive the flip connecting plate 430 to rotate.

[0064] In this embodiment, the rotary cylinder 420 serves as a driving component, ensuring reliable operation and convenient maintenance. It can precisely control the rotation angle and speed of the workpiece support, meeting the posture adjustment requirements of different workpieces. The structural design of the workpiece support is adapted to specific workpieces, ensuring the stability of the workpiece during the flipping process, preventing the workpiece from falling or being damaged, and reducing production losses. The reliable connection between the driving component and the workpiece support ensures efficient power transmission, avoids flipping failures due to loose connections, further improves the working stability and service life of the flipping positioning device 400, and ensures continuous operation of the production line.

[0065] In one possible embodiment, the moving mechanism may include casters 130 connected to the bottom of the frame 100, which can drive the entire workbench to move.

[0066] Optionally, a TPR series universal caster 130 is installed at each of the four corners of the bottom of the frame 100 of the workbench as a moving mechanism. The caster 130 has a wheel diameter of 100-125mm and a rated load of not less than 50kg.

[0067] The caster 130 is connected to the pre-set wheel seat at the bottom of the frame 100 by four M8 bolts, and the wheel seat is welded to the bottom of the frame 100. Each caster 130 has a foot-operated locking mechanism. When the worktable moves to the target position, stepping on the locking pedal will restrict the rotation of the caster 130, and releasing the pedal will unlock it, which facilitates the movement and fixing of the worktable.

[0068] In this embodiment, the omnidirectional caster 130 moving mechanism enables the workbench to move flexibly within the workshop. Compared to traditional fixed-installation workbenches, its position can be adjusted without the need for hoisting equipment, reducing the difficulty and cost of production line layout adjustments. The large wheel diameter and high load-bearing design of the caster 130 ensure that the workbench can still move easily while bearing the weight of various components. Furthermore, the foot-operated locking structure is convenient to operate and can quickly fix the position of the workbench, preventing it from shifting during operation. This balances mobility and operational stability, improving the equipment's versatility and adaptability.

[0069] In one possible embodiment, a leveling support 120 may also be included, which is disposed at the bottom of the frame 100. The leveling support 120 is connected to the frame 100 and can achieve horizontal calibration of the worktable by adjusting its own height.

[0070] Optionally, at the four corners of the bottom of the frame 100 of the workbench, a leveling foot 120 is provided next to each caster 130. The leveling foot 120 is a threaded foot of type M16, and a rubber pad with a diameter of 50mm is installed at the bottom of the foot.

[0071] The leveling feet 120 can be connected to the pre-set threaded holes at the bottom of the frame 100 via threads. The length of the feet extending out of the bottom of the frame 100 can be adjusted by rotating the feet, with a range of 0-50mm.

[0072] When the workbench is placed on an uneven ground, use a level to check the 600° levelness of the workbench panel. Adjust the 600° levelness of the workbench panel to within 0.1mm / m by rotating the leveling legs 120°.

[0073] In this embodiment, the leveling feet 120 effectively solve the problem of workbench tilting caused by uneven workshop floors. By precisely adjusting the height of the feet, the horizontal state of the workbench 600, the material tray 500, and the robot is ensured, avoiding problems such as workpiece displacement in the material tray 500 and decreased robot gripping accuracy caused by workbench tilt, thus improving operational accuracy. The rubber pads at the bottom of the feet increase friction with the ground, further enhancing the stability of the workbench, while reducing vibration transmission between the workbench and the ground, protecting the internal electrical components of the frame 100, extending the service life of the equipment, and improving the adaptability of the workbench to different workshop environments.

[0074] In one possible embodiment, a control cabinet may also be included, which is integrated inside or outside the rack 100. The control cabinet contains the controller and electrical components of the collaborative robot 700, and the controller is electrically connected to the collaborative robot 700.

[0075] Specifically, an installation space of 500mm×400mm×600mm is reserved inside one side of the frame 100 of the workbench, and a metal control cabinet is made there. The control cabinet is fixed in the installation space by bolts.

[0076] The control cabinet has a vertically mounted electrical mounting plate inside, on which the controller, circuit breaker, contactor, relay and other electrical components of the collaborative robot 700 are fixed with bolts.

[0077] According to the electrical schematic diagram, the controller can be connected to components such as the collaborative robot 700, circuit breaker, and contactor using wires. The signal port of the controller can be connected to the signal port of the external machine tool through a data cable to realize the signal interaction between the worktable and the machine tool.

[0078] In this embodiment, by integrating the control cabinet into the rack 100, there is no need to set up additional installation space for electrical components, which greatly reduces the overall footprint of the workbench and improves space utilization. The centralized installation and wiring of electrical components facilitates later maintenance and repair, reducing maintenance costs. The reliable connection between the controller and the collaborative robot 700 and the machine tool enables the collaborative operation of the workbench and external equipment, ensuring the automation and continuity of the machine tool loading and unloading process, avoiding signal interference or connection failures caused by the dispersed arrangement of components, and improving the system stability and operating efficiency of the workbench.

[0079] In one possible embodiment, a human-machine interface component may also be included, disposed on the frame 100. The human-machine interface component includes a button box 200 and a status indicator light 300. The button box 200 is electrically connected to the control circuit of the workbench, and the status indicator light 300 is electrically connected to the working status of the collaborative robot 700.

[0080] Optionally, a human-machine interface component can be mounted on the top edge of the frame 100 of the workbench via a 45° inclined metal bracket, which is bolted to the frame 100.

[0081] The button box 200 uses a plastic shell with dimensions of 150mm×100mm×80mm. It integrates four buttons: start, stop, emergency stop, and reset. The button box 200 is connected to the control circuit of the workbench via wires to realize operations such as starting and stopping the workbench and resetting faults.

[0082] The status indicator 300 uses a three-color LED, such as red, yellow, and green, and is fixed to the top of the button box 200 with bolts. The signal input terminal of the indicator is connected to the controller of the collaborative robot 700 through a wire. When the robot is running normally, the green light is on; when it is in standby mode, the yellow light is on; and when there is a fault, the red light is on.

[0083] In this embodiment, the human-machine interface component allows for quick operation of the tilted button box 200, while the emergency stop button can shut down the equipment in emergencies, enhancing operational safety. The three-color status indicator lights 300 visually display the working status of the collaborative robot 700, allowing operators to understand the workbench's operation without needing to review complex equipment parameters, facilitating timely fault detection and handling. The reliable connection between the button box 200 and the control circuit, as well as the indicator lights and the robot controller 160, ensures the accuracy and timeliness of human-machine interaction, improves the ease of operation and maintainability of the equipment, and lowers the barrier to entry for operators.

[0084] In one possible embodiment, a safety panel 140 is provided on the outside of the rack 100. The safety panel 140 is connected to the rack 100 and forms a protective structure to protect the internal components of the rack 100. The safety panel 140 has ventilation holes.

[0085] Specifically, four safety panels 140 made of cold-rolled steel plate with a thickness of 1.5-2mm can be detachably installed around the frame 100 of the workbench using M5 bolts. The front panel has an opening and closing maintenance door, which is connected to the panel by a hinge and equipped with a door lock. On the safety panels 140 on the rear and sides of the frame 100, there are circular ventilation holes with a diameter of 8-10mm at 50mm×50mm intervals. The positions of the ventilation holes correspond to the electrical component installation areas of the control cabinet inside the frame 100. A layer of 2mm thick sound insulation cotton is pasted on the inside of the safety panels 140 to reduce the noise of the equipment operation.

[0086] In this embodiment, the safety panel 140 effectively protects the control cabinet, electrical components, etc. inside the rack 100, preventing dust, oil, or foreign objects from entering the equipment, reducing the risk of component failure, and extending the service life of the equipment. The design of the ventilation holes allows for air circulation between the inside and outside of the rack 100, promptly removing the heat generated by the electrical components during operation, preventing component damage due to excessive temperature, and ensuring stable equipment operation. The detachable panel and access door facilitate future maintenance and repair of internal components. The addition of sound insulation cotton reduces equipment operating noise, improves the workshop working environment, and enhances operator comfort.

[0087] In one possible embodiment, a machine tool loading and unloading method is provided, employing the aforementioned human-machine collaborative robot workbench, comprising the following steps: First, the material tray 500 adapted to the workpiece to be processed is installed on the table panel 600 through a quick change mechanism, and the workpiece to be processed is neatly placed in the material tray 500.

[0088] After the machine tool completes the processing of the previous workpiece, it sends a loading request signal to the worktable controller via a data cable.

[0089] After receiving the signal, the controller controls the collaborative robot 700 to move above the material tray 500 along a preset path and grab a workpiece to be processed using its grippers.

[0090] The collaborative robot 700 carries the workpiece to be processed to the machine tool processing position. It first uses grippers to remove the already processed workpiece from the machine tool, and then places the workpiece to be processed on the machine tool's fixture.

[0091] Subsequently, the collaborative robot 700 carries the processed workpiece to the return tray 500 and places it in the finished product area of ​​the tray 500.

[0092] When it is necessary to switch to producing another type of workpiece, the operator lifts the current tray 500 upwards to separate it from the quick-change mechanism on the table panel 600, and then installs the tray 500 adapted to the new workpiece into place. After the changeover is completed, the above loading and unloading steps are repeated.

[0093] In this embodiment, the method automates the entire process from workpiece gripping, transfer, loading and unloading to changeover, eliminating the need for manual intervention, significantly reducing labor costs and human error, and improving production accuracy and efficiency. The signal interaction between the worktable and the machine tool ensures precise matching between loading and unloading actions and the machine tool's processing rhythm, avoiding machine tool idleness or workpiece accumulation, and improving machine tool uptime. The quick-change tray 500 is simple and quick to operate, greatly shortening changeover time and meeting the production needs of small batches and multiple varieties. The overall method is coherent and reliable, effectively improving the flexibility and overall competitiveness of the production line.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions for some or all of the technical features, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A human-robot collaborative robot workbench, characterized in that, include: Rack (100); A tabletop (600) is disposed on the frame (100); At least one tray (500) is detachably mounted on the table panel (600) for supporting workpieces; A collaborative robot (700) is mounted on the frame (100), and its working range covers the area where the tray (500) is set. A quick-change mechanism is provided between the tray (500) and the table panel (600) to enable quick disassembly and installation of the tray (500); A moving mechanism is provided at the bottom of the frame (100) to realize the overall movement of the worktable.

2. The human-robot collaborative robot workbench according to claim 1, characterized in that, The quick-change mechanism includes a positioning pin assembly, one end of which is connected to the table panel (600) and the other end is adapted to the tray (500) to achieve precise positioning of the tray (500) and the table panel (600).

3. The human-robot collaborative robot workbench according to claim 1, characterized in that, It also includes a flipping and positioning device (400), which is set on the frame (100) and located within the working range of the collaborative robot (700) for flipping or adjusting the posture of the workpiece.

4. The human-robot collaborative robot workbench according to claim 3, characterized in that, The flipping and positioning device (400) includes a driving component and a workpiece support. The driving component is connected to the frame (100), and the workpiece support is connected to the output end of the driving component. The driving component can drive the workpiece support to rotate the workpiece.

5. The human-robot collaborative robot workbench according to claim 1, characterized in that, The moving mechanism includes casters (130), which are connected to the bottom of the frame (100) and can drive the entire workbench to move.

6. The human-robot collaborative robot workbench according to claim 5, characterized in that, It also includes a leveling support (120) located at the bottom of the frame (100). The leveling support (120) is connected to the frame (100) and can be used to level the worktable by adjusting its height.

7. The human-robot collaborative robot workbench according to claim 1, characterized in that, It also includes a control cabinet, which is integrated inside or outside the frame (100). The control cabinet contains the controller and electrical components of the collaborative robot (700), and the controller is electrically connected to the collaborative robot (700).

8. The human-robot collaborative robot workbench according to claim 1, characterized in that, It also includes a human-computer interaction component, which is set on the frame (100). The human-computer interaction component includes a button box (200) and a status indicator (300). The button box (200) is electrically connected to the control circuit of the workbench, and the status indicator (300) is electrically connected to the working status of the collaborative robot (700).

9. The human-machine collaborative robot workbench according to claim 1, characterized in that, A safety panel is provided on the outside of the frame (100). The safety panel is connected to the frame (100) and forms a protective structure to protect the internal components of the frame (100). Ventilation holes are provided on the safety panel.

10. A method for loading and unloading materials on a machine tool, characterized in that, The human-robot collaborative robot workbench according to any one of claims 1-9 includes the following steps: S1: In response to the loading request signal issued by the machine tool, control the collaborative robot (700) to pick up the workpiece to be processed from the currently installed tray (500); S2: Control the collaborative robot (700) to move the workpiece to be processed to the machine tool processing position and perform the unloading operation to take away the processed workpiece; S3: Control the collaborative robot (700) to move the processed workpiece out of the machine tool processing position and place it on the material tray (500); S4: When it is necessary to change the production type, the current tray (500) is replaced with a tray (500) that is suitable for another type of workpiece through the quick change mechanism. After the changeover is completed, the above steps are repeated.

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