Robot workstation

Abstract

The utility model belongs to the technical field of industrial robot installation equipment, and discloses a robot workstation. The robot workstation comprises a rack, a mechanical arm, a clamp base and an adjusting base, the mechanical arm is installed on the adjusting base, the clamp base is fixedly installed on the rack, the clamp base is used for installing a clamp, and the robot workstation is characterized in that the adjusting base is used for adjusting the relative position of the mechanical arm relative to the rack so that the mechanical arm can be located at the set position relative to the rack; a reference part is arranged on the clamp base and provided with a reference axis, the reference axis coincides with the axis of the clamp base, a calibration part is arranged on the mechanical arm, and when the mechanical arm is located at a set position, the calibration part can coincide with the reference axis. According to the robot workstation, the mounting position of the robot is accurately positioned through the reference part and the calibration part, the adjusting efficiency is high, the assembly error of the manipulator and the clamp base is reduced, the mounting precision of the robot workstation is high, and the machining precision of products is high in the equipment operation process.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot installation equipment, in particular to a robot workstation. Background Art

[0002] An industrial robot is a multi-jointed manipulator or multi-degree-of-freedom machine device designed for industrial applications. It relies on its own power and control devices to achieve various motion functions. Its turntable is mounted on an external shaft, and the rotation of the external shaft adjusts the position of parts on the turntable. The robot and the external shaft work together to complete product assembly. The base is essential for ensuring the robot's stable operation. Bolts are typically used to secure the industrial robot to its corresponding position on the base. However, after the base is secured, it's difficult to effectively fine-tune the robot's installation position, which can easily lead to errors during installation, reducing the robot's accuracy and performance.

[0003] In the existing technology, industrial robots can be fine-tuned in the left and right directions and the front and back directions through an adjustment base with slide rails and sliders. However, these fine-tuning often requires engineers to rely on their experience and requires multiple trial and error and adjustments, resulting in low debugging efficiency and large assembly errors after debugging. Utility Model Content

[0004] The utility model aims to provide a robot workstation, which has high adjustment efficiency and small assembly error of the robot workstation after adjustment.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A robot workstation is provided, which includes a frame, a manipulator, a fixture base and an adjustment base. The manipulator is mounted on the adjustment base, the fixture base is fixedly mounted on the frame, and the fixture base is used to install a fixture, wherein the adjustment base is used to adjust the relative position of the manipulator relative to the frame so that the manipulator can be located at a set position relative to the frame; a reference part is provided on the fixture base, the reference part has a reference axis, and the reference axis coincides with the axis of the fixture base; a calibration part is provided on the manipulator, and when the manipulator is located at the set position, the calibration part can coincide with the reference axis.

[0007] Preferably, the reference component is a three-dimensional light locator, which is used to emit X-axis light, Y-axis light and Z-axis light that are perpendicular to each other. The Z-axis light is along the vertical direction and is the reference axis.

[0008] Preferably, the adjustment base includes a first base plate, a second base plate and a third base plate which are movably connected in sequence from top to bottom, the manipulator is fixedly connected to the first base plate, the position between the first base plate and the second base plate is adjustable along the reference axis, the position between the second base plate and the third base plate is adjustable along the first direction, the third base plate is movably connected to the frame, the position between the third base plate and the frame is adjustable along the second direction, the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the reference axis.

[0009] Preferably, the robot workstation includes a plurality of gaskets, which can be arranged in different combinations between the first base plate and the second base plate, and the plurality of gaskets are used to adjust the distance between the first base plate and the second base plate.

[0010] Preferably, the robot workstation further comprises a limit rod, which is fixedly connected to the first base plate. Each gasket is provided with a through hole. The limit rod passes through the through holes of each gasket in turn, and the lower end of the limit rod is inserted into the second base plate.

[0011] Preferably, one of the second bottom plate and the third bottom plate is provided with a first sliding groove, and the other of the two is provided with a first sliding block, and the first sliding block is slidably located in the first sliding groove.

[0012] Preferably, one of the third base plate and the frame is provided with a second sliding groove, and the other one is provided with a second sliding block, and the second sliding block is slidably located in the second sliding groove.

[0013] Preferably, the robot workstation further comprises: a first driving mechanism for driving the second base plate to move relative to the third base plate along the first direction; and a second driving mechanism for driving the third base plate to move relative to the frame along the second direction.

[0014] Preferably, the first driving mechanism includes a plurality of first fixed blocks and a plurality of first adjusting rods, and the first fixed blocks and the first adjusting rods are provided on both sides of the frame along the first direction, the first fixed blocks are fixedly connected to the frame, the first adjusting rods are screwed through the corresponding first fixed blocks, and the first adjusting rods on both sides of the frame respectively abut against the two side walls of the second base plate arranged parallel to the first direction.

[0015] Preferably, the second driving mechanism includes a plurality of second fixed blocks and a plurality of second adjusting rods, and second fixed blocks and second adjusting rods are provided on both sides of the frame along the second direction, the second fixed blocks are fixedly connected to the frame, the second adjusting rods are screwed through the corresponding second fixed blocks, and the second adjusting rods on both sides of the frame respectively abut against two side walls of the third base plate arranged parallel to the second direction.

[0016] The beneficial effects of the present invention are: providing a robot workstation, which can accurately locate the installation position of the robot through reference parts and calibration parts, has high adjustment efficiency, reduces the assembly error of the manipulator and the fixture base, and the robot workstation has high installation accuracy. During the operation of the equipment, the product processing accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an axonometric drawing of the robot workstation provided by the present utility model;

[0018] Figure 2 yes Figure 1 A partial enlarged view of part A;

[0019] Figure 3 This is a partial view of the first perspective of the adjustable base of the robot workstation provided by the utility model

[0020] Figure 4 This is an exploded view of the second viewing angle of the adjustment base of the robot workstation provided by the present invention;

[0021] Figure 5 yes Figure 3 A partial enlarged view of part B.

[0022] In the picture:

[0023] 1. Frame;

[0024] 2. Robotic arm; 21. Calibration parts;

[0025] 3. Fixture base; 31. Reference part;

[0026] 4. Adjustment base; 41. First bottom plate; 42. Second bottom plate; 421. First chute; 422. First slider; 43. Third bottom plate; 431. Second chute; 432. Second slider;

[0027] 5. Gasket;

[0028] 6. Limit rod;

[0029] 7. First driving mechanism; 71. First fixing block; 72. First adjusting rod;

[0030] 8. Second driving mechanism; 81. Second fixing block; 82. Second adjusting rod;

[0031] 9. U-shaped groove. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0033] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0034] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0035] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0036] Please refer to Figures 1 to 3This embodiment provides a robotic workstation, which includes a frame 1, a manipulator 2, a fixture base 3, and an adjustment base 4. The manipulator 2 is mounted on the adjustment base 4, and the fixture base 3 is fixedly mounted on the frame 1. The fixture base 3 is used to mount a fixture, wherein the adjustment base 4 is used to adjust the relative position of the manipulator 2 relative to the frame 1 so that the manipulator 2 can be located at a set position relative to the frame 1; a reference member 31 is provided on the fixture base 3, and the reference member 31 has a reference axis, which coincides with the axis of the fixture base 3; a calibration member 21 is provided on the manipulator 2, and when the manipulator 2 is in the set position, the calibration member 21 can coincide with the reference axis. Preferably, the calibration member 21 is a calibration pin, which is perpendicular to the clamping end surface of the manipulator 2 and is fixedly connected to the manipulator 2. With this arrangement, the calibration piece 21 is relatively fixed to the manipulator 2, and the fixture base 3 is relatively fixed to the frame 1, so that the reference piece 31 is relatively fixed to the frame 1. Adjusting the position of the manipulator 2 relative to the frame 1 is equivalent to adjusting the position of the manipulator 2 relative to the reference piece 31. When the manipulator 2 is adjusted by adjusting the base 4 so that the calibration piece 21 coincides with the reference axis, it indicates that the position of the manipulator 2 relative to the fixture base 3 has been adjusted to have a common reference axis. The robot workstation uses the calibration piece and the reference piece as a reference, and adjusts the position of the manipulator 2 by adjusting the base 4 so that the manipulator 2 finally has a common reference axis relative to the fixture base 3. This is simple to operate and improves the debugging efficiency of the robot workstation.

[0037] Preferably, manipulator 2 is a robot having an initial posture. When manipulator 2 is adjusted by adjusting base 4 so that calibration member 21 coincides with the reference axis, manipulator 2 remains in the initial posture. When the position of manipulator 2 relative to frame 1 is adjusted by adjusting base 4, manipulator 2 remains in the initial posture. In other embodiments, manipulator 2 may also be a three-axis manipulator, etc.

[0038] Alternatively, see Figure 2 The reference part 31 is a three-dimensional light locator, which is used to emit X-axis light, Y-axis light, and Z-axis light that are perpendicular to each other. The Z-axis light is in the vertical direction and serves as the reference axis. In this arrangement, the reference part 31 is set at the center of the fixture base 3, and the Z-axis light serves as the reference axis. When the position of the manipulator 2 relative to the frame 1 is adjusted, the position of the fixture base 3 relative to the frame 1 remains unchanged. The three-dimensional light locator on the fixture base 3 emits X-axis light, Y-axis light, and Z-axis light that are perpendicular to each other, thereby forming a visual reference coordinate system. It is convenient for personnel to visually check whether the calibration part 21 coincides with the reference axis using the X-axis light, Y-axis light, and Z-axis light as references, thereby improving adjustment efficiency.

[0039] Optionally, the manipulator 2 can further drive the calibration piece 21 to move relative to the adjustment base 4 along a first preset path, and the calibration piece 21 can only contact the top surface of the fixture base 3 when the manipulator 2, when in a set position, drives the calibration piece 21 to move relative to the adjustment base 4 along the first preset path. Specifically, the robotic workstation includes a controller, and the first preset path is an operating program pre-set in the controller, which is used to cause the manipulator 2, when in an initial position, to drive the calibration piece 21 along a fixed path to a first end position. In this way, when the program of the first preset path is triggered, the manipulator 2 in the initial posture drives the calibration piece 21 to move along the set trajectory of the first preset path to the first end position. If the calibration piece 21 can contact the top surface of the fixture base 3, it indicates that the position of the manipulator 2 relative to the fixture base 3 has been adjusted into place, and the manipulator 2 has the same coordinate origin relative to the fixture base 3; if the calibration piece 21 can have a gap with the top surface of the fixture base 3, or extend into the fixture base 3, it indicates that there is an error between the manipulator 2 and the fixture base 3 in the direction of the reference axis, and it is necessary to adjust the position of the manipulator 2 along the direction of the reference axis by adjusting the base 4, so that when the manipulator 2 drives the calibration piece 21 to move along the set trajectory of the first preset path to the first end position, the calibration piece 21 can just contact the top surface of the fixture base 3.

[0040] Alternatively, see Figure 1 and Figure 2, the clamp base 3 is cylindrical, and the manipulator 2 can also drive the calibration piece 21 to move relative to the adjustment base 4 along a second preset path, and only when the manipulator 2 located at the set position drives the calibration piece 21 to move relative to the adjustment base 4 along the second preset path, the calibration piece 21 is in contact with the outer peripheral surface of the clamp base 3 and rotates around the axis of the clamp base 3 for one circle. Specifically, the second preset path is an operating program pre-set in the controller, and is used to enable the manipulator 2 located at the initial posture to drive the calibration piece 21 to move along a fixed path to the second end position. During this process, if the manipulator 2 is accurately adjusted to the set position, then when the manipulator 2 drives the calibration piece 21 to move along the fixed path to the second end position, the calibration piece 21 rotates along the outer peripheral surface of the clamp base 3 for one circle without interference; if the manipulator 2 is not accurately adjusted to the set position, then when the manipulator 2 drives the calibration piece 21 to move along the fixed path to the second end position, the calibration piece 21 will interfere with the outer peripheral surface of the base 3. Therefore, the calibration piece 21 can be driven by the manipulator 2 to move relative to the adjustment base 4 along the second preset path, and whether the calibration piece 21 interferes with the outer peripheral surface of the base 3 is observed to determine whether the manipulator 2 is accurately adjusted to the set position. When the manipulator 2 is not accurately adjusted to the set position, it indicates that in the process of adjusting the manipulator 2 by adjusting the base 4 so that the calibration piece 21 coincides with the reference axis, it is not adjusted into place, and there is an error in the reference axis direction of the manipulator 2 relative to the fixture base 3. The position of the manipulator 2 relative to the frame 1 needs to be re-adjusted by adjusting the base 4, so as to realize the verification of whether the manipulator 2 is co-axial with the fixture base 3 in the reference axis direction.

[0041] It should be noted that each time the manipulator 2 drives the calibration member 21 relative to the adjustment base 4 along the second preset path, or moves along the second preset path, the manipulator 2 is located in the initial posture.

[0042] The adjustment base 4 is described in detail below:

[0043] Alternatively, see Figure 3 and Figure 4The adjustment base 4 includes a first base plate 41, a second base plate 42, and a third base plate 43 that are movably connected from top to bottom. The manipulator 2 is fixedly connected to the first base plate 41. The position between the first base plate 41 and the second base plate 42 is adjustable along the reference axis. The position between the second base plate 42 and the third base plate 43 is adjustable along the first direction. The third base plate 43 is movably connected to the frame 1. The position between the third base plate 43 and the frame 1 is adjustable along the second direction. The first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the reference axis. With this arrangement, by adjusting the base 4, the position of the manipulator 2 relative to the frame 1 can be adjusted along three mutually perpendicular directions, that is, the position of the manipulator 2 relative to the frame 1 can be adjusted in any direction, thereby ensuring that the manipulator 2 can be adjusted to the set position, thereby improving the installation accuracy of the robot workstation.

[0044] When the position between the first base plate 41 and the second base plate 42 is adjusted along the reference axis direction, the manipulator 2 is fixedly connected to the first base plate 41, and the position of the second base plate 42 relative to the frame 1 remains unchanged, that is, the position of the first base plate 41 relative to the frame 1 is adjusted along the reference axis direction, and then the position of the manipulator 2 relative to the frame 1 is adjusted along the reference axis direction; when the position between the second base plate 42 and the third base plate 43 is adjusted along the first direction, the relative positions of the manipulator 2, the first base plate 41 and the second base plate 42 are fixed, and the relative positions of the third base plate 43 and the frame 1 are fixed, that is, the position of the second base plate 42 relative to the frame 1 is adjusted along the first direction, and then the position of the manipulator 2 relative to the frame 1 is adjusted along the first direction; when the position between the third base plate 43 and the frame 1 is adjusted along the second direction, the relative positions of the manipulator 2, the first base plate 41, the second base plate 42 and the third base plate 43 are all fixed, that is, the position of the third base plate 43 relative to the frame 1 is adjusted along the second direction, and then the position of the manipulator 2 relative to the frame 1 is adjusted along the second direction.

[0045] In some embodiments, the position between the first base plate 41 and the second base plate 42 can be adjusted along the first direction, the position between the second base plate 42 and the third base plate 43 can be adjusted along the second direction, and the position between the third base plate 43 and the frame 1 can be adjusted along the reference axis direction. The first base plate 41 and the second base plate 42, the second base plate 42 and the third base plate 43, and the third base plate 43 and the frame 1 can be adjusted along the reference axis direction, the first direction, and the second direction respectively. This embodiment and the accompanying drawings are only examples of adjusting the base 4.

[0046] Alternatively, see Figure 4 and Figure 5The robot workstation includes a plurality of shims 5, which can be arranged in different combinations between the first base plate 41 and the second base plate 42. In this arrangement, the shims 5 are used to adjust the distance between the first base plate 41 and the second base plate 42. By adjusting the number of shims between the first base plate 41 and the second base plate 42, the distance between the first base plate 41 and the second base plate 42 can be adjusted, thereby adjusting the position of the manipulator 2 relative to the frame 1 along the reference axis.

[0047] It should be understood that the gasket 5 can also be set to different thicknesses. Depending on the distance between the first bottom plate 41 and the second bottom plate 42, different thicknesses and / or different numbers of gaskets 5 can be selected and arranged in combination between the first bottom plate 41 and the second bottom plate 42. This embodiment and the accompanying drawings are for illustrative purposes only. Optionally, the thickness of the gasket 5 can be 1.5 mm to 5.0 mm.

[0048] Optionally, the robotic workstation further includes a limiting rod 6 fixedly connected to the first base plate 41. Each gasket 5 has a through-hole formed therein. The limiting rod 6 sequentially passes through the through-holes of each gasket 5, and the lower end of the limiting rod 6 is inserted into the second base plate 42. Preferably, the limiting rod 6 tightly fits within the inner wall of the through-hole of each gasket 5 provided on the limiting rod 6. This arrangement ensures that when the adjustable base 4 is adjusted in the first or second direction, the multiple gaskets 5 provided on the limiting rod 6 remain positioned between the first base plate 41 and the second base plate 42 and do not escape from the limiting rod 6.

[0049] In this embodiment, at least the gasket 5 closest to the second base plate 42 among the multiple gaskets 5 is inserted into and tightly fits the second base plate 42, and the inner diameter of each gasket 5 is equal to the outer diameter of the limiting rod 6. In other embodiments, the portion of the lower end of the limiting rod 6 inserted into the second base plate 42 can also tightly fit the second base plate 42, that is, the outer diameter of the limiting rod 6 is equal to the diameter of the hole in the second base plate 42 for inserting the limiting rod 6. This arrangement ensures that the positions of the first base plate 41 and the second base plate 42 can always remain relatively synchronized when the adjustable base 4 is adjusted in the first direction or the second direction.

[0050] Preferably, please refer to Figure 4 and Figure 5 A plurality of limit rods 6 are fixedly connected to the first base plate 41, and the plurality of limit rods 6 are respectively arranged at the four corners of the first base plate 41. With such an arrangement, when the adjustment base 4 moves along the first direction or along the second direction, the relative position between the first base plate 41 and the second base plate 42 is more stable.

[0051] Specifically, in this embodiment, the second base plate 42 is provided with a plurality of U-shaped grooves 9 corresponding one-to-one to the plurality of limiting rods 6. The gasket 5 closest to the second base plate 42 among the plurality of gaskets 5 is inserted into the corresponding U-shaped groove 9 on the second base plate 42. The provision of the U-shaped grooves 9 facilitates the position adjustment of the gasket 5 inserted into each U-shaped groove 9 in a direction closer to or farther away from the opening of the U-shaped groove 9. The plurality of U-shaped grooves 9 and the plurality of gaskets 5 are engaged and matched to form a constraint.

[0052] Alternatively, see Figure 4 One of the second base plate 42 and the third base plate 43 is provided with a first slide groove 421, and the other of the two is provided with a first slider 422. The first slider 422 is slidably located in the first slide groove 421. With this arrangement, by moving the adjustment base 4, the position of the manipulator 2 relative to the frame 1 can be adjusted along the first direction to a set position.

[0053] Optionally, one of the third base plate 43 and the frame 1 is provided with a second slide groove 431, and the other is provided with a second slider 432, which is slidably located in the second slide groove 431. With this arrangement, the position of the manipulator 2 relative to the frame 1 can be adjusted to a set position along the second direction by moving the adjustment base 4.

[0054] Preferably, the first slide groove 421 is opened along the first direction, and the first slider 422 is slidably located in the first slide groove 421 along the first direction relative to the first slide groove 421; and / or, the second slide groove 431 is opened along the second direction, and the second slider 432 is slidably located in the first slide groove 421 along the second direction relative to the second slide groove 431.

[0055] In some embodiments, one of the second base plate 42 and the third base plate 43 may be provided with a first guide rail, and the other of the two may be provided with a first guide block, which may be slidably connected to the first guide rail; and / or, one of the third base plate 43 and the rack 1 may be provided with a second guide rail, and the other of the two may be provided with a second guide block, which may be slidably connected to the second guide rail.

[0056] Optionally, the robotic workstation further includes: a first drive mechanism 7 for driving the second base plate 42 to move relative to the third base plate 43 in a first direction; and a second drive mechanism 8 for driving the third base plate 43 to move relative to the frame 1 in a second direction. With this arrangement, the first drive mechanism 7 drives the first slider 422 to slide within the first slot 421, thereby driving the manipulator 2 to move relative to the frame 1 in the first direction; and / or the second drive mechanism 8 drives the second slider 432 to slide within the second slot 431, thereby driving the manipulator 2 to move relative to the frame 1 in the second direction. This facilitates adjustment of the manipulator 2's position relative to the frame 1, improving the adjustment efficiency of the robotic workstation.

[0057] Alternatively, see Figure 4 The first driving mechanism 7 includes a plurality of first fixed blocks 71 and a plurality of first adjustment rods 72. The first fixed blocks 71 and the first adjustment rods 72 are provided on both sides of the frame 1 along the first direction. The first fixed blocks 71 are fixedly connected to the frame 1. The first adjustment rods 72 are screwed and penetrated into the corresponding first fixed blocks 71. Moreover, the first adjustment rods 72 on both sides of the frame 1 respectively abut against the two side walls of the second base plate 42 arranged parallel to the first direction. Preferably, the first driving mechanism 7 includes two first fixed blocks 71 and two first adjustment rods 72. With such an arrangement, the two first fixed blocks 71 limit the adjustment stroke of the adjustment base 4 along the first direction. The two first adjustment rods 72 respectively abut against the two side walls of the second base plate 42 arranged parallel to the first direction, thereby ensuring that after the adjustment base 4 is adjusted along the first direction, the second base plate 42 is fixed relative to the frame 1 along the first direction.

[0058] Alternatively, see Figure 4 The second driving mechanism 8 includes a plurality of second fixed blocks 81 and a plurality of second adjustment rods 82. The second fixed blocks 81 and the second adjustment rods 82 are provided on both sides of the frame 1 along the second direction. The second fixed blocks 81 are fixedly connected to the frame 1. The second adjustment rods 82 are screwed and penetrated into the corresponding second fixed blocks 81. Moreover, the second adjustment rods 82 on both sides of the frame 1 respectively abut against the two side walls of the third base plate 43 arranged parallel to the second direction. Preferably, the second driving mechanism 8 includes two second fixed blocks 81 and two second adjustment rods 82. With such an arrangement, the two second fixed blocks 81 limit the adjustment stroke of the adjustment base 4 along the second direction. The two second adjustment rods 82 respectively abut against the two side walls of the third base plate 43 arranged parallel to the second direction, ensuring that after the adjustment base 4 is adjusted along the second direction, the third base plate 43 is fixed relative to the frame 1 along the second direction.

[0059] Since the first fixing block 71 is fixedly connected to the frame 1, and the first adjusting rod 72 is respectively abutted against the two side walls of the second base plate 42 arranged parallel to the first direction, by twisting the first adjusting rod 72, the first adjusting rod 72 moves relative to the first fixing block 71 in the first direction, thereby pushing the second base plate 42 to move relative to the frame 1 in the first direction, and adjusting the position of the manipulator 2 relative to the frame 1 in the first direction; similarly, by twisting the second adjusting rod 82, the position of the manipulator 2 relative to the frame 1 in the second direction can be adjusted.

[0060] In some embodiments, the first drive mechanism 7 and the second drive mechanism 8 may further include drive motors to electrically adjust the position of the manipulator 2 relative to the frame 1 along the first direction and / or along the second direction, further improving the adjustment efficiency of the robot workstation.

[0061] The assembly process of the robot workstation provided in this embodiment is as follows:

[0062] First, drive the manipulator 2 to the initial posture; then, with the reference part 31 on the fixture base 3 as a reference, adjust the position of the manipulator 2 relative to the frame 1 by adjusting the base 4, so that the calibration part 21 on the manipulator 2 coincides with the reference axis of the reference part 31 on the fixture base 3; then, drive the manipulator 2 to the initial posture, control the manipulator 2 to drive the calibration part 21 relative to the adjustment base 4 along the first preset path, with the distance between the end of the calibration part 21 and the top surface of the fixture base 3 as a reference, adjust the distance between the first bottom plate 41 and the second bottom plate 42 by adding or removing the gasket 5, so that the calibration part 21 can just be in contact with the top surface of the fixture base 3; then control the manipulator 2 to return to the initial posture, and control the manipulator 2 to drive the calibration part 21 to move along the second preset path, through the calibration Check whether the calibration piece 21 is in contact with the outer circumference of the clamp base 3 and rotates around the axis of the clamp base 3 for one circle, and determine whether the calibration piece 21 coincides with the reference axis of the reference piece 31. If there is a position deviation between the calibration piece 21 and the reference axis of the reference piece 31, adjust the first drive mechanism 7 and the second drive mechanism 8 respectively, adjust the position between the second base plate 42 and the third base plate 43 along the first direction, and adjust the position between the third base plate 43 and the frame 1 along the second direction, and then adjust the position of the manipulator 2 relative to the frame 1, until the calibration piece 21 moves along the third preset path, the calibration piece 21 can be in contact with the outer circumference of the clamp base 3 and rotate around the axis of the clamp base 3 for one circle, at which time the calibration piece 21 can coincide with the reference axis, and the manipulator 2 is located at the set position relative to the frame 1.

[0063] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A robot workstation, comprising a frame (1), a manipulator (2), a fixture base (3) and an adjustment base (4), wherein the manipulator (2) is mounted on the adjustment base (4), the fixture base (3) is fixedly mounted on the frame (1), and the fixture base (3) is used to mount a fixture, characterized in that: The adjustment base (4) is used to adjust the relative position of the manipulator (2) relative to the frame (1), so that the manipulator (2) can be located at a set position relative to the frame (1); A reference part (31) is provided on the clamp base (3), and the reference part (31) has a reference axis, and the reference axis coincides with the axis of the clamp base (3); a calibration part (21) is provided on the manipulator (2), and when the manipulator (2) is located at the set position, the calibration part (21) can coincide with the reference axis.

2. The robot workstation according to claim 1, characterized in that: The reference component (31) is a three-dimensional light locator, which is used to emit X-axis light, Y-axis light and Z-axis light that are perpendicular to each other. The Z-axis light is along the vertical direction and is the reference axis.

3. The robot workstation according to any one of claims 1-2, characterized in that: The adjustment base (4) comprises a first base plate (41), a second base plate (42) and a third base plate (43) which are movably connected in sequence from top to bottom; the manipulator (2) is fixedly connected to the first base plate (41); the position between the first base plate (41) and the second base plate (42) is adjustable along the direction of the reference axis; the position between the second base plate (42) and the third base plate (43) is adjustable along the first direction; the third base plate (43) is movably connected to the frame (1); the position between the third base plate (43) and the frame (1) is adjustable along the second direction; the first direction and the second direction are perpendicular, and the first direction and the second direction are both perpendicular to the reference axis.

4. The robot workstation according to claim 3, characterized in that: The robot workstation comprises a plurality of gaskets (5), and the plurality of gaskets (5) can be arranged in different combinations between the first bottom plate (41) and the second bottom plate (42).

5. The robot workstation according to claim 4, characterized in that: The robot workstation further includes a limiting rod (6), which is fixedly connected to the first base plate (41), each of the gaskets (5) is provided with a through hole, the limiting rod (6) passes through the through hole of each gasket (5) in sequence, and the lower end of the limiting rod (6) is inserted into the second base plate (42).

6. The robot workstation according to claim 3, characterized in that: One of the second bottom plate (42) and the third bottom plate (43) is provided with a first sliding groove (421), and the other of the two is provided with a first sliding block (422), and the first sliding block (422) is slidably located in the first sliding groove (421).

7. The robot workstation according to claim 3, characterized in that: One of the third base plate (43) and the frame (1) is provided with a second sliding groove (431), and the other of the two is provided with a second sliding block (432), and the second sliding block (432) is slidably located in the second sliding groove (431).

8. The robot workstation according to claim 3, characterized in that: The robotic workstation also includes: a first driving mechanism (7) for driving the second bottom plate (42) to move relative to the third bottom plate (43) along the first direction; The second driving mechanism (8) is used for driving the third base plate (43) to move relative to the frame (1) along the second direction.

9. The robot workstation according to claim 8, characterized in that: The first driving mechanism (7) comprises a plurality of first fixing blocks (71) and a plurality of first adjusting rods (72); the first fixing blocks (71) and the first adjusting rods (72) are provided on both sides of the frame (1) along the first direction; the first fixing blocks (71) are fixedly connected to the frame (1); the first adjusting rods (72) are threadedly inserted into the corresponding first fixing blocks (71); and the first adjusting rods (72) on both sides of the frame (1) respectively abut against two side walls of the second base plate (42) arranged parallel to the first direction.

10. The robot workstation according to claim 8, characterized in that: The second driving mechanism (8) comprises a plurality of second fixing blocks (81) and a plurality of second adjusting rods (82); the second fixing blocks (81) and the second adjusting rods (82) are provided on both sides of the frame (1) along the second direction; the second fixing blocks (81) are fixedly connected to the frame (1); the second adjusting rods (82) are screwed and passed through the corresponding second fixing blocks (81); and the second adjusting rods (82) on both sides of the frame (1) respectively abut against two side walls of the third base plate (43) arranged parallel to the second direction.

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