Robot flexible machining workstation

Abstract

The utility model belongs to the technical field of intelligent manufacturing, overcomes the defects that an existing robot machining work station is low in machining efficiency and poor in machining quality, and provides a robot flexible machining work station which comprises a workpiece input device, a workpiece output device and a flexible machining device. The conveying mechanism conveys workpieces to the limiting mechanism capable of achieving rapid remodeling, and the limiting mechanism capable of achieving rapid remodeling positions the conveyed workpieces. The workpiece machining and positioning device is used for receiving and fixing the workpiece so that the workpiece can be machined; the first robot is used for carrying the workpiece on the rapid remodeling limiting mechanism to the workpiece machining positioning device and carrying out first machining; the second robot is used for carrying out first machining on the workpiece; and the first robot carries all the machined workpieces obtained after machining to the workpiece output device, and the workpiece output device outputs the machined workpieces to the outside. The device has the advantages of high processing efficiency and high processing quality.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent manufacturing, in particular to a robot flexible processing workstation. Background Art

[0002] At present, with the accelerating iteration speed of consumer products such as automobiles, the processing flexibility of manufacturing parts such as automobile parts is also required to be higher and higher in order to adapt to different vehicle models that require different parts. To meet the requirements of processing flexibility, some manufacturing plants adopt robot processing workstations, which can not only reduce costs, but also quickly introduce new vehicle models and achieve rapid commissioning of new vehicle models to complete production and market launch.

[0003] In the process of processing and manufacturing parts such as automobile metal parts by the existing robot flexible processing workstation, in order to achieve the highest possible processing flexibility, it is often necessary to use robots such as welding robots and drilling robots at different workstations of the robot flexible processing workstation to perform different processing operations. However, the existing robot processing workstation generally only realizes this by moving the robot to different processing workstations, resulting in low processing efficiency. In addition, during the processing process, the reliability of workpiece clamping is directly related to the processing quality. Due to certain differences in the structure and shape of different models of parts, it is difficult for the existing clamping devices to obtain a high consistency of clamping reliability. In addition, since the existing robot processing workstation needs to process parts in a relatively compact enclosed space, and there are also other parts to be processed placed in the enclosed space, the impurities generated during the processing of a certain part may contaminate itself and other parts, thereby having an adverse impact on the processing quality of the parts. For example, when friction welding a fuel tank and a corresponding weldment, after welding is completed, a large amount of welding chips generated during the welding process will adhere to the fuel tank and the welding surface, which not only causes pollution but also has an adverse impact on subsequent processes. However, the existing robot processing workstation does not have a special device for this adverse impact and only uses manual dust removal, thus having the drawback of reducing the processing quality.

[0004] In summary, the existing robot processing workstation has technical problems of low processing efficiency and low processing quality. Summary of the Utility Model

[0005] In view of the deficiencies of the above-mentioned prior art, such as low processing efficiency and poor processing quality, the present utility model provides a robot flexible processing workstation to achieve the purpose of the present utility model. The workstation includes: a workpiece input device, which includes an input mechanism and a quick-changeable limit mechanism. The conveying mechanism transports the workpiece to the quick-changeable limit mechanism, and the quick-changeable limit mechanism positions the conveyed workpiece; a workpiece processing and positioning device, which is used to receive and fix the workpiece for processing; a first robot, which is used to transport the workpiece on the quick-changeable limit mechanism to the workpiece processing and positioning device and perform the first processing; a second robot, which is also used to perform the first processing on the workpiece transported to the workpiece processing and positioning device; a workpiece output device. The first robot transports the processed workpiece obtained after all processing to the workpiece output device, and the workpiece output device outputs the processed workpiece to the outside.

[0006] Furthermore, the robot flexible processing workstation further includes a first feeding device, a second feeding device, and a third robot. The first feeding device is used to supply the first workpiece to be processed for processing on the workpiece. The second feeding device is used to supply the second workpiece to be processed for processing on the workpiece. The second robot transports the first workpiece to be processed to the workpiece and performs the second processing. The third robot transports the second workpiece to be processed to the workpiece and performs the second processing. Each robot is arranged around the workpiece processing and positioning device.

[0007] Furthermore, the workpiece processing and positioning device includes a working component, a supporting component, a displacement component, and a fixed clamping seat. The working component includes a working bracket, a first fixing member, and a second fixing member. The working bracket is fixedly installed above the supporting component through a first connecting member. The working bracket is used to carry and install the first fixing member and the second fixing member. The first fixing member is used to carry and place the workpiece. The second fixing member is used to press and position the workpiece placed on the first fixing member downward in the vertical direction. The displacement component is installed at the bottom of the supporting component and is used to support the supporting component and drive the working component to perform quick change. The fixed clamping seat is detachably clamped to the displacement component and is fixedly connected to the supporting component in a separable manner.

[0008] Furthermore, the second feeding device includes a positioning mechanism, a moving mechanism, a feeding mechanism, and a containing mechanism. The positioning mechanism is fixed to the ground in the robot flexible processing workstation. The moving mechanism includes a placing table, a moving component, and a supporting component. The placing table is arranged on the supporting component. The containing mechanism is arranged on the placing table. The feeding mechanism is partially arranged in the containing mechanism and transports the second workpiece to be processed contained in the containing mechanism outward for the third robot to pick up. The moving component is installed below the supporting component and can be quickly fixed and positioned with the positioning mechanism. The positioning mechanism includes a bottom plate, a supporting seat, and an adjusting seat. The supporting seat is fixedly connected to the bottom plate, and the adjusting seat is installed on the supporting seat.

[0009] Further, the manipulator of the first robot is configured with a clamping device for carrying workpieces. The clamping device includes a bracket assembly, a first clamping assembly, a second clamping assembly, and a transmission assembly. The first clamping assembly and the second clamping assembly are disposed on opposite sides of the bracket assembly. The first clamping assembly and the second clamping assembly independently and automatically clamp or release the workpieces. The first clamping assembly includes a pair of first cylinders, a pair of first moving blocks, and a first clamping block group provided on each first moving block. The pair of first cylinders drive the pair of first moving blocks to move towards or away from each other, so that the two first clamping block groups approach or separate from each other to correspondingly clamp or release the workpieces. The second clamping assembly includes a pair of second cylinders, a pair of second moving blocks, and a second clamping block group provided on the two second moving blocks. The pair of second cylinders drive the pair of second moving blocks to move towards or away from each other, so that the two second clamping block groups approach or separate from each other to correspondingly clamp or release the workpieces. The transmission assembly is fixedly connected to the bracket assembly and is used to be connected to the manipulator of the first robot to drive the bracket assembly to move.

[0010] Further, both the first cylinder and the second cylinder include a cylinder block and a piston rod. The cylinder blocks of the pair of first cylinders and the pair of second cylinders are adjacent and aligned, and their piston rods are aligned in opposite directions. The first clamping block group includes a first clamping block and a second clamping block, and the first clamping blocks and the second clamping blocks of the two first clamping block groups are respectively arranged in pairs. The second clamping block group includes a third clamping block and a fourth clamping block, and the third clamping blocks and the fourth clamping blocks of the two second clamping block groups are respectively arranged in pairs. The first clamping block group and the second clamping block group also each include multiple pairs of struts and support plates. One end of the strut is fixedly connected to the first moving block or the second moving block, and the other end is fixedly connected to the support plate. A corresponding clamping block is fixed on the side of each support plate facing away from the first moving block or the second moving block. The bracket assembly includes a first support plate and a second support plate arranged in parallel with a spaced space therebetween, and a connecting support plate connected between the first support plate and the second support plate. The cylinder block of the first cylinder is fixed on the first support plate, and the cylinder block of the second cylinder is fixed on the second support plate. The clamping device further includes a mounting seat disposed in the spaced space. Electrical terminals electrically connected to each cylinder are provided on the mounting seat, and a displacement detector for detecting the position of the bracket assembly is provided on one side plate of the mounting seat. Clamping detectors for detecting whether the first clamping assembly and the second clamping assembly clamp the workpieces in place are respectively provided on the first support plate and the second support plate.

[0011] Further, the robot flexible machining workstation further includes a plurality of safety fences arranged on the periphery and enclosing a rectangular space. The plurality of safety fences form a first fence rectangular side, a second fence rectangular side, a third fence rectangular side, and a fourth fence rectangular side. The workpiece machining and positioning device is arranged at the central position of the rectangular space. The second robot and the third robot are arranged on opposite sides of the workpiece machining and positioning device relatively far away from each other. The first robot is located on the other side between the opposite sides of the workpiece machining and positioning device, and all three robots are close to the adjacent fence rectangular sides. The workpiece input device is arranged at the angle between the first fence rectangular side and the fourth fence rectangular side, and the workpiece input device penetrates through the first fence rectangular side. The workpiece output device is arranged at the angle between the first fence rectangular side and the second fence rectangular side, and the workpiece output device penetrates through the second fence rectangular side. The first feeding device and the second feeding device both penetrate through the third fence rectangular side. The first robot, the second robot, and the third robot are respectively arranged adjacent to the first fence rectangular side, the second fence rectangular side, and the fourth fence rectangular side.

[0012] Further, the first machining is drilling, and the second machining is welding. The manipulator of the second robot is configured with a welding dust suction device for dust suction when the second robot performs welding. The welding dust suction device includes: a dust suction component connected to a dust suction source; a blowing component connected to a blowing source; a sealing component having a sealing cavity and used to abut and seal the dust removal surface. The blowing component blows the dust generated by welding on the dust removal surface, and the dust blown off from the dust removal surface is sealed in the sealing cavity. The dust suction component sucks the dust out of the sealing cavity and discharges it. The dust suction component includes a dust suction joint, a connecting block, a first dust suction sleeve, and a second dust suction sleeve, all of which are hollow. The blowing component includes a hollow blowing sleeve. The sealing component includes a hollow sealing sleeve. The dust suction joint, the connecting block, the first dust suction sleeve, the second dust suction sleeve, the blowing sleeve, and the above-mentioned sealing sleeve are connected in sequence, and the other end of the dust suction joint opposite to the connecting block is connected to the blowing source. The dust suction joint is provided with a connecting boss, the connecting boss is provided with a plurality of through holes, and the side of the connecting block facing the connecting boss is provided with a plurality of fixing holes corresponding to the connecting holes. The paired connecting holes and fixing holes are connected by fixing pieces.

[0013] Further, a first blowing inlet connected to the blowing source is opened on the second dust suction sleeve. A blowing channel is provided in the second dust suction sleeve. A circle of blowing grooves is provided on the side surface of the blowing sleeve facing the second dust suction sleeve. A plurality of blowing holes are uniformly and penetratingly provided in the inner wall of the blowing sleeve. The blowing channel is located between the blowing inlet and the blowing grooves and connects the two. The blowing grooves are connected to all the blowing holes, and each blowing hole blows air into the sealing cavity. The blowing component further includes a blowing hole sealing plate fixed on a hole of the connecting block. A second blowing inlet connected to both the blowing source and the connecting block is provided on the blowing hole sealing plate, and the second blowing inlet blows air at the connection between the connecting block and the first dust suction sleeve.

[0014] The beneficial effects of the present utility model are as follows:

[0015] The robot flexible machining workstation of the present utility model reasonably arranges and configures a workpiece input device for inputting workpieces to be machined into the workstation, a workpiece output device for outputting machined workpieces out of the workstation, a first robot for handling and first machining the workpieces, and a second robot for second machining the workpieces. As a result, the spatial layout of the entire workstation is scientific and reasonable. The workpieces can be carried into the workstation, machined, and carried out of the workstation by each robot at its working position, without moving the robot, saving time and improving machining efficiency. Moreover, the handling positions and machining positions of each robot and the workpieces are accurately determined, so the machining quality is good. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required to be used in the embodiments of the present utility model will be briefly introduced below. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, and all of these are within the protection scope of the present utility model.

[0017] Figure 1 It is the overall front view of the robot flexible machining workstation provided by the present utility model;

[0018] Figure 2 It is the overall top view of the robot flexible machining workstation provided by the present utility model;

[0019] Figure 3 Corresponding to Figure 2 The partial enlarged view at position A in

[0020] Figure 4 Corresponding to Figure 2 The partial enlarged view at position B in

[0021] Figure 5 Corresponding to Figure 2 The partial enlarged view at position C in

[0022] Figure 6 It is the overall front view of the quick-change type limiting mechanism provided by an embodiment of the robot flexible machining workstation of the present utility model;

[0023] Figure 7 It is the overall top view of the quick-change type limiting mechanism provided by an embodiment of the robot flexible machining workstation of the present utility model;

[0024] Figure 8 Corresponding to Figure 7 The partial enlarged view at position D in

[0025] Figure 9 Schematic structural diagram of a workpiece processing positioning device provided for another embodiment of the flexible machining workstation of the present utility model;

[0026] Figure 10 For Figure 9 Schematic structural diagram of the second fixing member of the workpiece processing positioning device provided;

[0027] Figure 11 Corresponding to Figure 9 Top view;

[0028] Figure 12 Schematic structural diagram of the workpiece processing positioning device provided for another embodiment of the flexible machining workstation of the present utility model from another perspective;

[0029] Figure 13 Corresponding to Figure 12 Top view;

[0030] Figure 14 Corresponding to Figure 12 Partial enlarged view at E in;

[0031] Figure 15 Schematic structural diagram of the fixed clamping seat of the workpiece processing positioning device provided for another embodiment of the flexible machining workstation of the present utility model;

[0032] Figure 16 Schematic structural diagram of the second feeding device provided for another embodiment of the flexible machining workstation of the present utility model;

[0033] Figure 17 Corresponding to Figure 16 Explosion diagram;

[0034] Figure 18 Corresponding to Figure 16 Front view;

[0035] Figure 19 Schematic structural diagram of the fixed clamp of the second feeding device provided;

[0036] Figure 20 Front view of the clamping device provided for another embodiment of the flexible machining workstation of the present utility model;

[0037] Figure 21 Corresponding to Figure 20 Front view;

[0038] Figure 22 Corresponding to Figure 20 Top view;

[0039] Figure 23Schematic diagram of a partial structure of a dust suction device for welding provided in another embodiment of a flexible machining workstation of the present utility model in a perspective state;

[0040] Figure 24 Corresponding to Figure 23 front view;

[0041] Figure 25 Corresponding to Figure 24 A - A sectional view;

[0042] Explanation of reference numerals:

[0043] A1 - Workpiece input device; A11 - Input mechanism; A12 - Quick-change limit mechanism; A121, Support base; A122, Support assembly; A123, First positioning member; A1231, First end; A1232, Second end; A1211, Special-shaped pin hole; A12111, First aperture; A12112, Second aperture; A1221, Sliding base plate; A1222, Support unit; A124, Second positioning member; A12221, Connecting plate; A12222, Support table; A12223, Support member; A125, Preliminary lifting and leveling mechanism; B1 - Workpiece processing and positioning device; B11, Working component; B111, Working bracket; B1111, First connecting member; B1112, Second connecting member; B112, First fixing member; B1121, T-shaped connecting member; B1122, Support table; B113, Second fixing member; B1131, Connecting frame; B1132, L-shaped fixing frame; B1133, Extrusion member; 1134, Extrusion head; B114, Positioning member; B12, Support assembly; B13, Displacement assembly; B14, Fixed clamping seat; B141, First base beam; B142, Second base beam; B1421, Base plate; B1422, Extension part; B143, Connecting rod; B144, Pad; B145, Accommodation cavity; B1451, Accommodation groove; B146, First clamping member; B147, Second clamping member; B148, Clamping groove; C1 - First robot; C2 - Second robot; C3 - Third robot; D1 - Workpiece output device; E1 - First feeding device; F1 - Second feeding device; F11, Positioning mechanism; F111, Base plate; F112, Support base; F113, Adjusting seat; F1131, First rotating member; F1132, Second rotating member; F114, Fixed clamp; F1141, Fixed block; F1142, Connecting member; F1143, Handle; F1144, Snap clamp; F12, Moving mechanism; F121, Placing table; F122, Moving assembly; F123, Support assembly; F1231, First connecting rod; F1232, Second connecting rod; F1233, Clamping member; F13, Feeding mechanism; F14, Accommodation mechanism; G1 - Clamping device; G11, Bracket assembly; G111, First support plate; G112, Second support plate; G113, Connecting plate; G12, First clamping assembly; G121, First cylinder; G122, First moving block; G123, First clamping block group; G1231, First clamping block; G1232, Second clamping block; G1233, Support pillar; G1234, Support plate; G1235, Clamping groove; G13, Second clamping assembly; G131, Second cylinder; G132, Second moving block; G133, Second clamping block group; G1331, Third clamping block; G1332, Fourth clamping block; G1333, Support pillar; G1334, Support plate; G1335, Clamping groove; G14, Transmission assembly; G141, Motion connection mechanism;G1411, Plug post; G1412, Clamping groove; G1413, Identification groove; G142, Transmission post; G143, Fixed ring; G15, Mounting seat; G16, Electrical terminal; G17, Displacement detector; G18, Clamping detector; H1 - Safety fence; H11 - First fence rectangular side; H12 - Second fence rectangular side; H13 - Third fence rectangular side; H14 - Fourth fence rectangular side; J1 - Welding dust suction device; J11, Dust suction component; J111, Dust suction joint; J1111, Connecting boss; J112, Connecting block; J1121, Depressed part; J1122, Locking hole; J113, First dust suction sleeve; J1131, First flange; J1132, Positioning hole; J114, Second dust suction sleeve; J1141, First air blowing inlet; J1142, Air blowing channel; J1143, Second flange; J1144, Positioning hole; J12, Air blowing component; J121, Air blowing sleeve; J1211, Air blowing groove; J1212, Air blowing hole; J1213, Ring platform; J122, Air blowing sealing plate; J1221, Second air blowing inlet; J13, Sealing component; J131, Sealing sleeve; J1311, Convex ring; J132, Pressing plate; J14, Fixing piece; J15, Limit pin; J16, Fixed post.; Detailed implementation mode

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. In the description of the present utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model. Moreover, the terms "include", "comprise" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements. If there is no conflict, the embodiments of the present utility model and the various features in the embodiments may be combined with each other, and all are within the protection scope of the present utility model.

[0045] Reference Figures 1 to 5 , for the purpose of the present utility model, a robotic flexible machining workstation is provided, which includes a workpiece input device A1, a workpiece machining and positioning device B1, a first robot C1, a second robot C2, and a workpiece output device D1. The workpiece input device A1 includes an input mechanism A11 and a quick-changeable type-limiting mechanism A12. The conveying mechanism conveys the workpiece to the quick-changeable type-limiting mechanism A12, and the quick-changeable type-limiting mechanism A12 positions the conveyed workpiece. In the present utility model, the workpieces are all described by taking the fuel tank made of plastic material as an example. The workpiece machining and positioning device B1 is used to receive and fix the workpiece so as to process the workpiece. The first robot C1 is used to carry the workpiece on the quick-changeable type-limiting mechanism A12 to the workpiece machining and positioning device B1 and perform the first machining. The second robot C2 is also used to perform the first machining on the workpiece carried to the workpiece machining and positioning device B1. The first robot C1 carries the machined workpiece obtained after all the machining to the workpiece output device D1, and the workpiece output device D1 outputs the machined workpiece to the outside, that is, outside the robotic flexible machining workstation.

[0046] Therefore, in the flexible machining workstation of the utility model robot, by reasonably arranging and configuring the workpiece input device A1 for inputting the workpiece to be machined into the workstation, the workpiece output device D1 for outputting the machined workpiece out of the workstation, the first robot C1 for transporting and first machining the workpiece, and the second robot C2 for second machining the workpiece, the spatial layout of the entire workstation is scientific and reasonable. The workpiece can be moved into, machined, and moved out of the workstation by each robot at its working position without moving the robot, saving time and improving machining efficiency. Moreover, the handling positions and machining positions of each robot and the workpiece are accurately determined, so the machining quality is very good. And, by setting a quick-change limiting mechanism A12 on the workpiece input device A1, not only can the workpiece be reliably limited, but also it can be adjusted to adapt to workpieces with different models and certain differences in appearance. Therefore, the flexible machining workstation of the utility model robot has the advantages of high machining efficiency and good machining quality for workpieces.

[0047] Please refer to Figure 1 , preferably, the flexible machining workstation of the robot further includes a first feeding device E1, a second feeding device F1, and a third robot C3. The first feeding device E1 is used to supply the first workpiece to be machined on the workpiece, and the second feeding device F1 is used to supply the second workpiece to be machined on the workpiece. The second robot C2 transports the first workpiece to be machined onto the workpiece and performs second machining, and the third robot C3 transports the second workpiece to be machined onto the workpiece and performs second machining. Each robot is arranged around the workpiece machining positioning device B1.

[0048] In this way, by configuring three robots and arranging them around the workpiece machining positioning device B1, each robot can work independently at the same time without being affected, which greatly improves the machining efficiency.

[0049] The following focuses on further elaborating on the quick-change limiting mechanism A12, workpiece machining positioning device B1, second feeding device F1, clamping device G1, and welding dust suction device J1 respectively configured in each embodiment of the flexible machining workstation of the utility model robot to further illustrate the present utility model in detail.

[0050] Quick-change limiting mechanism

[0051] Please refer to Figure 1 , Figure 2 , Figures 6 to 8, specifically, in this embodiment, for the workpiece input device A1 including the quick-change limiting mechanism A12, it further includes an input mechanism A11. The input mechanism A11 includes a plurality of rollers and motors for driving each roller. Each roller receives the workpiece placed thereon by the worker and rotates under the drive of the motor to convey the workpiece to the quick-change limiting mechanism A12. It can be known that the quick-change limiting mechanism A12 is located inside the workstation. The quick-change limiting mechanism A12 includes a support base A121, a support assembly A122, a first positioning member A123, and a second positioning member A124. The first positioning member A123 includes a first end A1231 fixedly connected to the support base A121 and a second end A1232 away from the support base A121. The second positioning member A124 is used to fix the support base A121 and the support assembly A122. Specifically, the first positioning member A123 realizes the first fixed positioning of the support base A121 and the support assembly A122, so that the workpiece placed on the support assembly A122 can be placed at a preset position, so as to realize the stable handling of the reliably limited workpiece by the first robot C1. To avoid relative sliding between the support assembly A122 and the support base A121 during the handling of the workpiece and affect the processing, the second fixing member is inserted into the sliding bottom plate A1221 and the support base A121 in sequence to realize the second fixing and positioning of the support base A121 and the support assembly A122, and realize the stable installation between the support base A121 and the support assembly A122.

[0052] The support assembly A122 is provided with a special-shaped pin hole A1211 matching the second end A1232 of the first positioning member A123. The special-shaped pin hole A1211 includes a pin hole with a first hole diameter A12111 and a pin hole with a second hole diameter A12112. The second end A1232 of the first positioning member A123 moves the support assembly A122 by inserting into the pin hole with the first hole diameter A12111 of the support assembly A122. The second end A1232 of the first positioning member A123 slides from the pin hole with the first hole diameter A12111 into the pin hole with the second hole diameter A12112. The first hole diameter A12111 is larger than the second hole diameter A12112. Since the first hole diameter A12111 is larger than the second hole diameter A12112, it can enable the second end A1232 of the first positioning member A123 to quickly insert into the pin hole with the first hole diameter A12111. When relative sliding occurs between the support assembly A122 and the support base A121, the second end A1232 of the first positioning member A123 moves from the pin hole with the first hole diameter A12111 to the pin hole with the second hole diameter A12112 to realize quick positioning.

[0053] The supporting components A122 are provided with at least two and are respectively installed at both ends of the supporting seat A121. Each supporting component A122 includes a sliding bottom plate A1221 and at least two supporting units A1222 installed on the sliding bottom plate A1221. The at least two supporting units A1222 can effectively support the product, prevent the workpiece from shifting during handling due to uneven supporting force, and can also limit the workpiece from all around, ensuring uniform force on the whole workpiece. The supporting unit A1222 is used to place and limit the workpiece. The supporting unit A1222 is fixedly connected and installed with the sliding bottom plate A1221. When the sliding bottom plate A1221 slides relative to the supporting seat A121, it drives the supporting unit A1222 to move, realizing quick and accurate positioning of the workpiece placed on the supporting unit A1222.

[0054] During quick changeover installation, that is, the quick-change limiting mechanism A12 can adapt to workpieces of different models, different shapes, different processing positions or / and different processing contents and quantities. In this specification, the understanding of changeover or quick changeover is made with the same non-conflicting understanding. Through the matching of the first positioning member A123 and the special-shaped pin hole A1211, the quick installation of the supporting component A122 and the supporting seat A121 is realized, and quick positioning of the supporting component A122 is achieved: the second end A1232 of the first positioning member A123 can be quickly inserted into the special-shaped pin hole A1211 through the pin hole of the first aperture A12111, realizing the first positioning of the supporting component A122. According to the processing requirements of the workpiece, the supporting component A122 is slid. The second end A1232 of the first positioning member A123 slides in the special-shaped pin hole A1211, sliding from the pin hole of the first aperture A12111 to the pin hole of the second aperture A12112, so that the first positioning member A123 and the supporting component A122 slide relative to each other, realizing the second adjustment and positioning of the supporting component A122 and the supporting seat A121.

[0055] Specifically, when the supporting component A122 is installed with the supporting seat A121, quick positioning installation is realized through the special-shaped pin hole A1211 provided on the sliding bottom plate A1221 and the first end A1231 of the first positioning member A123 fixedly installed on the supporting seat A121. By moving the sliding bottom plate A1221, the second end A1232 of the first positioning member A123 can move from the pin hole of the first aperture A12111 to the pin hole of the second aperture A12112, and at the same time, the second end A1232 of the first positioning member A123 can also move from the pin hole of the second aperture A12112 to the pin hole of the first aperture A12111.

[0056] Please refer to Figure 6, Preferably, the support unit A1222 includes a connecting plate A12221 connected to the sliding base plate A1221, a support platform A12222 in the shape of an inverted U specifically, and a support member for fixing and connecting the connecting plate A12221 and the support platform A12222, which is used to support and position the workpiece. In this way, through the fixed connection between the connecting plate A12221 and the sliding base plate A1221, the fixed connection between the support unit A1222 and the sliding base plate A1221 is realized. The support member has a certain length in the direction perpendicular to the sliding plate plane to meet the dimensional requirements of the workpiece placed on the support platform A12222. The support platform A12222 is preferably movably connected to the support member to meet the placement requirements of workpieces with different shapes. The angle of the support platform A12222 facing the workpiece can be adjusted according to the shape of the workpiece to achieve stable placement of the workpiece.

[0057] Exemplarily, the inwardly recessed position of the support platform A12222 is used to place the workpiece. The U-shaped structure can form a supporting force on the workpiece and also limit the movement of the product.

[0058] Preferably, the first positioning member A123 is a large-head positioning pin. Through the large head of the large-head positioning pin, the gap between the insertion hole of the second hole diameter A12112 in the special-shaped insertion hole A1211 on the support assembly A122 and the first positioning member A123 can be reduced, realizing the fixation between the support seat A121 and the support assembly A122. And because the large-head positioning pin is often installed by press-fit or threaded connection, it is easy to quickly install and remove, simplifying the assembly and disassembly process of the first positioning member A123 and the support seat A121.

[0059] The second positioning member A124 is a ball-head locking pin. The ball head can automatically align. When inserted into the hole, no matter how large the slight deviation in the position and angle of the hole is, the ball head can adjust itself to the best fit state, thus realizing rapid and accurate positioning.

[0060] In summary, the quick-change type limiting mechanism A12 of an embodiment of the robot flexible machining workstation of the present utility model can not only flexibly and efficiently adapt to the quick-change operation during the machining of different workpieces, ensure that the workpiece is limited with high precision and high stability before being transported, but also is beneficial to ensuring excellent machining quality of the workpiece subsequently.

[0061] Workpiece machining positioning device

[0062] Please refer to Figures 9 to 15 , in this embodiment, the workpiece machining positioning device B1 includes: a working component B11, a supporting component B12, a displacement component B13, and a fixed clamping seat B14. The working component B11 includes a working bracket B111, a first fixing member B112, and a second fixing member B113.

[0063] The working component B11 is assembled and installed above the supporting component B12 through the first connecting piece B1111, and is used to place and fix the workpiece. It can realize the quick disassembly and installation of the working component B11 and the supporting component B12. At the same time, it also ensures the stability of the working component B11 during the machining process of the workpiece by the corresponding robot, improves the flexibility and working efficiency of machining, and shortens the time required for changeover or maintenance. The displacement component B13 is installed at the bottom of the supporting component B12 and is used to support the supporting component B12 and drive the workpiece machining positioning device B1 to move. The fixed clamping seat B14 is used for releasably clamping and connecting the displacement component B13 and is fixedly connected to the supporting component B12 in a separable manner. Therefore, when the displacement component B13 and the components thereon are changed to adapt to different workpiece changeovers, only by means of their respective displacement components B13, first remove and move out the workpiece machining positioning device B1 to be replaced relative to the fixed clamping seat B14, and then move the workpiece machining positioning device B1 to be used relative to the fixed clamping seat B14 and apply fixation, so as to achieve the purpose of quick changeover.

[0064] The first fixing piece B112 is arranged on the working bracket B111 and is used for carrying and placing the workpiece, and the second fixing piece B113 is installed on the working bracket B111 and is used for downwardly pressing and positioning the workpiece placed on the first fixing piece B112 in the vertical direction.

[0065] Preferably, the working bracket B111 is integrally arranged, which simplifies the structure and avoids instability in the case of split setting. The working bracket B111 is horizontally placed when connected, and both ends of the working bracket B111 without the first fixing piece B112 and the second fixing piece B113 are connected to the supporting component B12 through the connecting rod B143. In addition, a plurality of first connecting pieces B1111 are respectively arranged at both ends of the working bracket B111 and are used for fixedly connecting the working bracket B111 and the supporting component B12. In addition, the first connecting piece B1111 includes a bolt.

[0066] Please refer to Figure 12 , the fixed clamping seat B14 includes a first base beam B141, a second base beam B142 and a connecting rod B143. The first base beam B141 and the second base beam B142 are arranged parallel and opposite to each other, and both ends of the connecting rod B143 are respectively connected to the first base beam B141 and the second base beam B142. The connected first base beam B141, second base beam B142 and connecting rod B143 form an open receiving cavity B145. The displacement component B13 can be moved into or out of the receiving cavity B145 to adapt to workpieces of different models, and is clamped and fixed to the fixed clamping seat B14 when the displacement component B13 is moved into the receiving cavity B145.

[0067] In summary, the workbench is assembled and installed above the support component B12 through the working component B11, enabling the rapid installation and disassembly of the working component B11 and the support component B12. The displacement component B13 is installed below the support component B12 and drives the overall movement of the support component B12 and the working component B11 under the action of an external force, effectively supporting the entire workbench and realizing the rapid, precise movement and position switching of the workbench in the workshop, thereby greatly improving the speed of tool change and production transfer. At the same time, the fixed clamping seat B14 clamps and connects the displacement component B13 to realize the position positioning of the entire workbench. The fixed clamping seat B14 is fixedly connected to the support component B12 to ensure the reliability and stability of the connection between components during the movement or tool change of the workbench. Moreover, the workpiece is placed on the first fixing member B112 for the first positioning and fixing of the workpiece. The second fixing member B113 applies a vertically downward force to the workpiece for the second positioning and fixing of the workpiece. Through the interaction of the first fixing member B112 and the second fixing member B113, the workpiece is fixed above the work support B111, facilitating the subsequent processing of the workpiece by the robot.

[0068] Specifically, a workbench includes at least four displacement components B13, which are respectively installed at the four diagonal positions below the support component B12. The preset distance is determined according to the distance between the displacement component B13 installed on the support component B12 close to the second base beam B142 and the displacement component B13 close to the first base beam B141.

[0069] Preferably, the first base beam B141 and the second base beam B142 are symmetrically installed. The connecting rod B143 is respectively installed at the same end of the first base beam B141 and the second base beam B142. The first base beam B141, the second base beam B142, and the connecting rod B143 form a receiving cavity B145. The displacement component B13 drives the support component B12 to enter from the open end of the receiving cavity B145 and move to the corresponding position of the second base beam B142, and is clamped and fixed with the fixed clamping seat B14, thereby completing the movement of the displacement component B13 to receive and fix the adapted workpiece transported by the second robot C2.

[0070] Preferably, the fixed clamping seat B14 is provided with a backing plate B144, which is integrally formed with the connecting rod B143, the first base beam B141, and the second base beam B142. The backing plate B144 is provided with bolt holes, and the fixed clamping seat B14 is fixed by bolts passing through the bolt holes. The second base beam B142 is provided with a base plate B1421, which is fixedly connected to the second base beam B142; the base plate B1421 and the supporting component B12 are assembled and fixedly connected through a second connecting member B112; one end of the second base beam B142 that is not connected is provided with an extension portion B1422, and the base plate B1421 forms two receiving grooves B1451 with the extension portion B1422 and the connecting rod B143 respectively, and the receiving grooves B1451 are used for clamping the displacement component B13.

[0071] Further improved, the first base beam B141 and the second base beam B142 are respectively provided with a first clamping member B146 and a second clamping member B147 at the clamping positions corresponding to the displacement component B13. The first clamping member B146 is arranged on the first base beam B141 and the second base beam B142, and a clamping groove B148 is arranged at the corresponding position of the supporting component B12, and they are assembled and connected by passing a clamping bolt through the clamping groove B148 and the clamping hole; the second clamping member B147 is arranged on the extension portion B1422 and the connecting rod B143, and the second clamping member B147 includes a connecting portion for fixedly connecting with the extension portion B1422 and the connecting rod B143, and a clamping portion installed on the connecting portion for generating a vertically downward pressing force on the supporting component B12. The second clamping member B147 and the first clamping member B146 are used for the second clamping and fixing of the moving part, and the more precise positioning and fixing of the supporting component B12 and the moving part are completed.

[0072] Specifically, please refer to Figure 9 and Figure 10 , the working component B11 further includes a positioning member B114, which is installed on the working bracket B111 and is used for positioning the workpiece. The positioning member B114 is located below the position where the workpiece is placed and is used for positioning the workpiece. Preferably, the working component B11 has at least two positioning members B114, and the two positioning members B114 are respectively arranged below the diagonal positions of the workpiece placement area to accurately position the workpiece. The second fixing member B113 includes a connecting frame B1131, an L-shaped fixing frame B1132, and an extrusion member B1133. The two ends of the connecting frame B1131 are respectively connected to the working bracket B111 and the extrusion head B1134, and are used to keep the extrusion portion of the extrusion head B1134 vertically downward.

[0073] Further preferably, the lower end of the L-shaped fixing bracket B1132 is fixedly connected to the working bracket B111, and the upper end is connected to the connecting bracket B1131 for fixing the connecting bracket B1131. The pressing member B1133 includes a pressing head B1134 that can be adjusted up and down for adjusting the position of the pressing head B1134 according to the size of the workpiece.

[0074] Additionally improved, the first fixing member B112 includes an inverted T-shaped connecting member B1121 and a supporting platform B1122. The lower end of the inverted T-shaped connecting member B1121 is connected to the working bracket B111, and the upper end of the inverted T-shaped connecting member B1121 is connected to the supporting platform B1122. The supporting platform is used to place and fix the workpiece. The U-shaped structure can form a supporting force on the product and also limit the movement of the workpiece.

[0075] The second feeding device

[0076] Please refer to Figures 16 to 18 , in this embodiment, the second feeding device F1 includes a positioning mechanism F11, a moving mechanism F12, a feeding mechanism F13, and a receiving mechanism F14. The positioning mechanism F11 is fixedly installed on the ground of the robot flexible machining workstation or other devices fixed to the ground through, for example, mounting screws. This not only ensures the stability and reliability of the positioning mechanism F11 itself but also determines the position of the moving mechanism F12 installed in cooperation with it. When fixed through mounting screws, it realizes rapid deployment and disassembly in different production scenarios, simplifying the layout time of the device. The moving mechanism F12 includes a placement table F121, a moving component F122, and a supporting component F123. The placement table F121 is arranged on the supporting component F123. The moving mechanism F12 can be quickly moved through the moving component F122 to quickly move the moving mechanism F12 above the positioning mechanism F11. The placement table F121 is used to carry the receiving mechanism F14 and the feeding mechanism F13. The moving component F122 is installed on the supporting component F123 below it, which is built by a plurality of supporting connecting rods in the vertical and horizontal directions. The moving component F122 is preferably a small rotating wheel that can move quickly on a guide rail or a flat ground. Therefore, through the quick installation and positioning of the moving mechanism F12 and the positioning mechanism F11, the moving mechanism F12 can be quickly and accurately moved to be reliably fixed and positioned with the positioning mechanism F11, thus greatly shortening the changeover time and improving the positioning accuracy. Furthermore, the moving of the receiving mechanism F14 and the feeding mechanism F13 can be achieved quickly through the moving component F122.

[0077] The feeding mechanism F13 is partially disposed in the accommodating mechanism F14 and conveys the second workpiece to be processed accommodated in the accommodating mechanism F14 outwards for the third robot C3 to pick up. Specifically, the feeding mechanism F13 includes a vibrating bowl and a feeding component. The accommodating mechanism F14 can specifically be a hollow accommodating box. The second workpiece to be processed can be placed through the box opening provided at the top of the box. Moreover, the box structure mainly plays a role in sound insulation and noise reduction, and can also prevent the adverse situations that the operator touches the objects in the box, which may affect the normal work and cause harm to the human body. The operator puts a plurality of second workpieces to be processed into the accommodating box. Under the vibration of the vibrating bowl, the second workpieces to be processed are neatly and regularly arranged on the feeding component. And each time the third robot C3 transports a second workpiece to be processed onto the workpiece, the feeding component moves forward to convey a new second workpiece to be processed to fill the vacant position. The feeding mechanism F13 belongs to the technical means that those skilled in the art can know, and will not be elaborated here. In this embodiment, two second feeding devices F1 are adopted and respectively convey the fuel tank screws and the fuel tank body brackets as the second workpieces to be processed. The moving component F122 is installed below the supporting component F123 and can drive the moving mechanism F12 to quickly move above the positioning mechanism F11 so as to be quickly fixed and positioned with the positioning mechanism F11.

[0078] The positioning mechanism F11 includes a bottom plate F111, a support seat F112 and an adjusting seat F113. The support seat F112 is connected to the bottom plate F111 through, for example, screws. Specifically, the screws pass through the support seat F112 and the bottom plate F111 and are fixedly connected to the ground or other mechanical devices, ensuring the stability of the positioning mechanism F11 so that it can bear the dynamic load of the moving mechanism F12 without displacement. The adjusting seat F113 is installed on the support seat F112. The adjusting seat F113 is used to directly contact the position of the moving mechanism F12 and is used to adjust the relative position between the moving mechanism F12 and the positioning mechanism F11. During installation, the adjusting seat F113 directly contacts the supporting component F123 of the moving mechanism F12, and the second positioning adjustment between the moving mechanism F12 and the positioning mechanism F11 is realized by adjusting the relative position between the supporting component F123 and the adjusting seat F113.

[0079] The adjustment base F113 is provided with a number of first rotating members F1131 and a number of second rotating members F1132, so as to achieve a multi-degree-of-freedom adjustment method. The first rotating members F1131 are installed on both sides of the adjustment base F113, and the second rotating members F1132 are installed above the adjustment base F113. The first rotating members F1131 and the number of second rotating members F1132 can rotate around their central axes respectively and are in direct contact with the position of the moving mechanism F12. Thus, by controlling the rotation direction of the first rotating members F1131, the position positioning adjustment of moving forward or backward can be achieved. The central axis of the second rotating members F1132 is perpendicular to the horizontal direction. When the first rotating members F1131 rotate, they drive the moving mechanism F12 to move in the direction perpendicular to the central axis of the first rotating members F1131 in the horizontal direction, achieving the purpose of adjusting the relative position between the moving mechanism F12 and the positioning mechanism F11.

[0080] When the support assembly F123 is provided with the first connecting rod F1231 and the second connecting rod F1232 installed, the first rotating member F1131 is in contact with the first connecting rod F1231, and the second rotating member F1132 is in contact with the second connecting rod F1232. The first rotating member F1131 and the second rotating member F1132 act on the first connecting rod F1231 and the second connecting rod F1232 respectively through rotation, for guiding the movement of the moving assembly F122. Specifically, both ends of the second connecting rod F1232 are respectively connected to the support cross beam located in the second positioning adjustment direction of the moving assembly F122. The first connecting rod F1231 is installed on the second connecting rod F1232. The first rotating member F1131 is in contact with the first connecting rod F1231 directly above it, and the second rotating member F1132 is in contact with the second connecting rod F1232 directly above it. By controlling the rotation direction of the rotating members, it guides and drives the first connecting rod F1231 and the second connecting rod F1232 to move, thus realizing the second positioning adjustment between the moving mechanism F12 and the positioning mechanism F11 and achieving precise positioning.

[0081] In summary, by using the second feeding device F1 configured in this embodiment, through the quick installation and positioning of the moving mechanism F12 and the positioning mechanism F11, it can quickly and accurately move the moving mechanism F12 above the positioning mechanism F11 and perform efficient fixing and positioning, thus greatly shortening the changeover time. Only the operator needs to move the corresponding receiving mechanism F14 and the feeding mechanism F13 through the moving assembly according to the different second workpieces to be processed required for workpiece processing, and fix the moving assembly and the positioning mechanism F11 separably, thereby improving the processing flexibility and processing efficiency of the workstation.

[0082] Specifically, the positioning mechanism F11 is provided with a fixed clamp F114. The fixed clamp F114 includes a fixed block F1141, a connecting piece F1142, a handle F1143 and a snap clamp F1144. The fixed block F1141 is installed on one side of the adjusting seat F113. The handle F1143 is connected to the snap clamp F1144 through the connecting piece F1142, and the connecting piece F1142 is integrally designed with the fixed block F1141. The fixed block F1141 is fixedly installed on one side of the adjusting seat F113, ensuring the reliable fixation of the fixed clamp F114 and the positioning mechanism F11. The handle F1143 is connected to the snap clamp F1144 through the connecting piece F1142, which enables the operator to easily control the opening and closing of the snap clamp F1144 through the handle F1143, realizing the second fixation between the positioning mechanism F11 and the moving mechanism F12. After the second precise positioning between the positioning mechanism F11 and the moving mechanism F12, a more stable fixation between the positioning mechanism F11 and the moving mechanism F12 is achieved.

[0083] Preferably, the support component F123 is further provided with a clamping part F1233. The clamping part F1233 is installed on the support component F123 and is used for clamping and fixing with the snap clamp F1144. A long strip-shaped through hole is provided on the snap clamp F1144, and the clamping part F1233 passes through the through hole to realize the fixed clamping between the snap clamp F1144 and the clamping part F1233, thus realizing the second fixation between the positioning mechanism F11 and the moving mechanism F12.

[0084] It should be added that the first feeding device E1 can also adopt the same structure as the above-mentioned second feeding device F1 to supply the first workpiece to be processed required for the model change. In the present invention, according to the different workpieces to be processed, the first feeding device E1 adopts a structure different from that of the second feeding device F1 and includes a moving trolley and an upper and lower conveying tray. The operator places the first workpiece to be processed on the upper and lower conveying tray, and the first workpiece to be processed is specifically a welded part of the fuel tank filler neck. Since the first feeding device E1 is technical knowledge known to those skilled in the art, it will not be elaborated here.

[0085] Clamping device

[0086] Reference Figures 20 to 22, the manipulator of the first robot C1 is configured with a clamping device G1 for handling workpieces. The clamping device G1 includes a bracket assembly G11, a first clamping assembly G12, a second clamping assembly G13, and a transmission assembly G14. The first clamping assembly G12 and the second clamping assembly G13 are disposed on opposite sides of the bracket assembly G11. The first clamping assembly G12 and the second clamping assembly G13 can independently and automatically clamp or release the workpiece. The transmission assembly G14 is fixedly connected to the bracket assembly G11 and is used to connect to the manipulator of the first robot C1 to drive the movement of the bracket assembly G11.

[0087] The first clamping assembly G12 includes a pair of first cylinders G121, a pair of first moving blocks G122, and a first clamping block group G123 provided on each of the first moving blocks G122. The pair of first cylinders G121 drive the pair of first moving blocks G122 to move towards or away from each other, so that the two first clamping block groups G123 approach or move away from each other to correspondingly clamp or release the workpiece. The second clamping assembly G13 includes a pair of second cylinders G131, a pair of second moving blocks G132, and a second clamping block group G133 provided on the two second moving blocks G132. The pair of second cylinders G131 drive the pair of second moving blocks G132 to move towards or away from each other, so that the two second clamping block groups G133 approach or move away from each other to correspondingly clamp or release the workpiece. In this way, the two clamping assemblies using cylinders can accurately control the distance between the moving block pairs, so as to reliably and properly clamp the corresponding workpieces.

[0088] Both the first cylinder G121 and the second cylinder G131 include a cylinder block and a piston rod. The cylinder blocks of the pair of first cylinders G121 and the pair of second cylinders G131 are adjacently aligned, and their piston rods are aligned in opposite directions. The first clamping block group G123 includes a first clamping block G1231 and a second clamping block G1232, and the first clamping blocks G1231 and the second clamping blocks G1232 of the two first clamping block groups G123 are respectively arranged in pairs. The second clamping block group G133 includes a third clamping block G1331 and a fourth clamping block G1332, and the third clamping blocks G1331 and the fourth clamping blocks G1332 of the two second clamping block groups G133 are respectively arranged in pairs. In this way, each clamping assembly has two pairs of opposite clamping blocks, so as to stably clamp the workpiece.

[0089] The first clamping block group G123 and the second clamping block group G133 both further include multiple pairs of struts G1233, G1333 and support plates G1234, G1334. One end of the struts G1233, G1333 is fixedly connected to the first moving block G122 or the second moving block G132, and the other end is fixedly connected to the support plates G1234, G1334. A corresponding clamping block is respectively fixed on the side of each support plate G1234, G1334 facing away from the first moving block G122 or the second moving block G132. Therefore, by using the cooperation of the struts G1233, G1333 and the support plates G1234, G1334 to support the clamping blocks, the clamping blocks can obtain good support and thus can tightly apply symmetric clamping forces to the opposite sides of the workpiece. In addition, by setting the struts G1233, G1333 to different heights, the versatility for workpieces in different states can be further improved.

[0090] The bracket assembly G11 includes a first support plate G111 and a second support plate G112 that are arranged in parallel and have a spaced space, and a connecting support plate G113 connected between the first support plate G111 and the second support plate G112. The first support plate G111 is parallel to the second support plate G112. The cylinder block of the first cylinder G121 is fixed on the first support plate G111, and the cylinder block of the second cylinder G131 is fixed on the second support plate G112. Therefore, the overall structure of the bracket assembly G11 is compact, and the relative positions of the first cylinder G121 and the second cylinder G131 are accurately positioned, thereby ensuring that each clamping assembly accurately clamps the clamped position of the workpiece.

[0091] Therefore, since the clamping device G1 provided in the embodiment of the flexible machining workstation of the robot is provided with two clamping components, as a specific implementation manner, the fuselage of the first robot C1 first rotates in the direction of the quick-change limiting mechanism A12 and drives the manipulator to control one clamping component to clamp a workpiece to be machined from the quick-change limiting mechanism to above the workpiece machining positioning device B1. Then the manipulator controls the other clamping component to pick up a machined workpiece on the workpiece machining positioning device B1. Then one clamping component places and fixes the clamped workpiece to be machined on the machining positioning device B1. Then the fuselage of the first robot C1 rotates in the direction of the workpiece output device D1 and drives the manipulator to control the other clamping component to place the machined workpiece on the workpiece output device D1. When the first robot C1 also has a drilling function, at this time the manipulator removes the clamping device G1 and replaces it with a drilling device (not shown) to perform drilling operations. After drilling is completed, the manipulator removes the drilling device and replaces it with the clamping device G1, and then repeats the above clamping operations, and so on. Since the two clamping components can move in an automated manner to clamp or release the workpiece, the degree of automation is high. And through the control of the movement range, it can not only adapt to workpieces of different models, but also obtain a high clamping reliability with high consistency, making the versatility high and the reliability strong. A transmission component G14 fixedly connected to the support component G11 is also provided, whereby the clamped workpiece can be conveniently conveyed to the workpiece machining positioning device B1 to receive further machining by each robot, significantly improving the work efficiency.

[0092] Preferably, the clamping device G1 further includes a mounting seat G15 disposed in the spaced space. An electrical terminal G16 electrically connected to each cylinder is provided on the mounting seat G15. And a displacement detector G17 for detecting the position of the support component G11 is provided on one side plate of the mounting seat G15. A clamping detector G18 for detecting whether the first clamping component G12 and the second clamping component G13 clamp the workpiece in place is respectively provided on the first support plate G111 and the second support plate G112. Therefore, through the displacement detector G17, it can accurately judge whether the support component G11 and thus the workpiece move in place, so as to ensure that the workpiece is further subjected to precise machining. Through the clamping detector, it can accurately judge the posture of the workpiece clamped on the clamping component, so as to ensure that all preset clamped parts of the workpiece are clamped.

[0093] Preferably, clamping grooves G1235 and G1333 are provided on each clamping block. Therefore, different clamping grooves G1235 and G1333 can be set according to different clamped positions of the workpiece, further increasing the clamping reliability of the workpiece. The clamping block is made of silica gel or rubber, so as to avoid abrasion of the workpiece. In the initial state, each cylinder is arranged in the horizontal direction, and in the horizontal direction, different pairs of clamping blocks in each clamping assembly are horizontally opposite to each other and have different horizontal spacings. In the vertical direction, the two first clamping block groups G123 and the two second clamping block groups G133 are arranged opposite to each other in a mirror-rotated 180-degree manner. In this way, driven by the transmission component, only by flipping the first clamping assembly G12 and the second clamping assembly G13 relative to each other by 180 degrees, the workpieces of the same model can be quickly clamped in sequence, further improving the work efficiency.

[0094] Specifically, the transmission component G14 includes a motion connection mechanism G141, a transmission column G142, and a fixing ring G143 such as a flange. The motion connection mechanism G141 includes a connection base and a plug column G1411, a clamping groove G1412, and an identification groove G1413 provided on the connection base. The plug column G1411 is used for plugging and cooperating with the manipulator of the first robot C1 so as to transmit the driving force of the manipulator of the first robot C1. The clamping groove G1412 is used for clamping and fixing with the manipulator of the first robot C1. The identification groove G1413 is used to determine the connection with the manipulator of the first robot C1 that is preset to be adapted. One end of the transmission column G142 is fixed to the connection base and the other end is fixed to the connection support plate G113 through the fixing ring G143. In this way, through the above settings of the motion connection mechanism G141, it can be ensured that the transmission component G14 can be firmly and accurately driven and connected to the manipulator of the first robot C1.

[0095] Please refer to Figure 1 and Figure 2, preferably, the robotic flexible machining workstation further includes a plurality of safety fences H1 arranged on the periphery and enclosing a rectangular space. The plurality of safety fences H1 form a first fence rectangular side H11, a second fence rectangular side H12, a third fence rectangular side H13, and a fourth fence rectangular side H14. The workpiece machining and positioning device B1 is disposed at the central position of the rectangular space. The second robot C2 and the third robot C3 are disposed relatively far apart on opposite sides of the workpiece machining and positioning device B1. The first robot C1 is located on the other side between the opposite sides of the workpiece machining and positioning device B1, and all three robots are close to the adjacent fence rectangular sides. The workpiece input device A1 is arranged at the angle between the first fence rectangular side H11 and the fourth fence rectangular side H14, and the workpiece input device A1 passes through the first fence rectangular side H11. The workpiece output device D1 is arranged at the angle between the first fence rectangular side H11 and the second fence rectangular side H13. The workpiece output device D1 can be a conveyor belt, and the workpiece output device D1 passes through the second fence rectangular side H12. The first feeding device E1 and the second feeding device F1 both pass through the third fence rectangular side H13. The first robot C1, the second robot C2, and the third robot C3 are respectively arranged adjacent to the first fence rectangular side H11, the second fence rectangular side H12, and the fourth fence rectangular side H14, and preferably, the connecting lines of the central points of their respective occupied areas form an equilateral right triangle. The workpiece input device A1, the workpiece output device D1, and the workpiece machining and positioning device B1 are arranged around the first robot C1 and are within the working radius of its robotic arm and manipulator. The first feeding device E1 and the workpiece machining and positioning device B1 are arranged around the second robot C2 and are within the working radius of its robotic arm and manipulator. The second feeding device F1 and the workpiece machining and positioning device B1 are arranged around the third robot C3 and are within the working radius of its robotic arm and manipulator. In this way, the layout of the robotic flexible machining workstation is reasonable and compact, and the handling operation and machining operation of the workpiece can be carried out efficiently, quickly, and without mutual adverse effects, which is convenient for the operator to control and meets the requirement of convenient replacement of the first feeding device E1 and the second feeding device F1 during rapid changeover.

[0096] Specifically, in the case where the workpiece is a plastic fuel tank, the first machining is, for example, drilling the fuel tank filler neck and the fuel tank screw hole, and the second machining is, for example, welding the fuel tank screw, the fuel tank body bracket, and the fuel tank filler neck weldment. The manipulator of the second robot C2 is configured with a welding dust suction device J1 for dust suction during welding by the second robot C2. It can be known that the manipulator is also configured with a welding mechanism for performing friction welding, for example, and the welding dust suction device J1 can cover the welding mechanism therein. The following is a detailed description of the welding dust suction device J1.

[0097] Specifically, in the case where the workpiece is a plastic fuel tank, the first processing is, for example, drilling the fuel tank filling port and the fuel tank screw hole, and the second processing is, for example, welding the fuel tank screw, the fuel tank body bracket, and the fuel tank filling port weldment. The manipulator of the second robot C2 is equipped with a welding dust suction device J1 for dust suction during the welding of the second robot C2. It is known that the manipulator is also equipped with a welding mechanism for implementing friction welding, and the welding dust suction device J1 can cover the welding mechanism therein. The following will describe the welding dust suction device J1 in detail.

[0098] Welding dust suction device

[0099] Please refer to Figures 23 to 25 , in this embodiment, the welding dust suction device J1 includes a dust suction component J11, a blowing component J12, and a sealing component J13. The dust suction component J11 is connected to a dust suction source, the blowing component J12 is connected to a blowing source, and the sealing component J13 has a sealing cavity and is used to abut and seal the dust removal surface. For example, when friction welding is used to weld a workpiece such as a plastic fuel tank and weldments such as a fuel tank screw and a fuel tank body bracket, the dust removal surface is the surface of the welding part and the surrounding area where dust such as welding chips will be generated and accumulated during the welding process. Hereinafter, it is simply referred to as the surface of the fuel tank and the weldment. The blowing component J12 blows the dust generated by welding on the dust removal surface, and the dust blown off from the dust removal surface is sealed in the sealing cavity. The dust suction component J11 sucks the dust out of the sealing cavity and discharges it. In this way, with this welding dust suction device, during the welding process, the dust removal surface of, for example, the surface of the weldment and the box body can be wrapped by the sealing component J13, and the blowing component J12 is used to blow the dust on the dust removal surface away and diffuse it in the sealing cavity of the sealing component J13, and then the dust suction component J11 sucks the dust in the sealing cavity out and discharges it. Thus, the discharged dust can be centrally processed. Therefore, a good dust removal effect is obtained, pollution in the robot flexible processing workstation is prevented, it is ensured that the dust will not affect the processing of the workpiece by each robot, and the processing quality is improved.

[0100] Specifically, the dust suction assembly J11 includes a hollow dust suction joint J111, a connecting block J112, a first dust suction sleeve J113, and a second dust suction sleeve J114. The air blowing assembly J12 includes a hollow air blowing sleeve J121. The sealing assembly J13 includes a hollow sealing sleeve J131. The dust suction joint J111, the connecting block J112, the first dust suction sleeve J113, the second dust suction sleeve J114, the air blowing sleeve J121, and the sealing sleeve J131 are connected in sequence. The other end of the dust suction joint J111 opposite to the connecting block J112 is connected to the air blowing source. That is to say, the two ends of the dust suction joint J111 are respectively connected to the dust suction source and one end of the connecting block J112. The two ends of the connecting block are respectively connected to the dust suction joint J111 and the first dust suction sleeve J113. The two ends of the second dust suction sleeve J114 are respectively connected to the first dust suction sleeve J113 and the air blowing sleeve J121, and so on. It should be noted that the dust suction joint J111, the connecting block J112, the first dust suction sleeve J113, the second dust suction sleeve J114, and the air blowing sleeve J121 are made of metal materials such as aluminum, and the sealing sleeve J131 is made of colloids such as silica gel or rubber. Therefore, each component not only has a compact structure but also has good connection sealing performance, effectively avoiding accidental leakage of dust.

[0101] Specifically, the dust suction joint J111 is provided with a connecting boss J1111. The connecting boss J1111 is provided with a plurality of through holes. The side of the connecting block J112 facing the connecting boss J1111 is provided with a plurality of fixing holes corresponding to the connecting holes. The paired connecting holes and fixing holes are connected by a fixing member J114 such as a fixing bolt. In this way, the dust suction joint J111 and the connecting block J112 can be fixedly connected to each other reliably and stably.

[0102] Further preferably, a first air blowing inlet J1141 communicating with the air blowing source is opened on the second dust suction sleeve J114. A blowing channel J1142 is provided in the second dust suction sleeve J114. A circle of blowing grooves J1211 is provided on the side surface of the air blowing sleeve J121 facing the second dust suction sleeve J114. A plurality of blowing holes J1212 are uniformly and penetratingly provided in the inner wall of the air blowing sleeve J121. In the present invention, the blowing holes J1212 are uniformly arranged in the circumferential direction as 4. The blowing channel J1142 is located between the air blowing inlet and the blowing grooves J1211 and communicates with both. The blowing grooves J1211 are connected to each of the blowing holes J1212. Each of the blowing holes J1212 blows air into the sealing cavity. Therefore, the air flow of the air blowing source can smoothly flow to each of the blowing holes J1212 through the first air blowing inlet J1141, and the blowing holes J1212 can blow air on the dust removal surface evenly, so as to ensure that the dust on the dust removal surface is blown away and diffused.

[0103] The air blowing assembly J12 further includes an air blowing sealing plate J122. The sealing plate of the air blowing hole J1212 is fixed on a hole (not shown) of the connecting block J112. A second air blowing inlet J1221 that is connected to both the air blowing source and the connecting block J112 is provided on the sealing plate of the air blowing hole J1212. The second air blowing inlet J1221 blows air at the connection part between the connecting block J112 and the first dust suction sleeve J113, especially at the corner, so as to prevent dust from accumulating or even blocking the air flow channel at the connection part. In this embodiment, the second air blowing inlet J1221 blows the air flow from the air blowing source towards the dust suction interface at the connection part, so as to cooperate with the suction source to suck away the dust more quickly.

[0104] Optionally improved, the sealing assembly J13 further includes an annular pressing plate J132. The sealing sleeve J131 includes a ring of convex rings J1311. A plurality of through holes are formed in the convex rings J1311. An annular platform J1213 is provided on the side of the air blowing sleeve J121 facing the sealing sleeve J131. The annular surface of the annular platform J1213 is sleeved with the sealing sleeve J131. The pressing plate J132 presses the convex rings J1311 against the table surface of the annular platform J1213. A plurality of pairs of fixing holes are provided on the pressing plate J132 and the table surface. A plurality of fixing posts J116 correspondingly pass through the through holes of the sealing sleeve J131 and are fixed to the pairs of fixing holes. Among them, each pair of fixing holes can be threaded holes, and the fixing posts J116 can be bolts. In this way, by adopting this structure, the sealing sleeve J131 and the air blowing sleeve J121 can be accurately positioned and fixed on the axis.

[0105] Optionally improved, correspondingly paired limiting holes are formed in the connecting block J112 and the first dust suction sleeve J113. A limiting pin J115 is inserted into each pair of limiting holes. A pair of recessed parts J1121 are provided on the connecting block J112, and a locking hole J1122 for locking with a locking member (not shown) used for fixedly connecting the connecting block J112 is provided on the bottom surface of the recessed part J1121. For example, the locking member can fix the connecting block J112 to the bracket supporting the dust suction source. In this way, the connecting block J112 is reliably positioned and fixed to the first dust suction sleeve J113 in the transverse direction, that is, the direction in which the air flow flows therein, and is fixed by the locking member in the longitudinal direction, that is, perpendicular to the flow direction, so that the whole connecting block is stably fixed in two perpendicular directions.

[0106] Optionally improved, the first dust suction sleeve J113 and the second dust suction sleeve J114 are both provided as hollow cylindrical shapes. The first flange J1131 provided on the first dust suction sleeve J113 is inserted into the first groove provided on the connecting block J112. The second flange J1143 provided on the second dust suction sleeve J114 is inserted into the second groove provided on the first dust suction sleeve J113. At least one positioning hole J1132 and J1144 are respectively provided on the outer circumferences of the first flange J1131 and the second flange J1143. At least one positioning groove is respectively provided on the respective concave surfaces of the first groove and the second groove. The positioning holes J1132, J1144 and the positioning grooves are provided in pairs and are relatively positioned by positioning members (not shown). Each of the positioning holes J1132, J1144 can be a threaded hole, and the positioning member can be a screw or a bolt threadedly connected to each threaded hole. Therefore, the first dust suction sleeve J113, the second dust suction sleeve J114 and the connecting block J112 are circumferentially limited to each other one by one, further ensuring the reliability of the connection and fixation between them.

[0107] It should be further noted that the robot flexible machining workstation is also configured with a dust suction source, a blowing air source, a dust suction pipe and a blowing air pipe. The dust suction pipe connects the dust suction source with the dust suction assembly J11, and the blowing air pipe connects the blowing air source with the blowing air assembly J12. The welding mechanism of the third robot C3 is used to perform welding on the weldment near the dust removal surface. Therefore, the third robot C3 can obtain an excellent dust removal effect during the welding process.

[0108] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot flexible processing workstation, characterized in that: include: A workpiece input device, comprising an input mechanism and a quick-change position-limiting mechanism, wherein the input mechanism conveys the workpiece to the quick-change position-limiting mechanism, and the quick-change position-limiting mechanism positions the conveyed workpiece; A workpiece processing positioning device, used for receiving and fixing the workpiece so as to process the workpiece; A first robot, which is used to transport the workpiece on the fast-changeable limiting mechanism to the workpiece processing and positioning device and perform a first processing; a second robot, which is used to also perform a first process on the workpiece transported to the workpiece processing and positioning device; A workpiece output device, wherein the first robot carries the processed workpiece obtained after all the processing to the workpiece output device, and the workpiece output device outputs the processed workpiece to the outside.

2. The robot flexible processing workstation according to claim 1, characterized in that: The robot flexible processing workstation also includes a first feeding device, a second feeding device and a third robot. The first feeding device is used to supply a first material to be processed on the workpiece, and the second feeding device is used to supply a second material to be processed on the workpiece. The second robot transports the first material to be processed to the workpiece and performs a second processing. The third robot transports the second material to be processed to the workpiece and performs a second processing. Each robot is arranged around the workpiece processing positioning device.

3. The robot flexible processing workstation according to claim 2, characterized in that: The input mechanism includes a plurality of rollers and a motor driving each roller, and the fast-changeable limiting mechanism includes: A support seat, a support assembly, a first positioning member and a second positioning member; The first positioning member includes a first end fixedly connected to the support base and a second end away from the support base; The second positioning member is used to fix the support seat and the support assembly; The support component is provided with a special-shaped plug hole matching with the second end of the first positioning member, the special-shaped plug hole includes a plug hole with a first aperture and a plug hole with a second aperture, the second end of the first positioning member is inserted into the plug hole with the first aperture of the support component, and the support component is moved, and the second end of the first positioning member slides from the plug hole with the first aperture into the plug hole with the second aperture, and the first aperture is larger than the second aperture; The supporting components are provided in at least two and are respectively installed at two ends of the supporting seat, each of the supporting components comprises a sliding base plate and at least two supporting units installed on the sliding base plate, and the supporting units are used to place and position the workpiece.

4. The robot flexible processing workstation according to claim 2, characterized in that: The workpiece processing and positioning device comprises a working component, a supporting component, a displacement component and a fixed engaging seat; The working assembly comprises a working support, a first fixing member and a second fixing member, wherein the working support is fixedly mounted above the supporting assembly via a first connecting member, the working support is used to carry and mount the first fixing member and the second fixing member, the first fixing member is used to carry and place the workpiece, and the second fixing member is used to press the workpiece placed on the first fixing member downward in a vertical direction to position the workpiece; The displacement assembly is installed at the bottom of the support assembly, and is used to support the support assembly and drive the working assembly to move and change quickly; The fixed engaging seat is in a releasable engaging connection with the displacement assembly and is in a detachable fixed connection with the support assembly.

5. The robot flexible processing workstation according to claim 2, characterized in that: The second feeding device includes a positioning mechanism, a moving mechanism, a feeding mechanism and a containing mechanism. The positioning mechanism is fixed to the ground in the robot flexible processing workstation. The moving mechanism includes a placement table, a moving component and a supporting component. The placement table is arranged on the supporting component. The containing mechanism is arranged on the placement table. The feeding mechanism is partially arranged in the containing mechanism and transports the second material to be processed contained in the containing mechanism outward for the third robot to take. The moving component is installed under the supporting component and can be quickly fixed and positioned with the positioning mechanism. The positioning mechanism comprises a base plate, a support seat and an adjustment seat. The support seat is fixedly connected to the base plate, and the adjustment seat is installed on the support seat.

6. The robot flexible processing workstation according to claim 2, characterized in that: The manipulator of the first robot is equipped with a clamping device for carrying the workpiece, the clamping device includes a support assembly, a first clamping assembly, a second clamping assembly and a transmission assembly, the first clamping assembly and the second clamping assembly are arranged on opposite sides of the support assembly, and the first clamping assembly and the second clamping assembly are independently and automatically movable to clamp or release the workpiece; The first clamping assembly includes a pair of first cylinders, a pair of first moving blocks and a first clamping block group arranged on each of the first moving blocks, the pair of first cylinders drive the pair of first moving blocks to move toward or away from each other, so that the two first clamping block groups approach or move away from each other to clamp or release the workpiece accordingly; the second clamping assembly includes a pair of second cylinders, a pair of second moving blocks and a second clamping block group arranged on each of the second moving blocks, the pair of second cylinders drive the pair of second moving blocks to move toward or away from each other, so that the two second clamping block groups approach or move away from each other to clamp or release the workpiece accordingly, and the transmission assembly is fixedly connected to the support assembly and is used to be connected to the manipulator of the first robot to drive the support assembly to move.

7. The robot flexible processing workstation according to claim 6, characterized in that: The first cylinder and the second cylinder each include a cylinder body and a piston rod, the cylinder bodies of a pair of the first cylinders and a pair of the second cylinders are aligned adjacently and the piston rods are aligned oppositely, the first clamping block group includes a first clamping block and a second clamping block, and the first clamping blocks and the second clamping blocks of the two first clamping block groups are respectively arranged in pairs, the second clamping block group includes a third clamping block and a fourth clamping block, and the third clamping blocks and the fourth clamping blocks of the two second clamping block groups are respectively arranged in pairs; The first clamping block group and the second clamping block group each further include a plurality of pairs of pillars and support plates, one end of the pillar is fixedly connected to the first motion block or the second motion block and the other end is fixedly connected to the support plate, and a corresponding clamping block is respectively fixed on the side of each support plate facing away from the first motion block or the second motion block; The support assembly includes a first support plate and a second support plate which are arranged in parallel and have a space therebetween, and a connecting support plate connected between the first support plate and the second support plate, the cylinder body of the first cylinder is fixed on the first support plate, and the cylinder body of the second cylinder is fixed on the second support plate; The clamping device also includes a mounting seat arranged in the spacing space, on which electrical terminals electrically connected to each cylinder are arranged, and a displacement detector for detecting the position of the bracket assembly is arranged on a side plate of the mounting seat, and a clamping detector for detecting whether the first clamping assembly and the second clamping assembly are clamped in place is respectively arranged on the first support plate and the second support plate.

8. The robot flexible processing workstation according to claim 2, characterized in that: The robot flexible processing workstation also includes a plurality of safety fences arranged on the periphery and enclosing a rectangular space, the plurality of safety fences forming a first fence rectangular side, a second fence rectangular side, a third fence rectangular side and a fourth fence rectangular side, the workpiece processing positioning device is arranged at the center of the rectangular space, the second robot and the third robot are relatively far apart and arranged on opposite sides of the workpiece processing positioning device, the first robot is located on the other side between the opposite sides of the workpiece processing positioning device, and the three robots are all close to the respective adjacent fence rectangular sides, the workpiece input device is arranged at the angle between the first fence rectangular side and the fourth fence rectangular side, and the workpiece input device passes through the first fence rectangular side, the workpiece output device is arranged at the angle between the first fence rectangular side and the second fence rectangular side, and the workpiece output device passes through the second fence rectangular side, the first feeding device and the second feeding device both pass through the third fence rectangular side, and the first robot, the second robot and the third robot are arranged adjacent to the first fence rectangular side, the second fence rectangular side and the fourth fence rectangular side, respectively.

9. The robot flexible processing workstation according to claim 8, characterized in that: The first processing is drilling, the second processing is welding, and the manipulator of the second robot is equipped with a welding dust suction device for dust suction when the second robot performs welding, and the welding dust suction device includes: A dust collection component connected to a dust collection source; An air blowing assembly, which is connected to an air blowing source; A sealing assembly having a sealing cavity and used for abutting and sealing the dust removal surface; The air blowing component blows air on the dust removal surface generated by welding, and the dust blown off the dust removal surface is sealed in the sealed cavity, and the dust suction component sucks the dust from the sealed cavity and discharges it; The dust suction component includes a dust suction joint, a connecting block, a first dust suction sleeve and a second dust suction sleeve, all of which are hollow; the air blowing component includes a hollow air blowing sleeve; the sealing component includes a hollow sealing sleeve; the dust suction joint, the connecting block, the first dust suction sleeve, the second dust suction sleeve, the air blowing sleeve and the sealing sleeve are connected in sequence; and the other end of the dust suction joint opposite to the connecting block is connected to the air blowing source; The dust suction connector is provided with a connecting boss, the connecting boss is provided with a plurality of through holes, the connecting block is provided with a plurality of fixing holes corresponding to the connecting holes on the side facing the connecting boss, and the paired connecting holes and the fixing holes are connected by fixing parts.

10. The robot flexible processing workstation according to claim 9, characterized in that: A first blowing inlet connected to a blowing source is provided on the second dust suction sleeve, a blowing channel is provided in the second dust suction sleeve, a circle of blowing grooves is provided on the side surface of the blowing sleeve facing the second dust suction sleeve, a plurality of blowing holes are evenly and throughly provided in the inner wall of the blowing sleeve, the blowing channel is located between the blowing inlet and the blowing groove and connects the two, the blowing groove is connected to each of the blowing holes, and each of the blowing holes blows air into the sealed cavity; The air blowing assembly also includes an air blowing sealing plate, the air blowing hole sealing plate is fixed on a hole of the connecting block, and a second air blowing inlet connected to the air blowing source and the connecting block is provided on the air blowing hole sealing plate, and the second air blowing inlet blows air to the connection between the connecting block and the first dust suction sleeve.

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