Man-machine cooperation type robot workstation

Abstract

The utility model discloses a man-machine cooperation type robot workstation which comprises a robot and a working area arranged on the peripheral side of the robot, the robot moves in the working area, and the man-machine cooperation type robot workstation further comprises a cantilever guide rail, a plurality of positioning mechanisms, a plurality of limiting mechanisms and a controller. The cantilever guide rail is arranged at the top of the robot, the moving area of the hoist crane covers the working area, the multiple positioning mechanisms are arranged on the cantilever guide rail and used for monitoring the position of the hoist crane, and the multiple limiting mechanisms are arranged on the cantilever guide rail and used for limiting the moving area of the hoist crane. The robot, the positioning mechanism and the limiting mechanism are electrically connected with the controller. The safety protection device can prevent other people from entering the moving area of the robot to interfere with the operation of the robot, not only can give consideration to the normal operation of the robot, but also can provide safety protection for workers.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot workstations, and more specifically, relates to a human-robot collaborative robot workstation. Background Technique

[0002] In recent years, robots have been widely used in various automated production lines. There are many types of robots and different application scenarios. While pursuing intelligence, the safety of personnel and equipment is also an important aspect that cannot be ignored. At present, for the safety protection of robots, the common solutions are to use safety fences for physical isolation and safety light curtains for entrance protection. Once the light curtain at the entrance is triggered, the robot immediately stops running. However, in some scenarios where manual and robotic collaborative operations are required, such as welding robots, the robot needs to perform welding operations, and manual workers also need to unload the welded workpieces. To improve production efficiency, multiple workstations can be set up to operate in coordination. Automatic welding can be carried out on one side while manual unloading is carried out on the other side. There is an overlap between the manual and automatic operation areas. Therefore, there is an urgent need to study a robot workstation that can not only ensure normal production operations but also ensure the safety protection of personnel and equipment.

[0003] The Chinese patent of the prior art CN202322109714.3 discloses a four-station robot workstation, including a base, a turntable rotatably connected to the top of the base; a welding robotic arm fixedly installed on the top of the turntable; and a welding torch provided on the welding robotic arm. In this four-station robot workstation, four workbenches can be used to fix four bumpers to be welded respectively. At the same time, two welding robotic arms can be started to weld two of the bumpers respectively. After welding is completed, the operator starts the drive motor through the electric control console. The drive motor drives the turntable to rotate, and the turntable drives the welding robotic arm to rotate, so as to continue welding the bumpers on the other two workbenches. The welded parts that have been welded are replaced by the staff responsible for loading and unloading. By operating in this cycle, the operations of welding and loading / unloading can be carried out simultaneously, saving time and effort and improving work efficiency. However, the coordinated operation of this robot workstation relies on manual control by the staff and does not provide effective safety protection for the staff, presenting potential safety hazards. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the problem of potential safety hazards in the prior art and propose a human-robot collaborative robot workstation that can not only take into account the normal operation of the robot but also provide safety protection for the staff.

[0005] To achieve the above object, a human-machine collaborative robot workstation of the present technical solution includes a robot and a working area provided on the periphery of the robot. The robot moves within the working area. The guardrail is provided on the outer periphery of the robot and surrounds the working area. It further includes a cantilever guide rail, a plurality of positioning mechanisms, a plurality of limiting mechanisms, and a controller. A hoist is slidably connected to the cantilever guide rail. The cantilever guide rail is provided on the top of the robot. The activity area of the hoist covers the working area. A plurality of the positioning mechanisms are respectively provided on the cantilever guide rail for monitoring the position of the hoist. A plurality of the limiting mechanisms are respectively provided on the cantilever guide rail for restricting the activity area of the hoist. The robot, the positioning mechanism, and the limiting mechanism are respectively electrically connected to the controller.

[0006] In the present technical solution, the robot performs operations within the working area. The robot needs to pick workpieces from the material pile for processing. This processing is not limited to welding or cutting the workpieces, etc. After processing, the operator needs to operate the hoist to slide on the cantilever guide rail to move the processed tools to the designated area. The positioning mechanism can monitor the position of the hoist within the working area and transmit the information to the controller. When the robot is operating on one side of the working area, the controller controls the limiting mechanism to work to restrict the working activity of the hoist on the other side of the working area, enabling human-machine collaboration. The operator moves with the hoist at all times when operating the hoist, and can be restricted to a safe area within the working area to avoid interference with the robot, ensuring the safety of the operator.

[0007] Preferably, the cantilever guide rail includes a support column, a crossbeam track, and a longitudinal beam track. The crossbeam track is fixed to the support column. The longitudinal beam track is perpendicular to the crossbeam track. The longitudinal beam track is slidably connected to the crossbeam track and slides along the length direction of the crossbeam track. The hoist is slidably connected to the longitudinal beam track and slides along the length direction of the longitudinal beam track. A plurality of the positioning mechanisms are respectively provided on the crossbeam track and the longitudinal beam track for monitoring the position of the longitudinal beam track and the position of the hoist. A plurality of the limiting mechanisms are respectively provided on the crossbeam track and the longitudinal beam track for restricting the position of the longitudinal beam track and the position of the hoist. By the relative sliding of the longitudinal beam track and the hoist, the hoist can reach the designated position in the working area. By the limiting mechanism, the space for the transverse or longitudinal sliding of the longitudinal beam track or the hoist is restricted, thereby restricting the activity range of the hoist within the working area.

[0008] Preferably, in order to limit the sliding of the longitudinal beam track and the hoist, each of the limiting mechanisms includes a support frame, a telescopic structure, and a blocking block. Each of the support frames is fixed to the cross beam track and the longitudinal beam track respectively. Each of the telescopic structures is fixed to each of the support frames. Each of the blocking blocks is connected to the telescopic end of the telescopic structure. When the telescopic structures located on the cross beam track and the longitudinal beam track drive the blocking blocks to extend, the sliding areas of the longitudinal beam track and the hoist are limited. Each of the limiting mechanisms can divide the cross beam track and the longitudinal beam track into several sliding spaces. When the longitudinal beam track or the hoist is located in a certain sliding space and the telescopic structure corresponding to this sliding space drives the blocking block to extend, the longitudinal beam track or the hoist is restricted to slide in this sliding space. When the telescopic structure drives the blocking block to retract, the longitudinal beam track or the hoist can slide out of this sliding space.

[0009] Preferably, in order to monitor the position of the hoist, the positioning mechanism is a cross limit switch. The cross limit switch is fixed on the support frame. When the hoist and the longitudinal beam track slide, they respectively trigger the cross limit switches located on the longitudinal beam track and the cross beam track. The cross limit switch has two gears that change cyclically. Whenever the longitudinal beam track or the hoist passes by the cross limit switch, the gear of the cross limit switch will change once. The positions of the longitudinal beam track on the cross beam track or the hoist on the longitudinal beam track can be judged by the gears of several cross limit switches on the cross beam track and the longitudinal beam track, so as to judge the position information of the hoist in the working area.

[0010] Preferably, it further includes two workbenches and two groups of material frames. The two workbenches are respectively arranged on both sides of the robot. The two groups of material frames are respectively arranged on both sides of the robot and are arranged side by side with the two workbenches. One workbench and one group of material frames are arranged on the left side of the robot, and the other workbench and the other group of material frames are arranged on the right side of the robot. When the robot works on its left side, the staff can operate the cantilever guide rail to work on the right side of the robot without interference.

[0011] Preferably, the working area includes a first area, a second area, a third area, a fourth area, a fifth area, and a sixth area arranged in two rows in sequence. Among them, the first area, the second area, and the third area are the first row areas, and the fourth area, the fifth area, and the sixth area are the second row areas. The robot is arranged in the second area. The two workbenches are respectively arranged in the first area and the third area. The two groups of material frames are respectively arranged in the fourth area and the sixth area. When the robot operates in the first area and the fourth area, the staff is restricted from operating the cantilever guide rail to work in the third area and the sixth area. When the robot operates in the third area and the sixth area, the staff is restricted from operating the cantilever guide rail to work in the first area and the fourth area.

[0012] Preferably, three positioning mechanisms and three limiting mechanisms are respectively provided. Two of the positioning mechanisms are respectively arranged on the crossbeam track and correspond to the joints of the fourth area and the fifth area and the joint of the fifth area and the sixth area, and the other positioning mechanism is arranged on the longitudinal beam track and corresponds to the joint of the first row and the second row. Two of the limiting mechanisms are respectively arranged on the crossbeam track and correspond to the joints of the fourth area and the fifth area and the joint of the fifth area and the sixth area, and the other limiting mechanism is arranged on the longitudinal beam track and corresponds to the joint of the first row and the second row.

[0013] In this solution, when the robot operates in the first area and the fourth area, the limiting mechanisms located in the fifth area and the sixth area become effective, and the corresponding telescopic structures drive the blocking blocks to extend out to limit the lateral sliding of the cantilever guide rail so that the cantilever guide rail slides within the third area and the sixth area; when the robot operates in the third area and the sixth area, the limiting mechanisms located in the fourth area and the fifth area become effective, and the corresponding telescopic structures drive the blocking blocks to extend out to limit the lateral sliding of the cantilever guide rail so that the cantilever guide rail slides within the first area and the fourth area; when it is necessary to move and process the material box and the robot is in its original position, that is, located in the second area, the limiting mechanism located at the joint of the first row and the second row becomes effective, and the corresponding telescopic structure drives the blocking block to extend out to limit the sliding of the cantilever guide rail within the second row area.

[0014] Preferably, to ensure the safety of maintenance personnel, a guardrail is further included. The guardrail can isolate personnel other than the staff from entering the work area. The guardrail is arranged on the outer periphery of the robot and surrounds the work area. The controller is arranged on the other side of the robot. The guardrail surrounds the outer periphery of the controller. A first isolation door is arranged on one side of the robot, and a second isolation door is arranged on the guardrail close to the controller. Contact switches are respectively arranged on the first isolation door and the second isolation door. The contact switches of the first isolation door and the second isolation door are respectively electrically connected to the controller. The first isolation door can prevent personnel from entering the second area where the robot is located during the operation of the robot, and the second isolation door can prevent personnel from entering the area where the controller is located during the operation of the robot. When the first isolation door or the second isolation door is opened, the contact switch of the first isolation door or the second isolation door transmits a signal to the controller, and the controller then controls the robot to stop urgently to protect the safety of personnel.

[0015] Preferably, in order to prevent other personnel from entering the working area when the robot is working, the guardrail is provided with an entrance and exit leading to the working area, and a safety light curtain corresponding to the entrance and exit is provided on the guardrail. The safety light curtain is electrically connected to the controller. When the safety light curtain detects that other personnel enter the working area, it transmits a signal to the controller to control the robot to stop urgently, protecting the safety of personnel.

[0016] Preferably, a camera electrically connected to the controller is provided on the top of the robot. The camera can not only identify the workpieces on the workbench to assist the robot in operating, but also monitor whether there are foreign objects extending into the workbench. When the robot is operating, if the camera detects that a foreign object enters the workbench, it transmits a signal to the controller to control the robot to stop urgently, further ensuring the safety of personnel.

[0017] Compared with the prior art, the beneficial effects of the present utility model are:

[0018] 1. The present utility model monitors the position of the cantilever guide rail through the positioning mechanism and restricts the movement area of the cantilever guide rail through the limiting mechanism, which can prevent others from entering the movement area of the robot and interfering with the operation of the robot, and can not only take into account the normal operation of the robot but also provide safety protection for the staff.

[0019] 2. Through the cooperation of the robot operation and the staff's operation of the cantilever guide rail without mutual interference, the production efficiency can be improved.

[0020] 3. Through the controller, the robot can be controlled to stop in an emergency state, with fast response and high safety. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the workstation of the present utility model;

[0022] Figure 2 is Figure 1 the front view of

[0023] Figure 3 is Figure 1 the top view of

[0024] Figure 4 is a schematic structural diagram of the hoist;

[0025] Figure 5 is a schematic structural diagram of the limiting mechanism;

[0026] Figure 6 is a schematic structural diagram of the positioning mechanism.

[0027] In the figure: Robot 1; Camera 11; Work area 2; First area 21; Second area 22; Third area 23; Fourth area 24; Fifth area 25; Sixth area 26; Guardrail 3; First isolation door 31; Second isolation door 32; Safety grating 33; Controller 4; Cantilever guide rail 5; Support column 51; Cross beam track 52; Longitudinal beam track 53; Hoist 54; Cross bar 541; Remote control 542; Limit mechanism 6; Support frame 61; Telescopic structure 62; Blocking block 63; Flange 64; Guide rod 65; Connecting block 66; Jack rod 67; Pulley 68; Positioning mechanism 7; Workbench 8; Material box 9. Detailed implementation mode

[0028] The attached drawings are only for illustrative purposes and should not be construed as a limitation of this patent; to better illustrate this embodiment, some components in the attached drawings may be omitted, enlarged or reduced, which does not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted. The positional relationships described in the attached drawings are only for illustrative purposes and should not be construed as a limitation of this patent.

[0029] In the attached drawings of the embodiments of the present utility model, the same or similar reference numerals correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the referred mechanism or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationships in the attached drawings are only for illustrative purposes and should not be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0030] The technical solution of the present utility model will be further specifically described below through specific embodiments and in combination with the attached drawings:

[0031] Embodiment 1:

[0032] As Figure 1 、 2As shown in the figure, this embodiment provides a human-robot collaborative robot workstation, which includes a robot 1, a guardrail 3, two workbenches 8, two groups of material boxes 9, and a working area 2 provided on the periphery of the robot 1. The robot 1 moves within the working area 2. The two workbenches 8 are respectively arranged on both sides of the robot 1. The two groups of material boxes 9 are respectively arranged on both sides of the robot 1 and are arranged side by side with the two workbenches 8. The guardrail 3 is arranged on the outer periphery of the robot 1 and surrounds the working area 2. It also includes a cantilever guide rail 5, several positioning mechanisms 7, several limiting mechanisms 6, and a controller 4. A hoist 54 is slidably connected to the cantilever guide rail 5. The cantilever guide rail 5 is arranged on the top of the robot 1. The activity area of the hoist 54 covers the working area 2. Several positioning mechanisms 7 are respectively arranged on the cantilever guide rail 5 for monitoring the position of the hoist 54. Several limiting mechanisms 6 are respectively arranged on the cantilever guide rail 5 for restricting the activity area of the hoist 54. The robot 1, the positioning mechanism 7, and the limiting mechanism 6 are respectively electrically connected to the controller 4.

[0033] In this embodiment, two cameras 11 electrically connected to the controller 4 are respectively arranged on both sides of the top of the robot 1. The monitoring ranges of the two cameras 11 respectively cover the two workbenches 8. The cameras 11 can assist the robot 1 in identifying the workpieces on the workbenches 8. At the same time, when the robot 1 is operating, the cameras 11 can also monitor whether there are foreign objects extending into the workbenches 8. If so, a signal is sent to the controller 4, and the controller 4 immediately responds to make the robot 1 stop urgently.

[0034] Specifically, the cantilever guide rail 5 includes a support column 51, a cross beam track 52, and a longitudinal beam track 53. The cross beam track 52 is fixed on the support column 51. The longitudinal beam track 53 is perpendicular to the cross beam track 52. The longitudinal beam track 53 is slidably connected to the cross beam track 52 and slides along the length direction of the cross beam track 52. The hoist 54 is slidably connected to the longitudinal beam track 53 and slides along the length direction of the longitudinal beam track 53. Several positioning mechanisms 7 are respectively arranged on the cross beam track 52 and the longitudinal beam track 53 for monitoring the position of the longitudinal beam track 53 and the position of the hoist 54. Several limiting mechanisms 6 are respectively arranged on the cross beam track 52 and the longitudinal beam track 53 for restricting the position of the longitudinal beam track 53 and the position of the hoist 54.

[0035] In this embodiment, a cross bar 541 is provided at the top of the hoist 54. The cross bar 541 is used to touch the limit mechanism 6 and the positioning mechanism 7 located on the longitudinal beam track 53. The hoist 54 is connected with a remote control 542 for operation. The staff operates the hoist 54 to slide longitudinally along the longitudinal beam track 53 or the longitudinal beam track 53 to slide transversely along the cross beam track 52 through the remote control 542, so as to realize the movement of the hoist 54 within the working area 2. During the operation of the staff, the staff always holds the remote control 542 to keep following the movement of the hoist, so as to avoid the staff from straying into the working range of the robot 1.

[0036] Specifically, as Figure 5 shown, each of the limit mechanisms 6 includes a support frame 61, a telescopic structure 62 and a blocking block 63. Each of the support frames 61 is fixed to the cross beam track 52 and the longitudinal beam track 53 respectively. Each of the telescopic structures 62 is fixed to each of the support frames 61. Each of the blocking blocks 63 is connected to the telescopic end of the telescopic structure 62. When the telescopic structures 62 located on the cross beam track 52 and the longitudinal beam track 53 drive the blocking blocks 63 to extend, the sliding areas of the longitudinal beam track 53 and the hoist 54 are restricted.

[0037] In this embodiment, the telescopic structure 62 is a telescopic cylinder. When the telescopic end of the telescopic cylinder drives the blocking block 63 to extend, the sliding range of the longitudinal beam track 53 or the hoist 54 can be restricted.

[0038] Specifically, as Figure 6 shown, the positioning mechanism 7 is a cross limit switch. The cross limit switch is fixed on the support frame 61. When the hoist 54 and the longitudinal beam track 53 slide, the cross limit switches located on the longitudinal beam track 53 and the cross beam track 52 are respectively triggered.

[0039] In this embodiment, the cross limit switch has two gears, which can be represented by F and N. If the initial gear of the cross limit switch is F, when the cross limit switch is triggered, the gear will be N, and it will cycle in turn.

[0040] Specifically, as Figure 2 、 3As shown in the figure, the working area 2 includes a first area 21, a second area 22, a third area 23, a fourth area 24, a fifth area 25, and a sixth area 26 arranged in two rows in sequence. Among them, the first area 21, the second area 22, and the third area 23 are the first row areas, the fourth area 24, the fifth area 25, and the sixth area 26 are the second row areas. The robot 1 is arranged in the second area 22, the two workbenches 8 are respectively arranged in the first area 21 and the third area 23, the two groups of material frames 9 are respectively arranged in the fourth area 24 and the sixth area 26, and there are three positioning mechanisms 7 and three limiting mechanisms 6 respectively. Two of the positioning mechanisms 7 are respectively arranged on the crossbeam track 52 and respectively correspond to the connection between the fourth area 24 and the fifth area 25 and the connection between the fifth area 25 and the sixth area 26. Another positioning mechanism 7 is arranged on the longitudinal beam track 53 and corresponds to the connection between the first row and the second row. Two of the limiting mechanisms 6 are respectively arranged on the crossbeam track 52 and respectively correspond to the connection between the fourth area 24 and the fifth area 25 and the connection between the fifth area 25 and the sixth area 26. Another limiting mechanism 6 is arranged on the longitudinal beam track 53 and corresponds to the connection between the first row and the second row.

[0041] In this embodiment, the three positioning mechanisms 7 are sorted. The positioning mechanism 7 at the connection between the fourth area 24 and the fifth area 25 is the first, the positioning mechanism 7 at the connection between the fifth area 25 and the sixth area 26 is the second, and the positioning mechanism 7 at the connection between the first row and the second row is the third.

[0042] When the hoist 54 is in the first area 21, it is the initial state, and the gears of the three positioning mechanisms 7 are: F\F\F;

[0043] When the hoist 54 is in the second area 22, it is the initial state, and the gears of the three positioning mechanisms 7 are: N\F\F;

[0044] When the hoist 54 is in the third area 23, it is the initial state, and the gears of the three positioning mechanisms 7 are: N\N\F;

[0045] When the hoist 54 is in the fourth area 24, it is the initial state, and the gears of the three positioning mechanisms 7 are: F\F\N;

[0046] When the hoist 54 is in the fifth area 25, it is the initial state, and the gears of the three positioning mechanisms 7 are: N\F\N;

[0047] When the hoist 54 is in the sixth area 26, it is the initial state, and the gears of the three positioning mechanisms 7 are: N\N\N;

[0048] In order to prevent the chain hoist 54 from interfering with the robot 1, the second area 22 is set as the restricted area of the chain hoist 54. When the gear position of the positioning mechanism 7 is N\F\F, it can be determined that the chain hoist 54 has strayed into the second area 22, and then the controller 4 responds to make the robot 1 stop urgently.

[0049] In this embodiment, when the robot 1 operates between the first area 21 and the fourth area 24, the controller 4 monitors whether the gear position of the positioning mechanism 7 is N\N\F or N\N\N. Otherwise, the robot 1 cannot be started. At this time, the chain hoist 54 needs to be moved into the third area 23 or the sixth area 26. Meanwhile, the limit mechanism 6 at the connection of the fifth area 25 and the sixth area 26 becomes effective to prevent the chain hoist 54 from straying into the first area 21, the second area 22, the fourth area 24, and the fifth area.

[0050] When the robot 1 operates between the third area 23 and the sixth area 26, the controller 4 monitors whether the gear position of the positioning mechanism 7 is F\F\F or F\F\N. Otherwise, the robot 1 cannot be started. At this time, the chain hoist 54 needs to be moved into the first area 21 or the fourth area 24. Meanwhile, the limit mechanism 6 at the connection of the fourth area 24 and the fifth area 25 becomes effective to prevent the chain hoist 54 from straying into the second area 22, the third area 23, the fifth area 25, and the sixth area 26.

[0051] When the chain hoist 54 needs to move between the fourth area 24, the fifth area 25, and the sixth area 26, the robot 1 stops. The controller 4 monitors whether the gear position of the positioning mechanism 7 is F\F\N, N\F\N, N\N\N. Otherwise, an alarm is issued. Meanwhile, the limit mechanism 6 at the connection of the first row and the second row becomes effective to prevent the chain hoist 54 from straying into the first area 21, the second area 22, and the third area 23.

[0052] Embodiment 2:

[0053] This embodiment is similar to Embodiment 1. The difference is that in this embodiment, as Figure 5 shown, the limit mechanism 6 further includes a flange 64, a guide rod 65, a connecting block 66, a push rod 67, and a pulley 68. The flange 64 is connected to the telescopic end of the telescopic structure 62. The guide rod 65 is fixed to the bottom of the support frame 61 and the flange 64 is sleeved on the guide rod 65. When the telescopic end of the telescopic structure 62 extends, the flange 64 moves downward under the guidance of the guide rod 65. The connecting block 66 is fixed to the bottom of the flange 64. Among them, the blocking block 63 is an eagle beak swing rod. One end of the blocking block 63 is rotatably connected to the connecting block 66. One end of the push rod 67 is fixed to the bottom of the connecting block 66, and the other end of the push rod 67 abuts against one end of the blocking block 63. A pulley 68 is connected to the bottom of the blocking block 63.

[0054] In this embodiment, the limiting mechanism 6 functions to allow one-way passage. When the limiting mechanism 6 becomes effective and the hoist 5 is in the wrong area, the hoist needs to be moved to the correct area. When the hoist 54 or the longitudinal beam track 53 passes through the limiting mechanism 6, since the blocking block 63 is rotatably connected and the ejector rod 67 is not in its rotation direction, the hoist 54 or the longitudinal beam track 53 can complete the reset through the limiting mechanism 6. When the hoist 54 or the longitudinal beam track 53 passes through the limiting mechanism 6 in the reverse direction, the ejector rod 67 is in the rotation direction of the blocking block 63, thereby restricting the hoist 54 or the longitudinal beam track 53 from passing through.

[0055] Embodiment 3:

[0056] This embodiment is similar to Embodiment 1. The difference is that in this embodiment, as Figure 1 , 3 shown, a first isolation door 31 is provided on one side of the robot 1, the controller 4 is provided on the other side of the robot 1, the guardrail 3 surrounds the outer periphery of the controller 4, a second isolation door 32 is provided on the guardrail 3 close to the controller 4, contact switches are provided on the first isolation door 31 and the second isolation door 32 respectively, and the contact switches of the first isolation door 31 and the second isolation door 32 are electrically connected to the controller 4 respectively.

[0057] In this embodiment, the guardrail 3 surrounding the outer periphery of the controller 4 forms a maintenance area. Maintenance personnel can enter the maintenance area through the second isolation door 32. When maintenance of the robot 1 is required, they can also enter the second area 22 where the robot 1 is located through the first isolation door 31.

[0058] Embodiment 4:

[0059] This embodiment is similar to Embodiment 1. The difference is that in this embodiment, as Figures 1 to 3 shown, the guardrail 3 is provided with an entrance and exit leading to the working area 2, and a safety light curtain 33 corresponding to the entrance and exit is provided on the guardrail 3. The safety light curtain 33 is electrically connected to the controller 4.

[0060] In this embodiment, when the staff enters the working area 2 and starts to operate the remote control 541, the robot 1 and the safety light curtain 33 are activated to prevent others from entering the working area 2 by mistake.

[0061] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0062] Obviously, the above embodiments of the present utility model are only examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A human-machine collaborative robot workstation, comprising a robot (1) and a work area (2) arranged around the robot (1), wherein the robot (1) moves in the work area (2), characterized in that: The robot (1) further comprises a cantilever guide rail (5), a plurality of positioning mechanisms (7), a plurality of limiting mechanisms (6) and a controller (4); a hoist (54) is slidably connected to the cantilever guide rail (5); the cantilever guide rail (5) is arranged on the top of the robot (1); the activity area of ​​the hoist (54) covers the working area (2); a plurality of positioning mechanisms (7) are respectively arranged on the cantilever guide rail (5) for monitoring the position of the hoist (54); a plurality of limiting mechanisms (6) are respectively arranged on the cantilever guide rail (5) for limiting the activity area of ​​the hoist (54); the robot (1), the positioning mechanism (7) and the limiting mechanism (6) are respectively electrically connected to the controller (4).

2. A human-machine collaborative robot workstation according to claim 1, characterized in that: The cantilever guide rail (5) comprises a support column (51), a crossbeam track (52) and a longitudinal beam track (53); the crossbeam track (52) is fixed on the support column (51); the longitudinal beam track (53) is perpendicular to the crossbeam track (52); the longitudinal beam track (53) is slidably connected to the crossbeam track (52) and slides along the length direction of the crossbeam track (52); the hoist (54) is slidably connected to the longitudinal beam track (53) and slides along the length direction of the longitudinal beam track (53); a plurality of positioning mechanisms (7) are respectively arranged on the crossbeam track (52) and the longitudinal beam track (53) and are used to monitor the position of the longitudinal beam track (53) and the position of the hoist (54); a plurality of limiting mechanisms (6) are respectively arranged on the crossbeam track (52) and the longitudinal beam track (53) and are used to limit the position of the longitudinal beam track (53) and the position of the hoist (54).

3. A human-machine collaborative robot workstation according to claim 2, characterized in that: Each of the limiting mechanisms (6) comprises a support frame (61), a telescopic structure (62) and a blocking block (63); each of the support frames (61) is respectively fixed to the cross beam track (52) and the longitudinal beam track (53); each of the telescopic structures (62) is respectively fixed to each of the support frames (61); each of the blocking blocks (63) is respectively connected to the telescopic end of the telescopic structure (62); when the telescopic structure (62) located on the cross beam track (52) and the longitudinal beam track (53) drives the blocking block (63) to extend, the sliding area of ​​the longitudinal beam track (53) and the hoist (54) is limited.

4. The human-machine collaborative robot workstation according to claim 3, characterized in that: The positioning mechanism (7) is a cross limit switch, which is fixed on the support frame (61). When the hoist (54) and the longitudinal beam track (53) slide, the cross limit switches located on the longitudinal beam track (53) and the cross beam track (52) are triggered respectively.

5. The human-machine collaborative robot workstation according to claim 2, characterized in that: It also comprises two workbenches (8) and two groups of material frames (9), wherein the two workbenches (8) are respectively arranged on both sides of the robot (1), and the two groups of material frames (9) are respectively arranged on both sides of the robot (1) and arranged side by side with the two workbenches (8).

6. The human-machine collaborative robot workstation according to claim 5, characterized in that: The working area (2) comprises a first area (21), a second area (22), a third area (23), a fourth area (24), a fifth area (25) and a sixth area (26) which are arranged in two rows in sequence, wherein the first area (21), the second area (22) and the third area (23) are first row areas, the fourth area (24), the fifth area (25) and the sixth area (26) are second row areas, the robot (1) is arranged in the second area (22), the two workbenches (8) are respectively arranged in the first area (21) and the third area (23), and the two groups of material frames (9) are respectively arranged in the fourth area (24) and the sixth area (26).

7. The human-machine collaborative robot workstation according to claim 6, characterized in that: There are three positioning mechanisms (7) and three limiting mechanisms (6), two of which are respectively arranged on the crossbeam track (52) and correspond to the connection between the fourth area (24) and the fifth area (25) and the connection between the fifth area (25) and the sixth area (26), and another positioning mechanism (7) is arranged on the longitudinal beam track (53) and corresponds to the connection between the first row and the second row, two of which are respectively arranged on the crossbeam track (52) and correspond to the connection between the fourth area (24) and the fifth area (25) and the connection between the fifth area (25) and the sixth area (26), and another limiting mechanism (6) is arranged on the longitudinal beam track (53) and corresponds to the connection between the first row and the second row.

8. The human-machine collaborative robot workstation according to claim 1, characterized in that: The robot (1) further comprises a guardrail (3), wherein the guardrail (3) is arranged on the periphery of the robot (1) and surrounds the working area (2); the controller (4) is arranged on the other side of the robot (1); the guardrail (3) is arranged around the periphery of the controller (4); a first isolation door (31) is arranged on one side of the robot (1); a second isolation door (32) is arranged on the guardrail (3) close to the controller (4); the first isolation door (31) and the second isolation door (32) are respectively provided with contact switches; the contact switch of the first isolation door (31) and the contact switch of the second isolation door (32) are respectively electrically connected to the controller (4).

9. The human-machine collaborative robot workstation according to claim 8, characterized in that: The guardrail (3) is provided with an entrance and exit leading to the working area (2), and a safety grating (33) corresponding to the entrance and exit is provided on the guardrail (3), and the safety grating (33) is electrically connected to the controller (4).

10. The human-machine collaborative robot workstation according to claim 1, characterized in that: A camera (11) electrically connected to the controller (4) is provided on the top of the robot (1).

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