Mechanical arm work station and flexible production system

Abstract

The utility model discloses a mechanical arm work station and a flexible production system. The mechanical arm work station comprises a movable platform, a support assembly, a first detection element and a mechanical arm. The movable platform is arranged to allow the mechanical arm work station to move to a target position near the assembly line; the support assembly is connected with the movable platform so that the mechanical arm work station can be higher than the assembly line. The first detection element is connected with the bracket assembly and is arranged to detect information of an object to be operated on the assembly line from the upper part of the assembly line; the mechanical arm is connected with the movable platform and is arranged to be capable of operating the to-be-operated object based on the detection result of the first detection element and the speed of the assembly line. In the application, the mechanical arm work station can be flexibly moved, so that the utilization rate and the production efficiency of the mechanical arm are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of industrial equipment, and in particular, relates to a robotic arm workstation and a flexible production system. Background Art

[0002] As a device that replaces or assists manpower, robotic arms have been widely used in production and life. In related technologies, whether it is a traditional industrial robotic arm or a current collaborative robotic arm, the robotic arm is usually fixed at a specific position on the assembly line (such as a certain workstation) and cannot be moved, so the robotic arm can only operate at a specific position. Therefore, when changing lines or adjusting processes, the robotic arm is either idle, resulting in low utilization, or disassembled and re-debugged, resulting in low production efficiency. Utility Model Content

[0003] The embodiments of the present application provide a robot arm workstation and a flexible production system to improve the technical problems of low robot arm utilization and low production efficiency.

[0004] In a first aspect, an embodiment of the present application provides a robotic arm workstation, comprising:

[0005] A movable platform configured to allow the robot station to move to a target position near the assembly line;

[0006] A support assembly connected to the movable platform so that the robot arm station is higher than the assembly line;

[0007] A first detection element is connected to the support assembly and is configured to detect information of an object to be processed on the assembly line from above the assembly line;

[0008] The robot arm is connected to the movable platform and is configured to operate the object to be operated based on the detection result of the first detection element and the speed of the assembly line.

[0009] Optionally, the robot station includes a second detection element connected to the movable platform;

[0010] The robot arm is configured to carry the object to be worked on through the second detection element so that the second detection element can detect the current posture of the object to be worked on, and the robot arm can adjust the current posture to a target posture.

[0011] Optionally, the first detection element is connected to the bracket assembly through a first adjustment mechanism, and the second detection element is connected to the movable platform through a first adjustment mechanism; wherein the first adjustment mechanism includes a first track assembly and a second track assembly connected to the first track assembly, the second track assembly can move along a first direction under the guidance of the first track assembly, and the first detection element or the second detection element can move along a second direction under the guidance of the second track assembly, and the second direction intersects with the first direction.

[0012] Optionally, the first track assembly includes a first fixed plate and a first guide rail connected to the first fixed plate, the first guide rail extends along the first direction, the second track assembly includes a second fixed plate, a first slider and a second guide rail connected to the second fixed plate, and a second slider connected to the second guide rail, the first slider is slidably connected to the first guide rail, the second guide rail extends along the second direction, and the first detection element or the second detection element is connected to the second slider.

[0013] Optionally, the first rail assembly includes a first guide plate connected to the first fixed plate, a first guide plate is respectively arranged on both sides of the first guide rail at intervals, the second rail assembly includes a second guide plate connected to the second fixed plate, a second guide plate is arranged on the outer side of each first guide plate away from the first guide rail, the number of the second guide rails is two, and the two second guide rails are arranged at intervals.

[0014] Optionally, the robotic arm is configured as a collaborative robotic arm, and the speed of the robotic arm remains unchanged when carrying the object to be worked on through the second detection element.

[0015] Optionally, the robotic arm workstation includes a correction mechanism connected to the movable platform, the robotic arm can place the object to be worked on into the correction mechanism, the correction mechanism can adjust the current posture of the object to be worked on to a target posture, and the robotic arm can grab the object to be worked on that has been adjusted to the target posture again.

[0016] Optionally, the robotic arm workstation includes a third detection element arranged at the end of the robotic arm, and the third detection element is configured to detect information of the unloading area when the robotic arm moves to the unloading area. The robotic arm can further correct the target posture based on the detection result of the third detection element.

[0017] Optionally, the robot arm workstation includes a fourth detection element connected to the movable platform, and the fourth detection element can detect the speed of the assembly line.

[0018] Optionally, the fourth detection element is connected to the movable platform through a second adjustment mechanism, the second adjustment mechanism includes a swivel connected to the movable platform and a support member rotatably connected to the swivel, and the fourth detection element is connected to one end of the support member away from the swivel and can abut against the assembly line.

[0019] Optionally, the movable platform includes a cabinet, and casters and feet connected to the cabinet, the casters make the robotic arm workstation movable, and the feet make the height of the robotic arm workstation adjustable.

[0020] Optionally, a first electromagnet is disposed on the robot arm station, and a second electromagnet is disposed on the assembly line, and the first electromagnet and the second electromagnet are magnetically attracted to each other when the robot arm station moves to the target position.

[0021] In a second aspect, an embodiment of the present application further provides a flexible production system, which includes an assembly line and any one of the above-mentioned robotic arm workstations.

[0022] In an embodiment of the present application, depending on actual needs, the robotic arm workstation can be moved to another target position near the same assembly line via a movable platform, such as adjusting the process, or the robotic arm workstation can be moved to a target position near another assembly line via a movable platform, such as changing lines. The robotic arm can then perform corresponding operations on the work object based on the detection results of the first detection element and the speed of the assembly line, thereby improving the technical problems of low robotic arm utilization and low production efficiency through the flexible movement of the robotic arm workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The technical solution and beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0024] Figure 1 A schematic diagram of the structure of a flexible production system provided in an embodiment of the present application.

[0025] Figure 2 for Figure 1 Schematic diagram of the structure of the robotic arm workstation shown.

[0026] Figure 3 for Figure 1 Schematic diagram of the structure of the correction mechanism of the robotic arm workstation shown.

[0027] Figure 4 for Figure 1 A schematic structural diagram of the first adjustment mechanism of the robotic arm station shown.

[0028] Figure 5 for Figure 1A partial enlarged view of the X in the figure.

[0029] Figure 6 for Figure 1 A schematic structural diagram of the robotic arm workstation from another perspective is shown.

[0030] Figure 7 for Figure 1 Schematic diagram of the structure of the fixture library of the robotic arm workstation shown.

[0031] Figure 8 for Figure 1 Schematic diagram of the structure of the first electromagnet of the robotic arm station shown.

[0032] Fig. 9 A schematic diagram of an application scenario of a flexible production system provided in an embodiment of the present application.

[0033] The numbers in the figure are:

[0034] 1. Robotic arm station;

[0035] 100, movable platform; 11, cabinet; 12, casters; 13, legs;

[0036] 200, bracket assembly;

[0037] 300, a first detection element;

[0038] 400, robotic arm; 41, end;

[0039] 500, a second detection element;

[0040] 600, correctional institutions;

[0041] 700, first adjustment mechanism; 71, first track assembly; 711, first fixing plate; 7111, long hole; 712, first guide rail; 713, first guide plate; 72, second track assembly; 721, second fixing plate; 722, first slider; 723, second guide rail; 724, second slider; 7241, clamping portion; 725, second guide plate; 726, locking member;

[0042] 800, fourth detection element;

[0043] 900, second adjustment mechanism; 91, swivel seat; 92, support member;

[0044] 1000. Human-computer interaction components;

[0045] 1100, fifth detection element; 1101, signal transmitting device; 1102, signal receiving device;

[0046] 1200, alarm components;

[0047] 1300, actuator library; 1301, storage location;

[0048] 1400, a first electromagnet;

[0049] 2. Assembly line;

[0050] H1, first direction; H2, second direction; H3, third direction. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0052] Please refer to Figure 1 , Figure 1 A schematic diagram of the structure of a flexible production system provided in an embodiment of the present application. The embodiment of the present application provides a robotic arm workstation 1, comprising a movable platform 100, a support assembly 200, a first detection element 300, and a robotic arm 400. In some embodiments, the movable platform 100 and the support assembly 200 are two independent structures, which are connected together in a manner such as being detachable. In some other embodiments, the support assembly 200 can be used as a part of the structure of the movable platform 100.

[0053] The movable platform 100 is configured to allow the robot station 1 to move to a target position near the assembly line 2. The target position may refer to a certain station required for production. The support assembly 200 is connected to the movable platform 100 so that the robot station 1 can be higher than the assembly line 2. The first detection element 300 is connected to the support assembly 200 and is configured to detect information of an object to be processed located on the assembly line 2 from above the assembly line 2. The robot 400 is connected to the movable platform 100 and is configured to be able to operate on the object to be processed based on the detection result of the first detection element 300 and the speed of the assembly line 2.

[0054] In some embodiments, the operation performed by the robot arm 400 may include grabbing the object to be operated. That is, the robot arm 400 is configured to grab the object to be operated based on the detection result of the first detection element 300 and the speed of the assembly line 2.

[0055] In the embodiment of the present application, according to different actual needs, the robot arm station 1 can be moved to another target position near the same assembly line 2 through the movable platform 100, for example, to adjust the process, or the robot arm station 1 can be moved to a target position near another assembly line 2 through the movable platform 100, and then the robot arm 400 can accurately perform corresponding operations on the work object according to the detection result of the first detection element 300 and the speed of the assembly line 2, thereby improving the technical problems of low utilization rate and low production efficiency of the robot arm 400 through the flexible movement of the robot arm station 1.

[0056] In some embodiments, the speed of the assembly line 2 may be zero. For example, when the assembly line 2 delivers the object to be processed to the vicinity of the robot arm station 1, the assembly line 2 may be temporarily stopped to allow the robot arm 400 to accurately grasp the object to be processed.

[0057] In some other embodiments, the speed of the assembly line 2 may not be zero, that is, when the assembly line 2 transports the object to be processed to the vicinity of the robot arm workstation 1, the assembly line 2 does not need to stop temporarily, thereby improving the efficiency of the assembly line 2.

[0058] The above is an overall description of the technical solution of the embodiment of the present application. The technical solution of the embodiment of the present application will be described below with reference to the first detection element 300 .

[0059] In some embodiments, the first detection element 300 may be a visual component such as a camera, which may take pictures of the objects to be processed on the assembly line 2 from top to bottom, thereby detecting position information, posture information, and other information of the objects to be processed on the assembly line 2.

[0060] In some other embodiments, the first detection element 300 may be a sensor component such as an infrared ranging sensor, or a radar component such as a laser radar, which can detect information such as the position information of the object to be worked on.

[0061] In some embodiments, the first detection element 300 is located above the assembly line 2. For example, the orthographic projection of the first detection element 300 along the height direction of the robot arm workstation 1 can fall on the assembly line 2, so that the first detection element 300 can cover a larger range on the assembly line 2 when detecting from top to bottom, thereby reducing the probability of the first detection element 300 missing the workpiece on the assembly line 2.

[0062] The following will continue to illustrate the technical solution of the embodiment of the present application with examples in combination with some other detection elements of the robot arm station 1.

[0063] Please continue to refer to Figure 2 , Figure 2 for Figure 1The schematic diagram of the structure of the robot station is shown. The robot station 1 may include a second detection element 500 connected to the movable platform 100. The robot 400 is configured to carry the object to be worked on through the second detection element 500 so that the second detection element 500 can detect the current posture of the object to be worked on.

[0064] In this way, the robot station 1 can detect the error between the current posture of the object to be worked on and the required target posture, so that the robot 400 itself or other mechanisms cooperating with the robot 400 can make adaptive adjustments based on the error, thereby allowing the robot station 1 to complete the preset task.

[0065] In some embodiments, the robot 400 can adjust the current posture to the target posture. For example, the robot 400 can be a multi-axis robot, such as a four-axis robot, a five-axis robot, or a six-axis robot, so that the current posture of the object to be worked on can be quickly adjusted to the target posture through the multi-axis motion function of the robot 400 itself, thereby completing the posture correction of the object to be worked on, so as to improve the operation accuracy of the robot workstation 1.

[0066] In some embodiments, the robot arm 400 is configured as a collaborative robot arm. The robot arm 400 carries the object to be processed through the second detection element 500 at a constant speed, thereby further improving the operation efficiency of the robot station 1. Accordingly, the second detection element 500 may include a camera based on flying camera technology, such as a global shutter camera, a high-speed camera, and the like.

[0067] Of course, in some other embodiments, the second detection element 500 may also include at least one of a sensor and a radar. The sensor may include an infrared ranging sensor, etc. The radar may include a millimeter wave radar, a laser radar, etc., which is not limited in the embodiment of the present application.

[0068] Please continue to refer to Figure 3 , Figure 3 for Figure 1 The schematic diagram of the structure of the correction mechanism of the robot workstation shown. The robot workstation 1 may also include a correction mechanism 600 connected to the movable platform 100, the robot 400 may place the object to be worked into the correction mechanism 600, the correction mechanism 600 may adjust the current posture of the object to be worked to the target posture, and the robot 400 may grab the object to be worked that has been adjusted to the target posture again. With such a configuration, the posture correction of the object to be worked can be completed by the correction mechanism 600 in cooperation with the robot 400.

[0069] In some embodiments, the correction mechanism 600 has a plurality of movable jaws. Thus, the robot arm 400 can place the object to be worked on into the plurality of movable jaws, and then the plurality of jaws can cooperate to adjust the object to be worked on to a target posture, and finally the robot arm 400 can clamp the object to be worked on in the target posture.

[0070] In some embodiments, the correction mechanism 600 may further include a turntable, so that the robot arm 400 can place the object to be worked on the turntable, and then the turntable is rotated to adjust the object to be worked to the target posture, and finally the robot arm 400 can clamp the object to be worked in the target posture.

[0071] It should be noted that, when the robot station 1 includes a correction mechanism 600, the robot 400 may be provided with the above-mentioned second detection element 500, so as to adjust the posture of the object to be worked on by cooperating with the above-mentioned second detection element 500 and the correction mechanism 600; or, depending on the types of the object to be worked on and the second object to be worked on, the robot station 1 may selectively correct the posture of the object to be worked on through one of the correction mechanism 600 and the second detection element 500.

[0072] Of course, the robot arm 400 may also include only one of the above-mentioned correction mechanism 600 and the second detection element 500, and the embodiment of the present application is not limited to this.

[0073] In some embodiments, the position and / or angle of at least one of the second detection element 500 and the first detection element 300 is adjustable. Thus, according to changes in the assembly line 2 and / or the object to be processed, the position, angle, etc. of the second detection element 500 and / or the first detection element 300 can be adaptively adjusted, thereby improving the versatility of the robot station 1 and ultimately improving the utilization rate of the robot station 1.

[0074] It should be noted that, in the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0075] Please continue to refer to Figure 4 , Figure 4 for Figure 1 The schematic diagram of the structure of the first adjustment mechanism of the robot station is shown. The robot station 1 further includes a first adjustment mechanism 700. The first detection element 300 is connected to the support assembly 200 through the first adjustment mechanism 700, and the second detection element 500 is connected to the movable platform 100 through the first adjustment mechanism 700.

[0076] The first adjustment mechanism 700 includes a first track assembly 71 and a second track assembly 72 connected to the first track assembly 71, the second track assembly 72 can move along the first direction H1 under the guidance of the first track assembly 71, and the first detection element 300 or the second detection element 500 can move along the second direction H2 under the guidance of the second track assembly 72. The second direction H2 intersects with the first direction H1, for example, the two are orthogonal. The second direction H2 can be the height direction of the robot station 1.

[0077] Then, through the guiding cooperation between the first track assembly 71 and the second track assembly 72 , the position adjustment of the first detection element 300 or the second detection element 500 that cooperates with the second track assembly 72 in at least two directions can be achieved.

[0078] It should be noted that the first adjustment mechanism 700 for installing the first detection element 300 and the first adjustment mechanism 700 for installing the second detection element 500 can be completely the same or different, that is, technicians in this field can reasonably adjust the structure of the first adjustment mechanism according to actual needs.

[0079] Taking the example that the first detection element 300 can move along the second direction H2 under the guidance of the second track assembly 72, the first direction H1 can be the width direction of the assembly line 2, so that when the width of the assembly line 2 changes, the first detection element 300 can be adjusted according to the width of the assembly line 2, so that the detection range of the first detection element 300 can better cover the target area along the width direction of the assembly line 2. The second direction H2 can be a height direction. For example, when the first detection element 300 is a camera, the height of the first detection element 300 can be adjusted according to the focal length of the camera, the height of the assembly line 2, and the like.

[0080] Taking the example that the second detection element 500 can move along the second direction H2 under the guidance of the second track assembly 72, the first direction H1 can be the length direction of the assembly line, that is, parallel to the transmission direction of the assembly line 2. Therefore, the position of the second detection element 500 can be adjusted according to the operation requirements of the object to be operated, so that the first detection element 300 can be avoided to reserve enough movement space for the robot 400, or the second detection element 500 can detect the current posture of the object to be operated from a more suitable position. The second direction H2 can be a height direction. For example, when the second detection element 500 is a camera, the height of the second detection element 500 can be adjusted according to the focal length of the camera, etc.

[0081] Next, the technical solution of the embodiment of the present application is described with examples in combination with the specific structures of the first track assembly 71 and the second track assembly 72 .

[0082] In some embodiments, the first track assembly 71 includes a first fixed plate 711 and a first guide rail 712, the first guide rail 712 is connected to the first fixed plate 711, and the first guide rail 712 extends along the first direction H1. The second track assembly 72 includes a second fixed plate 721, a first slider 722, a second guide rail 723, and a second slider 724, the second fixed plate 721 is connected to the first slider 722 and the second guide rail 723, respectively, the first slider 722 is slidably connected to the first guide rail 712, and the second guide rail 723 extends along the second direction H2. The first detection element 300 or the second detection element 500 is connected to the second slider 724.

[0083] Then, the first fixing plate 711 may be fixed to the bracket assembly 200, and the second slider 724 may be connected and fixed to the first detection element 300. Thus, the second fixing plate 721 may slide on the first guide rail 712 through the first slider 722, so that the whole formed by the second fixing plate 721, the second guide rail 723, the second slider 724 and the first detection element 300 slides along the first direction H1. And, the second slider 724 may slide along the second guide rail 723 to drive the first detection element 300 to slide along the second direction H2.

[0084] Similarly, the first fixing plate 711 may be fixed to the movable platform 100, and the second slider 724 may be connected and fixed to the second detection element 500. Thus, the second fixing plate 721 may slide on the first guide rail 712 through the first slider 722, so that the whole formed by the second fixing plate 721, the second guide rail 723, the second slider 724 and the second detection element 500 slides along the first direction H1. In addition, the second slider 724 may slide along the second guide rail 723 to drive the second detection element 500 to slide along the second direction H2.

[0085] In some embodiments, the first fixing plate 711 is configured to be adjustably mounted on the movable platform 100 or the bracket assembly 200 along the third direction H3. The third direction H3, the first direction H1, and the second direction H2 intersect with each other. For example, the third direction H3, the first direction H1, and the second direction H2 may be perpendicular to each other.

[0086] In some embodiments, the first fixing plate 711 is provided with a long hole 7111 extending along the third direction H3, and the movable platform 100 or the bracket assembly 200 is provided with a first fixing hole (not shown in the figure) corresponding to the long hole 7111, so that a fastener (not shown in the figure) passes through the long hole 7111 and is fixed to the first fixing hole. For example, the fastener may include a first fastening screw, which is passed through the long hole 7111 and screwed to the first fixing hole. In this way, when the position of the first fixing hole in the movable platform 100 changes, or the spacing between the multiple first fixing holes in the movable platform 100 changes, the fastener can be passed through different positions of the long hole 7111 for installation, thereby improving the versatility of the first track assembly 71.

[0087] In some embodiments, the first track assembly 71 may further include a first guide plate 713 connected to the first fixing plate 711, and a first guide plate 713 is provided at intervals on both sides of the first guide rail 712. The second track assembly 72 may further include a second guide plate 725 connected to the second fixing plate 721, and a second guide plate 725 is provided on the outer side of each first guide plate 713 away from the first guide rail 712. In this configuration, the second guide plate 725 and the first guide plate 713 are guided and matched, and the sliding stability and reliability of the second fixing plate 721 can be further improved.

[0088] In some embodiments, the second track assembly 72 may further include a locking member 726. The locking member 726 is mounted on the second guide plate 725 and is used to lock or release the second guide plate 725 and the first guide plate 713.

[0089] For example, the locking member 726 may be a threaded member, and the locking member 726 is threadedly connected to the second guide plate 725 , so that the locking member 726 can be rotated to abut against the first guide plate 713 or to be away from the first guide plate 713 .

[0090] Then, when the second fixing plate 721 is adjusted to the right position, the locking member 726 can be rotated forward to make the locking member 726 contact the first guide plate 713, thereby locking the second guide plate 725 and the first guide plate 713, thereby locking the position of the second fixing plate 721. Conversely, when the position of the second fixing plate 721 needs to be adjusted, the locking member 726 can be rotated backward to separate the locking member 726 from the first guide plate 713, thereby loosening the second guide plate 725 and the first guide plate 713, so as to allow the second fixing plate 721 to slide.

[0091] Of course, in some other implementations, the locking member 726 may also be some latches, movable buckles, etc., which is not limited in this embodiment of the present application.

[0092] In some embodiments, there are at least two second guide rails 723. The two second guide rails 723 are arranged at intervals. Thus, the sliding of the second slider 724 can be made more stable and reliable through the two second guide rails 723.

[0093] In some embodiments, the second guide rail 723 may be a guide rod. The end of the second slider 724 is sleeved on the guide rod so that the second slider 724 can slide along the guide rod. It is also understood that when the second guide rail 723 is a guide rod, the number of the second guide rails 723 is at least two, which can prevent the second slider 724 from rotating around the axis of the guide rod, thereby making the installation of the second slider 724 more stable and reliable.

[0094] In some embodiments, the second slider 724 may include at least one group of clamping portions 7241 , each group of clamping portions 7241 includes two clamping portions 7241 spaced apart from each other, and a space is formed between the two clamping portions 7241 for the second guide rail 723 to pass through so as to be sleeved on the second guide rail 723 .

[0095] Then, the spacing between the clamping parts 7241 of the same group can be adjusted so that the two clamping parts 7241 loosen the second guide rail 723, thereby allowing the second slider 724 to slide along the second guide rail 723, or the two clamping parts 7241 clamp the second guide rail 723, thereby limiting the second slider 724 from sliding on the second guide rail 723.

[0096] For example, in the same group of clamping parts 7241, the free ends of the two clamping parts 7241 can be connected by a threaded connector, so that the two clamping parts 7241 can loosen the second guide rail 723 by loosening the threaded connector, and the two clamping parts 7241 can clamp the second guide rail 723 by tightening the threaded connector.

[0097] In some embodiments, the robot station 1 may further include a first driving component (not shown). The first driving component is mounted on the support assembly 200 and is in transmission connection with the first detection element 300 to drive the first detection element 300 to move. Thus, the robot station 1 can automatically adjust the position of the first detection element 300 through the first driving component.

[0098] In some embodiments, the first driving component may include a motor, a cylinder, an oil cylinder, etc., which is not limited in this embodiment of the present application.

[0099] In some embodiments, the first driving component may further include at least one of a pan-tilt head and a fine-tuning work surface, which is not limited in the embodiments of the present application.

[0100] In some embodiments, the robot station 1 may further include a second driving component (not shown). The second driving component is mounted on the movable platform 100 and is in transmission connection with the second detection element 500 to drive the second detection element 500 to move. Thus, the robot station 1 can automatically adjust the position of the second detection element 500 through the second driving component.

[0101] In some embodiments, the second driving component may include a motor, a cylinder, an oil cylinder, etc., which is not limited in this embodiment of the present application.

[0102] In some embodiments, the second driving component may further include at least one of a pan-tilt head and a fine-tuning work surface, which is not limited in the embodiments of the present application.

[0103] The above are some examples of the first detection element 300 and the second detection element 500 in the embodiment of the present application. The following will continue to illustrate the technical solution of the embodiment of the present application with examples in combination with some other detection elements of the robot arm station 1.

[0104] The robot station 1 may include a third detection element (not shown) disposed at the end of the robot 400. The third detection element is configured to detect information of the unloading area when the robot 400 moves to the unloading area. The robot 400 can further correct the target posture based on the detection result of the third detection element, thereby further improving the operation accuracy of the robot station 1.

[0105] For example, the third detection element is used to detect the relative position information between the robot arm station 1 and the unloading area, so that even if there is a certain deviation in the position where the movable platform 100 drives the robot arm station 1 to move, or there is a deviation in the setting of the unloading area itself, the robot arm 400 can also adaptively further correct the target posture according to the detection result of the third detection element.

[0106] In some embodiments, the third detection element is the same as or similar to the first detection element or the second detection element, and the embodiments of the present application will not be described in detail herein.

[0107] Please continue to refer to Figure 5 , Figure 5 for Figure 1 In some embodiments, the robot station 1 may further include a fourth detection element 800 connected to the movable platform 100. The fourth detection element 800 may detect the speed of the assembly line 2.

[0108] Exemplarily, the fourth detection element 800 may include an encoder. The encoder is used to abut against the conveying line to detect the speed of the assembly line 2.

[0109] In some embodiments, the position and / or angle of the fourth detection element 800 is adjustable. Thus, according to changes in the height, width, etc. of the assembly line 2, the position of the fourth detection element 800 can be adaptively adjusted, thereby improving the versatility of the robot station 1.

[0110] Exemplarily, the fourth detection element 800 is connected to the movable platform 100 through the second adjustment mechanism 900. The second adjustment mechanism 900 includes a swivel seat 91 connected to the movable platform 100 and a support member 92 rotatably connected to the swivel seat 91. The fourth detection element 800 is connected to an end of the support member 92 away from the swivel seat 91, and can be abutted against the assembly line 2 to measure the speed.

[0111] Optionally, the robot station 1 can also communicate with the assembly line 2 by wire or wireless means to obtain the speed of the assembly line 2. The operator can adjust the current speed of the assembly line 2 to the target speed, and input the target speed to the robot station 1, so that the robot station 1 can obtain the speed of the assembly line 2. Alternatively, the assembly line 2 can detect its speed itself and send the speed to the robot station 1.

[0112] Of course, when the first detection element 300 includes a visual component, the first detection element 300 can directly take multiple photos or video streams of the pipeline 2 to detect the speed of the pipeline 2 through the multiple photos or video streams based on an image recognition algorithm.

[0113] Please continue to refer to Figure 6 , Figure 6 for Figure 1 A schematic diagram of the structure of the robot workstation from another perspective is shown. In some embodiments, the robot workstation 1 further includes a human-machine interaction component 1000. The human-machine interaction component 1000 is installed on the bracket assembly 200. The human-machine interaction component 1000 may include a keyboard, a mouse, a button, a touch screen, etc., so that the user can perform human-machine interaction operations on the robot workstation 1.

[0114] In some embodiments, along the height direction, the orthographic projection of the human-machine interaction component 1000 and the orthographic projection of the first detection element 300 are located on opposite sides of the movable platform 100 .

[0115] Then, taking the example that the assembly line 2 is located at the front side of the movable platform 100, the orthographic projection of the human-machine interaction component 1000 may be located at the rear side of the movable platform 100 along the height direction, and the orthographic projection of the first detection element 300 may be located at the front side of the movable platform 100. Thus, the operator can stay away from the assembly line 2 when performing human-machine interaction operations, so as to avoid accidental injuries to the operator during the operation of the robot arm 400, or to avoid the operator interfering with the normal operation of the robot arm 400 and the assembly line 2, thereby improving the safety and reliability of the robot arm workstation 1.

[0116] In some embodiments, the robot station 1 further includes a fifth detection element 1100, which is mounted on the support assembly 200 and / or the movable platform 100. The fifth detection element 1100 is used to detect an external object that moves to the side of the movable platform 100 where the robot 400 is provided. Thus, the fifth detection element 1100 can prevent the operator's arm and other parts from being too close to the robot 400 to cause accidental injury.

[0117] In some embodiments, along the height direction, the orthographic projection of the fifth detection element 1100 and the orthographic projection of the first detection element 300 are located at adjacent sides of the movable platform 100 .

[0118] Then, continuing to take the example that the assembly line 2 is located at the front side of the movable platform 100, the number of the fifth detection elements 1100 can be two. In the height direction, the orthographic projection of the human-machine interaction component 1000 is located at the rear side of the movable platform 100, the orthographic projection of the first detection element 300 is located at the front side of the movable platform 100, and the orthographic projection of one fifth detection element 1100 is located at the left side of the movable platform 100, and the orthographic projection of another fifth detection element 1100 is located at the right side of the movable platform 100.

[0119] Exemplarily, the fifth detection element 1100 may include a signal transmitting device 1101 and a signal receiving device 1102. The signal receiving device 1102 is used to detect the optical signal emitted by the signal transmitting device 1101. One of the signal transmitting device 1101 and the signal receiving device 1102 is installed on the bracket assembly 200 and is located on the side of the mechanical arm 400 away from the movable platform 100 (i.e., the upper side of the mechanical arm 400). The other of the signal transmitting device 1101 and the signal receiving device 1102 is installed on the movable platform 100. Furthermore, when the operator's arm or other parts move between the signal transmitting device 1101 and the signal receiving device 1102, the signal receiving device 1102 cannot detect the optical signal emitted by the signal transmitting device 1101, and it can be determined that an external object has moved above the movable platform 100.

[0120] In some implementations, the robot workstation may further include an alarm component 1200 , such as an indicator light, a voice component, etc. The alarm component 1200 is connected to the fifth detection element 1100 .

[0121] Please continue to refer to Figure 7 , Figure 7 for Figure 1The schematic diagram of the structure of the fixture library of the robot arm workstation is shown. The end 41 of the robot arm 400 that is not fixed to the movable platform 100 is used to detachably connect the actuator, and different actuators allow the robot arm 400 to complete different tasks, that is, the corresponding actuator can be replaced according to the object to be worked on.

[0122] Furthermore, the robot station 1 may include an actuator library 1300, and the actuator library 1300 may be installed on the movable platform 100. The actuator library 1300 has a plurality of storage locations 1301 for storing actuators.

[0123] In some embodiments, the robot arm 400 can pick up and place actuators in the actuator library 1300, so that the robot arm 400 can automatically replace the actuator without the need for manual replacement by the operator, thereby improving the usability and work efficiency of the robot arm workstation 1.

[0124] Of course, in some other implementations, the operator may manually obtain the actuator from the actuator library 1300 or outside the robot station 1 and install it on the robot 400, which is not limited in this embodiment of the present application.

[0125] Please continue to refer to Figure 8 , Figure 8 for Figure 1 In some embodiments, the movable platform 100 may include a cabinet 11, and casters 12 and legs 13 connected to the cabinet 11, the casters 12 make the robotic arm station 1 movable, and the legs 13 make the height of the robotic arm station 1 adjustable.

[0126] Then, when the robot arm station 1 needs to be moved, the support legs 13 are adjusted upwards so that the robot arm station 1 is in contact with the ground through the casters 12, thereby allowing the operator to push the robot arm station 1 to the target position of the assembly line 2 through the casters 12. After the robot arm station 1 is moved to the position, the support legs 13 can be adjusted downwards so that the support legs 13 are in contact with the ground, thereby allowing the robot arm station 1 to be stably placed at the target position of the assembly line 2.

[0127] In some embodiments, the robot station 1 is further provided with a first electromagnet 1400. The assembly line 2 is provided with a second electromagnet (not shown). The first electromagnet 1400 and the second electromagnet are magnetically attracted to each other when the robot station 1 moves to the target position, so that the robot station 1 and the assembly line 2 can be quickly docked and fixed by the cooperation of the first electromagnet 1400 and the second electromagnet.

[0128] The number of the first electromagnets 1400 may be one or more, such as two, three or four, which is not limited in the embodiment of the present application.

[0129] For example, there are multiple first electromagnets 1400 and multiple second electromagnets, and each first electromagnet 1400 cooperates with a second electromagnet, so that multiple point-to-point magnetic fixation is formed by multiple first electromagnets 1400 and the second electromagnetic field, which can improve the stability and accuracy of the docking between the robot arm station 1 and the assembly line 2.

[0130] In some other embodiments, the operation performed by the robot 400 may include enabling two objects to be operated to complete a preset operation task. The first detection element 300 can detect first information of a first object to be operated located on the assembly line 2 from above the assembly line 2, and the robot 400 is configured to carry a second object to be operated having second information. The robot 400 can enable the first object to be operated and the second object to be operated to complete a preset operation task based on the first information and the second information.

[0131] For example: the first object to be processed is a bottle body, which is placed on the assembly line 2, and the second object to be processed is a bottle cap, which is carried by the robot 400, and the robot 400 finally tightens the bottle cap and the bottle body. Another example: the first object to be processed is a circuit board, which is placed on the assembly line 2, and the second object to be processed is a plug-in terminal or a patch component, which is carried by the robot 400, and the robot 400 finally assembles the plug-in terminal or the patch component on the circuit board.

[0132] Similarly, when the robot 400 carries the second object to be worked on, it can pass through the second detection element 500, so that the second detection element 500 can detect the current posture of the second object to be worked on, and the robot 400 can adjust the current posture to the target posture; the second object to be worked on can also be placed in the correction mechanism 600, and the correction mechanism 600 can adjust the current posture of the second object to be worked on to the target posture, and the robot 400 can grab the second object to be worked on that has been adjusted to the target posture again. Such a setting is conducive to increasing the reliability of the robot 400 in completing the preset working task.

[0133] Please continue to refer to Fig. 9 , Fig. 9 Schematic diagram of application scenarios of the flexible production system provided in the embodiment of the present application. The flexible production system may include at least two assembly lines 2, and the robot station 1 may be moved to target positions near different assembly lines 2. Thus, the robot station 1 may switch between different assembly lines 2 for operation (i.e., line change), thereby improving the utilization rate of the robot station 1.

[0134] In some embodiments, at least one assembly line 2 includes at least two different target positions near it, and the robot station 1 can move to different target positions near the same assembly line 2. Thus, the robot station 1 can switch to different positions of the same assembly line 2 to perform operations (i.e., adjust the process), thereby improving the utilization rate of the robot station 1.

[0135] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] The above is a detailed introduction to the robotic arm workstation 1 and the flexible production system provided in the embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot arm workstation, characterized in that: include: A movable platform configured to allow the robot station to move to a target position near the assembly line; A support assembly connected to the movable platform so that the robot arm station is higher than the assembly line; A first detection element is connected to the support assembly and is configured to detect information of an object to be processed on the assembly line from above the assembly line; The robot arm is connected to the movable platform and is configured to operate on the object to be operated based on the detection result of the first detection element and the speed of the assembly line.

2. The robot arm workstation according to claim 1, characterized in that: The robot station includes a second detection element connected to the movable platform; The robot arm is configured to carry the object to be worked on through the second detection element so that the second detection element can detect the current posture of the object to be worked on, and the robot arm can adjust the current posture to a target posture.

3. The robot arm workstation according to claim 2, characterized in that: The first detection element is connected to the bracket assembly through a first adjustment mechanism, and the second detection element is connected to the movable platform through a first adjustment mechanism; wherein, the first adjustment mechanism includes a first track assembly and a second track assembly connected to the first track assembly, the second track assembly can move along a first direction under the guidance of the first track assembly, and the first detection element or the second detection element can move along a second direction under the guidance of the second track assembly, and the second direction intersects with the first direction.

4. The robot arm workstation according to claim 3, characterized in that: The first track assembly includes a first fixed plate and a first guide rail connected to the first fixed plate, the first guide rail extends along the first direction, the second track assembly includes a second fixed plate, a first slider connected to the second fixed plate and a second guide rail, and a second slider connected to the second guide rail, the first slider is slidably connected to the first guide rail, the second guide rail extends along the second direction, and the first detection element or the second detection element is connected to the second slider.

5. The robot arm workstation according to claim 4, characterized in that: The first track assembly includes a first guide plate connected to the first fixed plate, and a first guide plate is respectively arranged at intervals on both sides of the first guide rail. The second track assembly includes a second guide plate connected to the second fixed plate, and a second guide plate is arranged on the outer side of each first guide plate away from the first guide rail. The number of the second guide rails is two, and the two second guide rails are arranged at intervals.

6. The robot arm workstation according to claim 2, characterized in that: The robot arm is configured as a cooperative robot arm, and the speed of the robot arm remains unchanged when carrying the object to be worked on through the second detection element.

7. The robot arm workstation according to claim 1, characterized in that: The robotic arm workstation includes a correction mechanism connected to the movable platform. The robotic arm can place the object to be worked on into the correction mechanism. The correction mechanism can adjust the current posture of the object to be worked on to a target posture. The robotic arm can grab the object to be worked on that has been adjusted to the target posture again.

8. The robot arm workstation according to any one of claims 2 to 7, characterized in that: The robotic arm workstation includes a third detection element arranged at the end of the robotic arm, and the third detection element is configured to detect information of the unloading area when the robotic arm moves to the unloading area. The robotic arm can further correct the target posture based on the detection result of the third detection element.

9. The robot arm workstation according to claim 1, characterized in that: The robot arm workstation includes a fourth detection element connected to the movable platform, and the fourth detection element is capable of detecting the speed of the assembly line.

10. The robot arm workstation according to claim 9, characterized in that: The fourth detection element is connected to the movable platform through a second adjustment mechanism, and the second adjustment mechanism includes a swivel connected to the movable platform and a support member rotatably connected to the swivel, and the fourth detection element is connected to an end of the support member away from the swivel and can abut against the assembly line.

11. The robot arm workstation according to claim 1, characterized in that: The movable platform comprises a cabinet body, and casters and legs connected to the cabinet body, wherein the casters enable the robot arm workstation to be movable, and the legs enable the height of the robot arm workstation to be adjustable.

12. The robot arm workstation according to claim 1, characterized in that: The robot arm station is provided with a first electromagnet, and the assembly line is provided with a second electromagnet. The first electromagnet and the second electromagnet are magnetically attracted to each other when the robot arm station moves to the target position.

13. A flexible production system, characterized in that: The flexible production system comprises an assembly line and a robotic arm workstation as described in any one of claims 1 to 12.

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