Robot workstation

Abstract

The utility model discloses a robot workstation. The robot workstation comprises a press; the six-axis robot is arranged close to the press; the detection system comprises a detection cleaning composite part and a detection assembly, the detection cleaning composite part comprises a detection sensing assembly, and the detection assembly is connected with the detection sensing assembly; the driving mechanism is arranged on the six-axis robot and connected with the detecting and cleaning composite part. The driving mechanism comprises an overturning part and a rotating part. The feeding and discharging mechanism is arranged on the six-axis robot and comprises a mounting base, a first driving part, a second driving part, an obtaining part, a clamping part and a bearing part, the first driving part drives the obtaining part to stretch out or retract, and the second driving part drives the clamping part to stretch out or retract; the quick-change mechanism is arranged on the driving mechanism and detachably connected with the feeding and discharging mechanism. The feeding and discharging mechanism and the six-axis robot are combined for use, operation of workers in a severe environment is reduced, the surface cleaning problem of the press is solved through the detection system, surface defect detection of the press is achieved, and the production process requirement is met.

Description

Technical Field

[0001] The present application relates to the technical field of top press production operation, and in particular to a robot workstation. Background Art

[0002] During the production and pressing process of the block product, the material is pressed under high pressure and high temperature to complete the synthetic production of superhard materials. In the press production operation, workers are required to place the material in the center of the press. After manually clicking the start button on the press, the press presses the material to form a block product. After the press has finished pressing the material, the worker reaches into the center of the press and takes out the block. Next, the worker cleans the surface of the press, and then inspects the surface of the press to check whether there are cracks or defects on the surface of the press. From placing materials and removing blocks, to surface cleaning and detecting surface defects, a complete block production process is formed for cyclic production. Among them, the degree of automation in the production process of block pressing is not high. No loading and unloading mechanism has been found on the market that can simultaneously meet the automated production applications of press loading and unloading.

[0003] In addition, when workers are removing material blocks, the surface of the press reaches a temperature of about 120 degrees, and the material blocks reach a temperature of about 135 degrees. The high temperature in the working environment can easily burn the workers' skin, which is a safety hazard. Workers also have to climb up and down near the press to place materials and remove material blocks. The temperature near the press also reaches a high temperature of about 45 degrees. The workers' labor intensity is high and the working environment is also poor.

[0004] In addition, workers use sharp metal sheets to detect crack defects on the surface of the press. The detection is based on visual inspection and touch, and relies on the workers' experience, which poses a risk of missed detection. Moreover, crack defects near the surface of the press cannot be detected, and the press cannot be protected preventively. Summary of the invention

[0005] The purpose of this application is to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a robot workstation that can perform mechanical movements of inspection, cleaning, loading and unloading in the narrow space of the press, which can meet the automation of the production line, meet the cleaning requirements of the production process, solve the problem of press surface cleaning, replace manual experience, adopt scientific detection methods, solve the problem of press surface defect detection, and apply it to actual production.

[0006] A robot workstation according to an embodiment of the first aspect of the present application includes:

[0007] Press, used for pressing materials;

[0008] a six-axis robot disposed adjacent to the press;

[0009] A detection system, comprising a detection cleaning composite and a detection assembly, wherein the detection cleaning composite comprises a detection sensor assembly, and the detection assembly is disposed on the six-axis robot and connected to the detection sensor assembly;

[0010] A driving mechanism, arranged on the six-axis robot, connected to the detection and cleaning composite, comprising a flipping component and a rotating component, so that the detection and cleaning composite is suitable for performing at least one of a flipping action and a rotating action;

[0011] A loading and unloading mechanism is arranged on the six-axis robot, and comprises a mounting seat and a first driving member, a second driving member, an acquisition member, a clamping member and a supporting member arranged on the mounting seat, wherein the first driving member is used to drive the acquisition member to extend or retract, and the second driving member is used to drive the clamping member to extend or retract, so that the acquisition member is suitable for cooperating with the clamping member to move the material block to the supporting member, and / or the clamping member is suitable for cooperating with the acquisition member and the supporting member to clamp the material block, and / or the clamping member is suitable for cooperating with the acquisition member to put down the material block;

[0012] The quick-change mechanism is arranged on the driving mechanism, and the quick-change mechanism is detachably connected to the loading and unloading mechanism.

[0013] The robot workstation according to the first aspect of the embodiment of the present application has at least the following beneficial effects: by combining the loading and unloading mechanism with the six-axis robot, it can replace manual loading and unloading, reduce the workers' work in harsh environments, meet the automated operation of the workstation and be applied to actual production, solve the problem of press surface cleaning through the detection system, realize press surface defect detection, meet the cleaning and heat dissipation requirements of the production process, and improve the degree of automation.

[0014] According to the robot workstation described in the embodiment of the first aspect of the present application, the acquisition member includes a hook plate, one end of the hook plate is suitable for connecting to the first driving member, the other opposite end of the hook plate is provided with a first hook portion and a second hook portion, and an avoidance concave surface is provided between the first hook portion and the second hook portion.

[0015] According to the robot workstation described in the embodiment of the first aspect of the present application, the clamping member includes a clamping head, one end of the clamping head is suitable for connecting to the second driving member, and a positioning concave surface is provided on the other opposite end of the clamping head.

[0016] According to the robot workstation described in the embodiment of the first aspect of the present application, the supporting member includes a supporting plate, one end of the supporting plate is arranged on the mounting seat, the other opposite end of the supporting plate is cantilevered, the hook plate is located above the supporting plate, and the clamping head is arranged relatively close to one end of the hook plate and located between the hook plate and the supporting plate, so that the clamping head is suitable for moving in a direction close to or away from the other end of the hook plate.

[0017] According to the robot workstation described in the embodiment of the first aspect of the present application, the loading and unloading mechanism also includes an in-place switch, a first guide member and a second guide member arranged on the mounting seat, the in-place switch is suitable for detecting the in-place information of the acquiring member, the first guide member is used to guide the movement of the acquiring member, and the second guide member is used to guide the movement of the clamping member.

[0018] According to the robot workstation described in the embodiment of the first aspect of the present application, the detection and cleaning composite part includes a detection and cleaning body, which is arranged at the end of the driving mechanism, and an air duct is formed inside the detection and cleaning body, and an air inlet and an air outlet are respectively provided on the air duct, the air inlet is suitable for receiving high-pressure gas, and the air outlet is suitable for blowing air to a preset area to achieve at least one of heat dissipation or cleaning, and the detection sensor component is arranged at the end of the detection and cleaning body.

[0019] According to the robot workstation described in the embodiment of the first aspect of the present application, the detection component includes an eddy current detector, and the detection sensor component includes an eddy current detection sensor element.

[0020] According to the robot workstation described in the embodiment of the first aspect of the present application, the driving mechanism includes a rod flange, a quick-change mounting plate and a detection rod body, the flipping component includes a flipping motor and a flipping gear set, the rotating component includes a rotating motor and a rotating gear set, the rod flange is connected to the six-axis robot, the quick-change mounting plate is arranged on the rod flange and is used to be connected to the quick-change mechanism, the flipping motor and the rotating motor are arranged on the quick-change mounting plate, one end of the detection rod body is arranged on the quick-change mounting plate, and the other end of the detection rod body is provided with the flipping gear set, the rotating gear set and the detection and cleaning composite part, the flipping motor drives the detection and cleaning composite part to flip through the flipping gear set, and the rotating motor drives the detection and cleaning composite part to rotate through the rotating gear set.

[0021] According to the robot workstation described in the embodiment of the first aspect of the present application, the quick-change mechanism includes a quick-change head and a connecting rod. The quick-change head can be clamped or loosened to the quick-change mounting plate, one end of the connecting rod is connected to the quick-change head, and the other end of the connecting rod is connected to the loading and unloading mechanism.

[0022] According to the robot workstation described in the embodiment of the first aspect of the present application, the quick-change mechanism includes a quick-change auxiliary cylinder, which is arranged on the rod body of the connecting rod and is used to clamp and support the detection rod body.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application is further described below with reference to the accompanying drawings and embodiments;

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of the structure of the driving mechanism in the embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the structure of the detection and cleaning composite member in the embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of the structure of the quick-change mechanism in the embodiment of the present application;

[0029] Figure 5 This is a structural schematic diagram of the loading and unloading mechanism in the embodiment of the present application;

[0030] Figure 6 This is a schematic diagram of a material block being taken by a loading and unloading mechanism in an embodiment of the present application;

[0031] Figure 7 This is a schematic diagram of the loading and unloading mechanism clamping the material block in the embodiment of the present application.

[0032] Reference numerals:

[0033] 100. Press;

[0034] 200, six-axis robot;

[0035] 310, detection cleaning composite part; 311, detection sensor component; 312, detection cleaning body; 313, airway; 314, air outlet; 320, detection component;

[0036] 400, driving mechanism; 411, flip motor; 412, flip gear set; 421, rotating motor; 422, rotating gear set; 430, rod flange; 440, quick-change mounting plate; 450, detection rod body;

[0037] 500, loading and unloading mechanism; 510, mounting seat; 520, first driving member; 530, second driving member; 540, hook plate; 550, clamping head; 560, supporting plate; 570, in-position switch; 580, first guide member; 590, second guide member;

[0038] 600, quick-change mechanism; 610, quick-change head; 620, quick-change auxiliary cylinder; 630, connecting rod. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In the description of this application, "several" means one or more, "more" means at least two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application after combining the specific content of the technical solution.

[0043] Reference Figures 1 to 7 The robot workstation of the first aspect of the present application is applied to the production and pressing of block products. The robot workstation includes a press 100, a six-axis robot 200, a detection system, a drive mechanism 400, a loading and unloading mechanism 500 and a quick-change mechanism 600.

[0044] The press 100 is used for pressing materials; the six-axis robot 200 is arranged near the press 100; the detection system includes a detection cleaning composite 310 and a detection component 320, the detection cleaning composite 310 includes a detection sensor component 311, the detection component 320 is arranged on the six-axis robot 200 and connected to the detection sensor component 311; the drive mechanism 400 is arranged on the six-axis robot 200, the drive mechanism 400 is connected to the detection cleaning composite 310, and the drive mechanism 400 includes a flipping component and a rotating component, so that the detection cleaning composite 310 is suitable for performing at least one of a flipping action or a rotating action; the loading and unloading mechanism 500 is arranged on the six-axis robot 200, The loading and unloading mechanism 500 is arranged on the six-axis robot 200, and the loading and unloading mechanism 500 includes a mounting seat 510 and a first driving member 520, a second driving member 530, an acquisition member, a clamping member and a supporting member arranged on the mounting seat 510. The first driving member 520 is used to drive the acquisition member to extend or retract, and the second driving member 530 is used to drive the clamping member to extend or retract, so that the acquisition member is suitable for cooperating with the clamping member to move the material block to the supporting member, and / or the clamping member is suitable for cooperating with the acquisition member and the supporting member to clamp the material block, and / or the clamping member is suitable for cooperating with the acquisition member to put down the material block; the quick-change mechanism 600 is arranged on the driving mechanism 400, and the quick-change mechanism 600 is detachably connected to the loading and unloading mechanism 500.

[0045] Reference Figures 1 to 7 The robot workstation of the first aspect of the present application can replace manual loading and unloading by combining the loading and unloading mechanism 500 with the six-axis robot 200, reduce the workers' work in harsh environments, meet the automated operation of the workstation, and be applied to actual production. The detection system can solve the surface cleaning problem of the press 100, realize the surface defect detection of the press 100, meet the cleaning and heat dissipation requirements of the production process, and improve the degree of automation.

[0046] In some embodiments of the present application, the acquisition member includes a hook plate 540, one end of which is suitable for connecting to the first driving member 520, and the other opposite end of the hook plate 540 is provided with a first hook portion and a second hook portion, and an avoidance concave surface is provided between the first hook portion and the second hook portion; the clamping member includes a clamping head 550, one end of which is suitable for connecting to the second driving member 530, and the other opposite end of the clamping head 550 is provided with a positioning concave surface; the supporting member includes a supporting plate 560, one end of the supporting plate 560 is arranged on the mounting seat 510, and the other opposite end of the supporting plate 560 is cantilevered, the hook plate 540 is located above the supporting plate 560, and the clamping head 550 is arranged relatively close to one end of the hook plate 540 and is located between the hook plate 540 and the supporting plate 560, so that the clamping head 550 is suitable for moving in a direction close to or away from the other end of the hook plate 540.

[0047] It is understandable that the first driving member 520 and the second driving member 530 can be cylinders, the mounting seat 510 is used to connect and fix the loading and unloading mechanism 500 to the connecting rod 630 of the quick-change mechanism 600, and the hooking cylinder is used to extend and retract the hooking plate 540. When the hooking plate 540 is used to take the material block inside the press 100, the hooking plate 540 hooks the material block out of the narrow gap. In addition, the hooking cylinder is combined to drag the material block above the supporting plate. The supporting plate is used for supporting and holding the material block. The clamping cylinder is used to extend and retract the clamping head 550. When the clamping head 550 is used for loading, the clamping cylinder and the hooking plate 540 are combined to clamp the material block, realize the positioning of the material block, and fix the inside of the loading and unloading mechanism 500. The hooking plate 540 and the clamping head 550 are extended synchronously, and then the clamping head 550 is retracted relative to the hooking plate 540 to achieve the release of the material block.

[0048] In some embodiments of the present application, the loading and unloading mechanism 500 further includes an in-place switch 570, a first guide 580 and a second guide 590 arranged on the mounting seat 510. The in-place switch 570 is suitable for detecting the in-place information of the acquisition member, the first guide 580 is used to guide the movement of the acquisition member, and the second guide 590 is used to guide the movement of the clamping member. It can be understood that the in-place switch 570 can be set as a cylinder magnetic switch to detect whether the position of the cylinder extension and retraction is in place, and the second guide 590 is used to maintain the linear movement of the clamping head 550. The first guide 580 is used to maintain the linear movement of the hook plate 540. In some embodiments, the first guide 580 and the second guide 590 can be guide columns or guide rails.

[0049] In some embodiments, the operation details of the material taking and placing of the material blocks of the loading and unloading mechanism 500 include:

[0050] When taking out the material block, the hooking cylinder extends the hooking plate 540, and then moves the hooking plate 540 to the top of the material block. Then the loading and unloading mechanism 500 moves down, forming a state where the hooking plate 540 wraps the material block. Then, the hooking cylinder retracts the hooking plate 540 and pulls the material block into the loading and unloading mechanism 500. The supporting plate supports the material block to prevent it from falling. Next, the clamping cylinder pushes out the clamping head 550, and the clamping head 550, the double hooks of the hooking plate 540, and the material block fit together. The V-shaped surface of the clamping head 550 and the double hook V-shaped surface of the hooking plate 540 are used to complete the positioning of the material block, and the process of taking out the material block is completed.

[0051] When the material block is discharged, the material block is inside the loading and unloading mechanism 500. The hook cylinder extends, and the material block, the hook plate 540, the clamping head 550 and other parts are extended together. At this time, the material block leaves the area of ​​the support plate. Then the clamping cylinder retracts, and the clamping head 550 retreats. At this time, the material block is not clamped and will fall under the action of its own weight and be placed in the designated area. Then the loading and unloading mechanism 500 rises until the double hooks of the hook plate 540 are higher than the upper surface of the material block. Finally, the loading and unloading mechanism 500 moves horizontally to complete the process of discharging the material block.

[0052] In some embodiments of the present application, the detection and cleaning composite 310 includes a detection and cleaning body 312, which is disposed at the end of the driving mechanism 400, and an air passage 313 is formed inside the detection and cleaning body 312, and an air inlet and an air outlet 314 are respectively provided on the air passage 313, the air inlet is suitable for receiving high-pressure gas, and the air outlet 314 is suitable for blowing air to a preset area to achieve at least one of heat dissipation or cleaning, and the detection sensor component 311 is disposed at the end of the detection and cleaning body 312. In some embodiments of the present application, the detection component 320 includes an eddy current detector, and the detection sensor component 311 includes an eddy current detection sensor element.

[0053] It is understandable that the detection and cleaning body 312 is fixedly mounted at the end of the driving mechanism 400, and the detection and cleaning body 312 is internally designed with an air inlet, an air duct 313, and an air outlet 314. High-pressure air enters from the air inlet, flows through the air duct 313, and is ejected from the air outlet 314 to blow air to the preset area, forming a heat dissipation airflow and a cleaning airflow respectively, to achieve heat dissipation and cooling and surface cleaning of the press 100. The eddy current detection sensor element is mounted at the end of the detection and cleaning body 312, and is connected to the eddy current detector through a cable to form a complete eddy current detection system, which can detect crack defects on the metal surface of the press 100.

[0054] In some embodiments of the present application, the driving mechanism 400 includes a rod flange 430, a quick-change mounting plate 440 and a detection rod body 450, the flipping component includes a flipping motor 411 and a flipping gear set 412, the rotating component includes a rotating motor 421 and a rotating gear set 422, the rod flange 430 is connected to the six-axis robot 200, the quick-change mounting plate 440 is arranged on the rod flange 430 and is used to connect with the quick-change mechanism 600, the flipping motor 411 and the rotating motor 421 are arranged on the quick-change mounting plate 440, one end of the detection rod body 450 is arranged on the quick-change mounting plate 440, and the other end of the detection rod body 450 is provided with a flipping gear set 412, a rotating gear set 422 and a detection cleaning composite 310, the flipping motor 411 drives the detection cleaning composite 310 to flip through the flipping gear set 412, and the rotating motor 421 drives the detection cleaning composite 310 to rotate through the rotating gear set 422.

[0055] It can be understood that the rod flange 430 is used to mount and fix the drive mechanism 400 on the flange of the 6-axis robot; the quick-change mounting plate 440 is used to mount the quick-change head 610 of the quick-change mechanism 600; the flip motor 411 transmits power through the flip gear set 412 to drive the inspection and cleaning composite head to flip. The rotating motor 421 transmits power through the rotating gear set 422 to drive the inspection and cleaning composite head to rotate.

[0056] In some embodiments of the present application, the quick-change mechanism 600 includes a quick-change head 610, a quick-change auxiliary cylinder 620 and a connecting rod 630. The quick-change head 610 can be clamped or loosened and connected to the quick-change mounting plate 440. The quick-change auxiliary cylinder 620 is arranged on the rod body of the connecting rod 630 and is used to clamp and support the detection rod body 450. One end of the connecting rod 630 is connected to the quick-change head 610, and the other end of the connecting rod 630 is connected to the loading and unloading mechanism 500.

[0057] It is understandable that the quick-change head 610 can realize the functions of clamping and loosening by controlling the switch, thereby fixing the quick-change mechanism 600 on the quick-change mounting plate 440 of the driving mechanism 400, or loosening the quick-change mounting plate 440 from the driving mechanism 400. The quick-change auxiliary cylinder 620 is located in the middle of the connecting rod 630, and is used to clamp the detection rod body 450 of the driving mechanism 400 to reduce the shaking of the quick-change mechanism 600 during movement. One end of the connecting rod 630 is connected to the quick-change head 610, and the other end is connected to the loading and unloading mechanism 500.

[0058] Reference Figures 1 to 7 The control method of the robot workstation of the second aspect of the present application may be the control method of the robot workstation of the first aspect of the present application, and the control method of the robot workstation includes the following steps:

[0059] The six-axis robot 200, with the quick-change mechanism 600 and the loading and unloading mechanism 500, goes to the loading area to grab the material and puts the material into the press 100;

[0060] The press 100 completes the pressing of the material;

[0061] The six-axis robot 200 moves to the interior of the press 100 with the loading and unloading mechanism 500, grabs the material block through the loading and unloading mechanism 500 and takes it out;

[0062] The six-axis robot 200 places the pressed material blocks in the unloading area;

[0063] The six-axis robot 200 disengages the loading and unloading mechanism 500 through the quick-change mechanism 600;

[0064] The six-axis robot 200 extends the detection and cleaning composite member 310 into the interior of the press 100 through the driving mechanism 400, performs air blowing cleaning on the surface of the press 100, and uses the detection sensor component 311 to perform crack detection on the metal surface of the press 100;

[0065] The six-axis robot 200 drives the inspection and cleaning composite part 310 out of the press 100 through the driving mechanism 400 .

[0066] In some embodiments, the loading action of the loading and unloading mechanism 500 includes:

[0067] The composite blocks are placed in the designated loading area, waiting for loading;

[0068] The six-axis robot 200 moves the loading and unloading mechanism 500 to the synthetic block placement area, and the hooking cylinder of the loading and unloading mechanism 500 extends the hooking plate 540, and then moves the hooking plate 540 to the top of the synthetic block.

[0069] The loading and unloading mechanism 500 moves downward, forming a state in which a hook plate 540 wraps around the composite block.

[0070] The hooking cylinder retracts, and the hooking plate 540 connected to the hooking cylinder retracts, pulling the composite block into the loading and unloading mechanism 500, and the supporting plate supports the composite block to prevent the composite block from falling.

[0071] The clamping cylinder pushes out the clamping head 550, and the clamping head 550, the double hooks of the hooking plate 540, and the composite block fit together, and the V-shaped surface of the clamping head 550 and the double hook V-shaped surface of the hooking plate 540 are used to complete the positioning of the composite block.

[0072] The six-axis robot 200 moves the loading and unloading mechanism 500 to move the composite block to above the hammer surface inside the six-sided top press 100.

[0073] The hooking cylinder extends, and the hooking plate 540 connected to the hooking cylinder extends, pushing the composite block out of the loading and unloading mechanism 500, and the composite block leaves the supporting plate, and the clamping cylinder retracts the clamping head 550. Without the support of the supporting plate and the clamping effect of the clamping head 550, the composite block falls onto the hammer surface.

[0074] The six-axis robot 200 moves the loading and unloading mechanism 500 out of the six-sided press 100 to complete the loading process.

[0075] The unloading action of the unloading mechanism 500 includes:

[0076] The composite block is on the hammer surface of the six-sided top press 100, waiting for unloading.

[0077] The six-axis robot 200 moves the loading and unloading mechanism 500 to the vicinity above the composite block on the hammer surface of the six-sided top press 100.

[0078] The hooking cylinder of the loading and unloading mechanism 500 extends the hooking plate 540, and then moves the hooking plate 540 to the top of the synthesis block.

[0079] The six-axis robot 200 moves down along the surface of the top hammer with the loading and unloading mechanism 500, forming a state in which a hook plate 540 wraps the composite block.

[0080] The hooking cylinder retracts, and the hooking plate 540 connected to the hooking cylinder retracts, and the composite block is pulled out from the hammer face and clamped to prevent the composite block from falling.

[0081] The six-axis robot 200 moves the loading and unloading mechanism 500 to move the composite block to the outside of the six-sided top press 100 and to the composite block placement area designated for unloading.

[0082] The hooking cylinder of the loading and unloading mechanism 500 extends the hooking plate 540, pushes out the composite block and clamps it. The composite block falls to the placement area, completing the unloading process.

[0083] In some embodiments, the operation of inspecting the cleaning composite 310 includes:

[0084] The six-axis robot 200 is manually taught to move the inspection and cleaning composite part 310 along the surface of the press 100 .

[0085] During the movement of the inspection and cleaning composite part 310 , the six-axis robot 200 issues a command to start the inspection function.

[0086] The eddy current detector is turned on and continuously detects the surface. If cracks are found on the surface, an alarm is sounded.

[0087] During the movement of the inspection and cleaning composite member 310 , the six-axis robot 200 issues a command to start the cleaning function.

[0088] The solenoid valve is switched to connect the high-pressure gas to the air inlet, and the high-pressure gas flows through the air passage 313 and the air outlet 314 to form a clean airflow and a heat dissipation airflow.

[0089] Compared with the prior art, the present invention has the following beneficial effects:

[0090] 1. Solve the loading and unloading problem of the loading and unloading mechanism 500 of the press 100. Combined with the six-axis robot 200 mechanism, it can replace manual loading and unloading, reduce the workers' work in harsh environments, meet the automation operation of the workstation, and be applied to actual production.

[0091] 2. Solving the surface cleaning problem of the press 100 and meeting the cleaning and heat dissipation requirements of the production process is an important process in realizing the automated operation of the workstation.

[0092] 3. Use eddy current detection instruments and systems on the market, combined with robot movements, to perform crack detection, replacing manual experience, and using scientific detection methods to achieve 100% surface defect detection of the press.

[0093] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A robot workstation, characterized in that: include: Press, used for pressing materials; a six-axis robot disposed adjacent to the press; A detection system, comprising a detection cleaning composite and a detection assembly, wherein the detection cleaning composite comprises a detection sensor assembly, and the detection assembly is disposed on the six-axis robot and connected to the detection sensor assembly; A driving mechanism, arranged on the six-axis robot, connected to the detection and cleaning composite, comprising a flipping component and a rotating component, so that the detection and cleaning composite is suitable for performing at least one of a flipping action and a rotating action; A loading and unloading mechanism is arranged on the six-axis robot, and comprises a mounting seat and a first driving member, a second driving member, an acquisition member, a clamping member and a supporting member arranged on the mounting seat, wherein the first driving member is used to drive the acquisition member to extend or retract, and the second driving member is used to drive the clamping member to extend or retract, so that the acquisition member is suitable for cooperating with the clamping member to move the material block to the supporting member, and / or the clamping member is suitable for cooperating with the acquisition member and the supporting member to clamp the material block, and / or the clamping member is suitable for cooperating with the acquisition member to put down the material block; The quick-change mechanism is arranged on the driving mechanism, and the quick-change mechanism is detachably connected to the loading and unloading mechanism.

2. The robot workstation according to claim 1, characterized in that: The acquisition member comprises a hook plate, one end of which is suitable for connecting to the first driving member, and the other opposite end of the hook plate is provided with a first hook portion and a second hook portion, and an avoidance concave surface is provided between the first hook portion and the second hook portion.

3. The robot workstation according to claim 2, characterized in that: The clamping member comprises a clamping head, one end of which is suitable for connecting with the second driving member, and a positioning concave surface is arranged on the other opposite end of the clamping head.

4. The robot workstation according to claim 3, characterized in that: The supporting member includes a supporting plate, one end of which is arranged on the mounting seat, and the other opposite end of the supporting plate is cantilevered, the hook plate is located above the supporting plate, and the clamping head is arranged relatively close to one end of the hook plate and located between the hook plate and the supporting plate, so that the clamping head is suitable for moving in a direction close to or away from the other end of the hook plate.

5. The robot workstation according to claim 4, characterized in that: The loading and unloading mechanism also includes an in-place switch, a first guide member and a second guide member arranged on the mounting seat. The in-place switch is suitable for detecting the in-place information of the acquiring member, the first guide member is used to guide the movement of the acquiring member, and the second guide member is used to guide the movement of the clamping member.

6. The robot workstation according to claim 1, characterized in that: The detection and cleaning composite includes a detection and cleaning body, which is arranged at the end of the driving mechanism. An air duct is formed inside the detection and cleaning body, and an air inlet and an air outlet are respectively provided on the air duct. The air inlet is suitable for receiving high-pressure gas, and the air outlet is suitable for blowing air to a preset area to achieve at least one of heat dissipation or cleaning. The detection sensor component is arranged at the end of the detection and cleaning body.

7. The robot workstation according to claim 1 or 6, characterized in that: The detection component includes an eddy current detector, and the detection sensor component includes an eddy current detection sensor element.

8. The robot workstation according to claim 1, characterized in that: The driving mechanism includes a rod flange, a quick-change mounting plate and a detection rod body, the flipping component includes a flipping motor and a flipping gear set, the rotating component includes a rotating motor and a rotating gear set, the rod flange is connected to the six-axis robot, the quick-change mounting plate is arranged on the rod flange and is used to be connected to the quick-change mechanism, the flipping motor and the rotating motor are arranged on the quick-change mounting plate, one end of the detection rod body is arranged on the quick-change mounting plate, and the other end of the detection rod body is provided with the flipping gear set, the rotating gear set and the detection and cleaning composite part, the flipping motor drives the detection and cleaning composite part to flip through the flipping gear set, and the rotating motor drives the detection and cleaning composite part to rotate through the rotating gear set.

9. The robot workstation according to claim 8, characterized in that: The quick-change mechanism includes a quick-change head and a connecting rod. The quick-change head can be connected to the quick-change mounting plate in a clamped or loose manner. One end of the connecting rod is connected to the quick-change head, and the other end of the connecting rod is connected to the loading and unloading mechanism.

10. The robot workstation according to claim 9, characterized in that: The quick-change mechanism comprises a quick-change auxiliary cylinder, which is arranged on the rod body of the connecting rod and is used to clamp and support the detection rod body.

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