Station switching device and manipulator

Abstract

The utility model discloses a station switching device and a mechanical arm, and relates to the technical field of mechanical arms, the mechanical arm is provided with an end picking assembly, and the station switching device comprises a supporting frame and a switching assembly; the switching assembly is rotatably arranged on the supporting frame, the switching assembly is provided with a plurality of workpiece placing positions, and the workpiece placing positions are arranged in the circumferential direction of the switching assembly at intervals; the switching assembly is used for rotating by a preset angle so as to switch one of the multiple workpiece containing positions to the position suitable for the end picking assembly to pick up the workpieces. According to the technical scheme, the efficiency of production line productivity can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a workstation switching device and a manipulator. Background Art

[0002] When the center station of the existing robot is changed, manual intervention is required, and the position adjustment requires professional technicians, which is time-consuming and sacrifices the production line capacity. Utility Model Content

[0003] The main purpose of the utility model is to provide a workstation switching device and a manipulator, aiming to improve the efficiency of production line capacity.

[0004] To achieve the above-mentioned purpose, the present invention proposes a workstation switching device for a robot arm having an end pickup assembly. The workstation switching device includes:

[0005] support frame; and

[0006] A switching component is rotatably disposed on the support frame, and the switching component is provided with a plurality of workpiece placement positions, which are arranged at intervals along the circumference of the switching component; the switching component is used to rotate a preset angle to switch one of the plurality of workpiece placement positions to a position suitable for the end picking component to pick up the workpiece.

[0007] In one embodiment, the switching assembly includes a support platform and a first mounting plate, the support platform is provided on the support frame, the first mounting plate is rotatably provided on the support platform, and the first mounting plate is provided with a plurality of workpiece placement positions.

[0008] In one embodiment, the plurality of workpiece placement positions include a first workpiece placement position and a second workpiece placement position, and the first workpiece placement position and the second workpiece placement position are arranged at two ends of the first mounting plate.

[0009] In one embodiment, the switching assembly further includes a first driving member, which is disposed on the supporting platform and is drivingly connected to the first mounting plate. The first driving member is used to drive the first mounting plate to rotate to achieve switching between different workpiece placement positions.

[0010] In one embodiment, the switching assembly includes a rotating shaft and a turntable, the rotating shaft is rotatably provided on the support frame, the turntable is connected to the rotating shaft, and the turntable is provided with a plurality of the workpiece placement positions.

[0011] In one embodiment, the switching assembly also includes a second mounting plate, which is arranged on the turntable; the multiple workpiece placement positions include a third workpiece placement position and a fourth workpiece placement position, and the third workpiece placement position and the fourth workpiece placement position are arranged at both ends of the second mounting plate.

[0012] In one embodiment, the switching assembly further includes a second driving member, which is drivingly connected to the rotating shaft, and the second driving member is used to drive the rotating shaft to rotate to achieve switching between different workpiece placement positions.

[0013] In one embodiment, the workstation switching device further includes a positioning member and a positioning matching member, wherein the positioning member is provided on the switching assembly, and the positioning matching member is provided on the workpiece placement position, and the positioning member cooperates with the positioning matching member to install the workpiece placement position on the switching assembly.

[0014] In one embodiment, the positioning member is provided with a positioning portion, and the positioning fitting member is provided with a positioning hole for the positioning portion to be inserted into.

[0015] The utility model also provides a manipulator, comprising:

[0016] A robot body having an end-pickup assembly; and

[0017] In the workstation switching device as described above, the end pickup assembly is used to pick up the workpiece on the workpiece placement position of the workstation switching device.

[0018] In one embodiment, the robot body further includes a frame and a transverse movement device, wherein the transverse movement device is movably disposed on the frame and connected to the end picking assembly; the transverse movement device is used to move to drive the end picking assembly to move to the workpiece placement position.

[0019] In one embodiment, the end pickup assembly is detachably connected to the traverse device.

[0020] In one embodiment, the end picking assembly has a plug-in portion; the manipulator body also includes a quick-change part and a fixed seat provided on the transverse movement device, the fixed seat is provided with a plug-in fitting portion and a first clamping portion, the plug-in fitting portion cooperates with the plug-in portion, and the quick-change part cooperates with the first clamping portion to install the end picking assembly on the transverse movement device.

[0021] In one embodiment, the plug-in portion is provided with a snap-in slot; the fixing seat is provided with a plug-in slot for the plug-in portion to be plugged in and a second snap-in portion cooperating with the snap-in slot, the plug-in slot is the plug-in cooperating portion, the fixing seat is further provided with a through hole for the quick-change part to pass through, and the quick-change part is provided with a snap-in hole; when the plug-in slot is plugged and adapted with the plug-in portion, the quick-change part is passed through the through hole and snap-fitted with the first snap-in portion, so that the snap-in portion is snap-fitted with the snap-in slot.

[0022] In one embodiment, the manipulator body further includes a buffer device provided on one side of the frame, and the buffer device includes a buffer rack for caching the end pickup assembly.

[0023] In one embodiment, the cache device further includes a transfer assembly provided on one side of the cache rack, and the transfer assembly is used to transfer the end picking assembly on the cache rack to the transverse movement device.

[0024] The workstation switching device of the technical solution of the present invention is suitable for a robot arm, and the robot arm has an end picking assembly for picking up workpieces; the workstation switching device includes a support frame and a switching assembly, the switching assembly is rotatably arranged on the support frame, and a plurality of workpiece placement positions are provided on the switching assembly, and the plurality of workpiece placement positions are arranged at intervals along the circumference of the switching assembly. In actual application, the switching assembly is used to rotate a preset angle to switch one of the plurality of workpiece placement positions to a position suitable for the end picking assembly to pick up the workpiece, that is, according to the type of workpiece to be processed, the workpiece placement position corresponding to the workpiece type can be switched to a position suitable for the end picking assembly to pick up the workpiece through the switching assembly. The switching process does not require manual intervention, and the position does not require adjustment by professional technicians. The replacement speed between different workpiece placement positions can be accelerated, the changeover time of different workpiece placement positions can be saved, the production of different workpieces can be accelerated, and the efficiency of the production line capacity can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention.

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 This is a structural diagram of an embodiment of a workstation switching device provided by the present utility model;

[0028] Figure 2 for Figure 1 Exploded diagram;

[0029] Figure 3 A schematic structural diagram of another embodiment of the station switching device provided by the present utility model;

[0030] Figure 4 A schematic structural diagram of an embodiment of a manipulator provided by the present utility model;

[0031] Figure 5 for Figure 4 A schematic structural diagram of an embodiment of a manipulator body;

[0032] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0033] Figure 7 for Figure 5 A schematic diagram of the structure of an embodiment of the cooperation between the mid-end picker, the fixing base and the quick-change member;

[0034] Figure 8 for Figure 7 Exploded view from one angle;

[0035] Figure 9 for Figure 7 Explosion diagram from another angle;

[0036] Figure 10 for Figure 5 A schematic structural diagram of an embodiment of a cache device;

[0037] Figure 11 This is a schematic diagram of the overall structure of an embodiment of the manipulator provided by the present utility model.

[0038] Description of Figure Numbers:

[0039] 100. Manipulator; 1. Workstation switching device; 11. Support frame; 111. First support column; 112. Second support column; 113. Reinforcement member; 12. Switching assembly; 121a. Support platform; 122a. First mounting plate; 123a. First driving member; 121b. Rotating shaft; 122b. Turntable; 123b. Second mounting plate; 124b. Second driving member; 13. Workpiece placement position; 131. First workpiece placement position; 132. Second workpiece placement position; 133. Third workpiece placement position; 134. Fourth workpiece placement position; 14. Positioning member; 141. Positioning portion; 15. Positioning fitting member; 151. Positioning hole; 2. Manipulator body; 21. Frame; 22. Horizontal Translocation device; 221, transverse movable beam; 222, transverse driving assembly; 2221, third driving member; 2222, driving wheel; 23, end picking assembly; 231, end picker; 2311, picking body; 23111, picking part; 2312, plug-in part; 2313, clamping slot; 232, actuator; 24, cache device; 241, cache rack; 2411, cache position; 24111, first cache position; 24112, second cache position; 242, transplanting assembly; 3, quick-change part; 31, clamping hole; 4, fixing seat; 41, fixing seat body; 411, plug-in fitting part; 412, through hole; 42, fixing rod; 421, first clamping part; 422, second clamping part.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0042] When the center station of the existing robot is changed, manual intervention is required, and the position adjustment requires professional technicians, which is time-consuming and sacrifices the production line capacity.

[0043] To this end, the present invention proposes a workstation switching device 1, which aims to improve the efficiency of production line capacity.

[0044] Reference Figure 1 and Figure 2In one embodiment of the present invention, the work station switching device 1 is used for a robot 100, and the robot 100 has an end picking assembly 23. The work station switching device 1 includes a support frame 11 and a switching assembly 12; the switching assembly 12 is rotatably provided on the support frame 11, and the switching assembly 12 is provided with a plurality of workpiece placement positions 13, and the plurality of workpiece placement positions 13 are arranged at intervals along the circumference of the switching assembly 12; the switching assembly 12 is used to rotate a preset angle to switch one of the plurality of workpiece placement positions 13 to a position suitable for the end picking assembly 23 to pick up the workpiece.

[0045] The workstation switching device 1 of this embodiment is suitable for a manipulator 100, particularly a stamping manipulator 100. Of course, the workstation switching device 1 can also be applied to other manipulators 100 or related equipment, without limitation. The manipulator 100 may include, but is not limited to, an end pickup assembly 23. Optionally, the end pickup assembly 23 includes at least one of an end picker 231 and an actuator 232. The end picker 231 is the device that directly performs the picking operation of the manipulator 100. Its structure determines whether the manipulator 100 can accurately pick up workpieces on the production line and place the picked workpieces in the correct processing position, thereby affecting the stamping accuracy of the workpieces. The actuator 232 refers to a device that can generate action or force and is primarily used to control the movement and operation of the manipulator 100. The actuator 232 may include a motor assembly, a cylinder assembly, a hydraulic assembly, etc., which drives the manipulator 100 to perform various actions by receiving control signals. Therefore, the function of the actuator 232 is not only to pick up and place workpieces, but also to control the overall motion of the manipulator 100, such as forward and backward movement, lifting and lowering, and rotation.

[0046] In this embodiment, the support frame 11 is used to mount components such as the switching assembly 12. It is understood that the support frame 11 can be implemented in a variety of ways. In one embodiment, the support frame 11 includes a first support column 111 and a second support column 112 connected to the first support column 111. The first support column 111 extends along a first direction, the second support column 112 extends along a second direction, and the switching assembly 12 is rotatably mounted on the second support column 112. Optionally, the support frame 11 also includes a reinforcement member 113 having a first connecting side and a second connecting side that are perpendicular to each other. The first connecting side is connected to the first support column 111, and the second connecting side is connected to the second support column 112. By providing the reinforcement member 113 between the first support column 111 and the second support column 112, the support frame 11 forms a triangular structure, which can improve the overall structural strength of the support frame 11 and enhance the installation stability of the switching assembly 12. Optionally, the support frame 11 can be located on a side of the manipulator body 2 of the manipulator 100, or it can be located on the frame 21 of the manipulator body 2. Exemplarily, the second support column 112 of the support frame 11 is provided on the frame 21 , so that the workstation switching device 1 can form an integrated structure with the robot body 2 , which is more convenient for the production and use of the robot 100 .

[0047] The switching assembly 12 is provided with a plurality of workpiece placement positions 13. Before the robot 100 is in operation, a plurality of workpiece placement positions 13 can be arranged on the switching assembly 12 according to actual processing needs. The plurality of workpiece placement positions 13 can be arranged at intervals along the circumference of the switching assembly 12 or the length direction of the switching assembly 12. It should be understood that the types of workpieces that can be placed in the plurality of workpiece placement positions 13 are different from each other. For example, when the plurality of workpiece placement positions 13 include a first workpiece placement position 131 and a second workpiece placement position 132, the first workpiece placement position 131 can be used to place a first batch of workpieces, and the second workpiece placement position 132 can be used to place a second batch of workpieces. The size of the first batch of workpieces is larger than the size of the second batch of workpieces, or the size of the first batch of workpieces is smaller than the size of the second batch of workpieces, and there is no limitation here. When the robot 100 is in operation, the switching assembly 12 can be controlled to rotate a preset angle according to the type of workpieces processed on the current production line to switch one of the plurality of workpiece placement positions 13 to a position suitable for the end pickup assembly 23 to pick up the workpiece. To put it simply, if the current workpiece type is the first batch of workpieces, but the second workpiece placement position 132 is in the picking position, it is necessary to control the switching component 12 to rotate the preset angle to cut the second workpiece placement position 132 out of the picking position, and cut the first workpiece placement position 131 into the picking position, thereby realizing the production and processing of the first batch of workpieces, wherein the preset angle can be 45 degrees, 90 degrees, or 180 degrees, which is specifically set according to the relative positions of the first workpiece placement position 131 and the second workpiece placement position 132 on the switching component 12.

[0048] To sum up, this embodiment can automatically switch the workpiece placement position 13 corresponding to the workpiece type to the picking position through the switching component 12 according to the type of workpiece processed by the production line. No manual intervention or adjustment by professional technicians is required, and switching between different workpiece placement positions 13 can be achieved, thereby speeding up the replacement speed between different workpiece placement positions 13, saving the changeover time of different workpiece placement positions 13, quickly realizing the production of different workpieces, and improving the efficiency of the production line capacity.

[0049] The workstation switching device 1 of the technical solution of the present invention is suitable for a manipulator 100, and the manipulator 100 has an end picking component 23 for picking up workpieces; the workstation switching device 1 includes a support frame 11 and a switching component 12, and the switching component 12 is rotatably arranged on the support frame 11, and a plurality of workpiece placement positions 13 are arranged on the switching component 12, and the plurality of workpiece placement positions 13 are arranged at intervals along the circumference of the switching component 12. In actual application, the switching component 12 is used to rotate a preset angle to switch one of the plurality of workpiece placement positions 13 to a position suitable for the end picking component 23 to pick up the workpiece, that is, according to the type of workpiece to be processed, the workpiece placement position 13 corresponding to the workpiece type can be switched to a position suitable for the end picking component 23 to pick up the workpiece through the switching component 12. The switching process does not require manual intervention, and the position does not require professional technicians to adjust. The replacement speed between different workpiece placement positions 13 can be accelerated, the changeover time of different workpiece placement positions 13 can be saved, the production of different workpieces can be quickly realized, and the efficiency of the production line capacity can be improved.

[0050] Reference Figure 1 and Figure 2 In one embodiment of the present invention, the switching component 12 includes a supporting platform 121a and a first mounting plate 122a. The supporting platform 121a is arranged on the supporting frame 11. The first mounting plate 122a is rotatably arranged on the supporting platform 121a. The first mounting plate 122a is provided with a plurality of the workpiece placement positions 13.

[0051] In this embodiment, the switching assembly 12 is implemented using a support platform 121a and a first mounting plate 122a. Specifically, the support platform 121a includes a support rod and a support plate mounted on the support rod. The support rod is mounted on the second support column 112 of the support frame 11. The first mounting plate 122a is rotatably mounted on the support platform 121a and is provided with a plurality of workpiece placement positions 13. In actual application, when the robot 100 is in operation, the support platform 121a can be controlled to rotate by a preset angle based on the type of workpiece being processed on the current production line, thereby driving the first mounting plate 122a to rotate by a preset angle to switch one of the plurality of workpiece placement positions 13 to a position suitable for the end pickup assembly 23 to pick up the workpiece.

[0052] Reference Figure 1 and Figure 2 In one embodiment, the plurality of workpiece placement positions 13 include a first workpiece placement position 131 and a second workpiece placement position 132 , and the first workpiece placement position 131 and the second workpiece placement position 132 are arranged at both ends of the first mounting plate 122 a .

[0053] In this embodiment, the plurality of workpiece placement positions 13 include a first workpiece placement position 131 and a second workpiece placement position 132. The first workpiece placement position 131 can accommodate a first batch of workpieces, and the second workpiece placement position 132 can accommodate a second batch of workpieces. The first batch of workpieces may be larger than the second batch of workpieces, or smaller than the second batch of workpieces. The first mounting plate 122a has a first end and a second end that are disposed opposite each other. The first workpiece placement position 131 is disposed at the first end of the first mounting plate 122a, and the second workpiece placement position 132 is disposed at the second end of the first mounting plate 122a.

[0054] In actual application, if the type of workpiece that needs to be processed on the current production line is the first batch of workpieces, but the second workpiece placement position 132 is in the picking position, it is necessary to control the support platform 121a to rotate a preset angle, drive the first mounting plate 122a to rotate a preset angle to cut the second workpiece placement position 132 out of the picking position, and cut the first workpiece placement position 131 into the picking position, thereby realizing the production of the first batch of workpieces, that is, realizing the production exchange processing of the first batch of workpieces and the second batch of workpieces.

[0055] Reference Figure 1 and Figure 2 In one embodiment, the switching assembly 12 further includes a first driving member 123a, which is disposed on the supporting platform 121a. The first driving member 123a is driven and connected to the first mounting plate 122a. The first driving member 123a is used to drive the first mounting plate 122a to rotate to achieve switching between different workpiece placement positions 13.

[0056] Optionally, the first driving member 123a includes at least one of a first motor, a first pneumatic cylinder, and a first hydraulic cylinder. For ease of understanding, assuming the first driving member 123a is a first pneumatic cylinder, the first cylinder is disposed on the support plate of the support platform 121a and positioned between the support plate and the first mounting plate 122a. The first cylinder's drive shaft is drivably connected to the first mounting plate 122a. When the first cylinder is in operation, its drive shaft rotates, driving the first mounting plate 122a to rotate, thereby switching between the first workpiece placement position 131 and the second workpiece placement position 132 on the first mounting plate 122a, automatically switching between the first batch of workpieces and the second batch of workpieces, thereby enhancing the intelligence of the switching assembly 12.

[0057] Reference Figure 3 In one embodiment of the present invention, the switching component 12 includes a rotating shaft 121b and a turntable 122b. The rotating shaft 121b is rotatably provided on the support frame 11. The turntable 122b is connected to the rotating shaft 121b. The turntable 122b is provided with a plurality of the workpiece placement positions 13.

[0058] In this embodiment, the switching assembly 12 is implemented using a rotating shaft 121b and a rotating disk 122b. Specifically, one end of the rotating shaft 121b is rotatably mounted on the second support column 112 of the support frame 11, and the other end of the rotating shaft 121b is connected to the rotating disk 122b. The rotating disk 122b is arranged with multiple workpiece placement positions 13. In actual application, when the robot 100 is in operation, the rotating shaft 121b can be controlled to rotate a preset angle based on the type of workpiece being processed on the current production line, thereby driving the rotating disk 122b to rotate a preset angle to switch one of the multiple workpiece placement positions 13 to a position suitable for the end pickup assembly 23 to pick up the workpiece.

[0059] Reference Figure 3 In one embodiment of the present invention, the switching assembly 12 further includes a second mounting plate 123b, which is disposed on the turntable 122b; the plurality of workpiece placement positions 13 include a third workpiece placement position 133 and a fourth workpiece placement position 134, which are arranged at both ends of the second mounting plate 123b.

[0060] To achieve a reasonable arrangement of the multiple workpiece placement positions 13, in this embodiment, the switching assembly 12 also includes a second mounting plate 123b, which is located on the side of the turntable 122b away from the rotating shaft 121b. For example, the multiple workpiece placement positions 13 include a third workpiece placement position 133 and a fourth workpiece placement position 134. The third workpiece placement position 133 can accommodate a third batch of workpieces, and the fourth workpiece placement position can accommodate a fourth batch of workpieces, wherein the size of the third batch of workpieces is larger than that of the fourth batch of workpieces, or the size of the third batch of workpieces is larger than that of the fourth batch of workpieces. The second mounting plate 123b has a third end and a fourth end that are arranged opposite each other. The third workpiece placement position 133 is located at the third end of the second mounting plate 123b, and the fourth workpiece placement position 134 is located at the fourth end of the second mounting plate 123b. If the processing type that the current production line needs to process is the third batch of workpieces, but the fourth workpiece placement position 134 is at the picking position, it is necessary to control the rotating shaft 121b to rotate the preset angle, drive the turntable 122b to rotate the preset angle to cut the fourth workpiece placement position 134 out of the picking position, and cut the third workpiece placement position 133 into the picking position, thereby realizing the production of the third batch of workpieces, that is, realizing the production exchange processing of the third batch of workpieces and the fourth batch of workpieces.

[0061] Reference Figure 3 In one embodiment of the present invention, the switching assembly 12 further includes a second driving member 124b, which is drivingly connected to the rotating shaft 121b. The second driving member 124b is used to drive the rotating shaft 121b to rotate to achieve switching between different workpiece placement positions 13.

[0062] Optionally, the second drive member 124b includes at least one of a second motor, a second pneumatic cylinder, or a second hydraulic cylinder. For ease of understanding, assuming the second drive member 124b is a second motor, the second motor's drive shaft is connected to the rotating shaft 121b via a connector. When the second motor is in operation, its drive shaft rotates, driving the rotating shaft 121b, thereby switching between the third and fourth workpiece placement positions 133 and 134 on the turntable 122b, automatically switching between the third and fourth batches of workpieces, and enhancing the intelligence of the switching assembly 12.

[0063] Reference Figures 1 to 3 In one embodiment of the present utility model, the workstation switching device 1 also includes a positioning member 14 and a positioning matching member 15. The positioning member 14 is arranged on the switching component 12, and the positioning matching member 15 is arranged on the workpiece placement position 13. The positioning member 14 cooperates with the positioning matching member 15 to install the workpiece placement position 13 on the switching component 12.

[0064] In this embodiment, the workstation switching device 1 further includes a positioning member 14 and a positioning matching member 15 . When the switching assembly 12 includes a supporting platform 121a and a first mounting plate 122a, the positioning member 14 is installed on the side of the first mounting plate 122a away from the supporting platform 121a, and the positioning fitting member 15 is installed on the side of the workpiece placement position 13 away from the first mounting plate 122a. By plugging and matching the positioning member 14 and the positioning fitting member 15, the workpiece placement position 13 can be quickly installed on the first mounting plate 122a, thereby improving the assembly efficiency of the workpiece placement position 13 and improving the production efficiency of the workpiece; when the switching assembly 12 includes a rotating shaft 121b, a turntable 122b and a second mounting plate 123b, the positioning member 14 is installed on the side of the second mounting plate 123b away from the turntable 122b, and the positioning fitting member 15 is installed on the side of the workpiece placement position 13 by the second mounting plate 123b. By plugging and matching the positioning member 14 and the positioning fitting member 15, the workpiece placement position 13 can be quickly installed on the second mounting plate 123b, thereby improving the assembly efficiency of the workpiece placement position 13 and improving the production efficiency of the workpiece.

[0065] Reference Figures 1 to 3 In one embodiment of the present invention, the positioning member 14 is provided with a positioning portion 141 , and the positioning fitting 15 is provided with a positioning hole 151 for the positioning portion 141 to be inserted into.

[0066] In this embodiment, the positioning member 14 is provided with a protruding positioning portion 141 having a rod-shaped structure, and the positioning fitting 15 is provided with a positioning hole 151. By inserting and fitting the positioning portion 141 into the positioning hole 151, the workpiece placement position 13 is accurately and quickly installed on the switching assembly 12. The shape and size of the positioning hole 151 are specifically determined based on the shape and size of the positioning portion 141 to achieve a suitable installation.

[0067] The present invention also provides a manipulator 100, referring to Figure 4 and Figure 11 The manipulator 100 includes a manipulator body 2 and a workstation switching device 1. The specific structure of the workstation switching device 1 refers to the above embodiment. Since the manipulator 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0068] Among them, the robot body 2 may include but is not limited to an end picking component 23, which is used to pick up the workpiece on the workpiece placement position 13 of the workstation switching device 1. The implementation form of the end picking component 23 can refer to the above embodiment and will not be repeated here.

[0069] It is understandable that there are many forms of implementation of the manipulator body 2. Figure 5 and Figure 6 In one embodiment of the present utility model, the robot body 2 also includes a frame 21 and a transverse movement device 22. The transverse movement device 22 is movably provided on the frame 21 and connected to the end picking assembly 23. The transverse movement device 22 is used to move to drive the end picking assembly 23 to move to the workpiece placement position 13.

[0070] In this embodiment, the frame 21 is used to install components such as a transverse moving device 22, and mainly plays the role of installing and supporting these components. Among them, the transverse moving device 22 is arranged on the frame 21 so as to be movable along the third direction.

[0071] Optionally, the transverse movement device 22 may include but is not limited to a transverse movable beam 221 and a transverse drive assembly 222. The transverse movable beam 221 is extended along the third direction, and the transverse movable beam 221 is movably mounted on the frame 21 along the third direction. The transverse movable beam 221 is driven and connected to the transverse drive assembly 222, and is connected to the end pickup assembly 23. When the manipulator 100 is applied to a production line and the third direction is the running direction of the production line, the transverse drive assembly 222 is operated to drive the transverse movable beam 221 to move on the frame 21 along the third direction. The transverse movable beam 221 drives the end pickup assembly 23 to move along the third direction to the position where the workpiece placement position 13 is located, and then the end pickup assembly 23 picks up the workpiece at the workpiece placement position 13 and accurately places it in the stamping processing position to achieve stamping of the workpiece. Moreover, since the end picking assembly 23 can move in the running direction of the production line under the coordinated action of the transverse movable beam 221 and the transverse driving assembly 222, the end picking assembly 23 can pick up workpieces of different types of workpiece placement positions 13 in the running direction of the production line, thereby realizing continuous processing of different processes of the same batch of workpieces and improving the production efficiency of batch workpieces.

[0072] Optionally, the transverse movement device 22 may include but is not limited to a third driving member 2221 and a plurality of driving wheels 2222, the third driving member 2221 is arranged on the frame 21, and the plurality of driving wheels 2222 are respectively driven and connected to the third driving member 2221; the transverse movable beam 221 has a first side and a second side that are relatively arranged along the fourth direction, a part of the plurality of driving wheels 2222 can be rollably arranged on the first side of the transverse movable beam 221, and another part of the plurality of driving wheels 2222 can be rollably arranged on the second side of the transverse movable beam 221. In actual application, when the third driving member 2221 is in operation, it drives the multiple driving wheels 2222 to roll on the transverse movable beam 221 and generate friction, so that the transverse movable beam 221 moves along the third direction under the action of the friction force. The transverse movable beam 221 then drives the connected end pickup assembly 23 to move along the third direction to the target workpiece placement position 13. The end pickup assembly 23 then picks up the workpiece from the workpiece placement position 13 and accurately places it in the stamping processing position, thereby achieving stamping of the workpiece. Optionally, the third driving member 2221 drives at least one of a motor, a cylinder, or a hydraulic cylinder, which is not limited here.

[0073] Reference Figure 5 In one embodiment of the present invention, the end picking assembly 23 is detachably connected to the transverse movement device 22 .

[0074] It is understandable that when the type of workpieces processed on the production line changes, that is, when the type of workpieces processed changes from the first batch of workpieces to the second batch of workpieces, since the size of the second batch of workpieces may be larger than the size of the first batch of workpieces, if the same end pickup assembly 23 is used to pick up the second batch of workpieces, it is easy for the workpieces to be picked up inaccurately or placed inaccurately. In response to the above situation, this embodiment emphasizes that the end pickup assembly 23 and the transverse movable beam 221 of the transverse device 22 are detachably connected, wherein the detachable manner of the end pickup assembly 23 and the transverse movable beam 221 may include but is not limited to snap-fitting, magnetic fitting, plug-in fitting, etc. For ease of understanding, the following takes the snap-fitting of the end pickup assembly 23 and the transverse movable beam 221 as an example. The transverse movable beam 221 is provided with a first quick-change part 3, and the end pickup assembly 23 is provided with a second quick-change part 3 that snaps into engagement with the first quick-change part 3. When the type of workpiece being processed changes, the second quick-change part 3 can be pulled out from the first quick-change part 3, thereby realizing the separation of the end picking assembly 23 adapted to the first batch of workpieces and the transverse movable beam 221, and the end picking assembly 23 adapted to the second batch of workpieces can be engaged with the first quick-change part 3 of the transverse movable beam 221, thereby installing the end picking assembly 23 adapted to the second batch of workpieces on the transverse movable beam 221, and quickly realizing the replacement of different end picking assemblies 23, meeting the production change processing needs of different batches of workpieces, and improving the production conversion efficiency between different batches of workpieces.

[0075] Reference Figures 7 to 9 In one embodiment of the present utility model, the end picking assembly 23 has a plug-in portion 2312; the manipulator body 2 also includes a quick-change part 3 and a fixed seat 4 provided on the transverse movement device 22, and the fixed seat 4 is provided with a plug-in fitting portion 411 and a first clamping portion 421, the plug-in fitting portion 411 cooperates with the plug-in portion 2312, and the quick-change part 3 cooperates with the first clamping portion 421 to install the end picking assembly 23 on the transverse movement device 22.

[0076] In this embodiment, the end pickup assembly 23 includes a pickup body 2311 and a plug-in portion 2312 connected to the pickup body 2311. The pickup body 2311 is used to pick up a workpiece from the workpiece placement position 13. Optionally, the pickup body 2311 includes four pickup portions 23111. The plug-in portion 2312 has opposing third and fourth sides, two of which are located on the third side of the plug-in portion 2312, and the other two are located on the fourth side of the plug-in portion 2312. By splitting the pickup body 2311 into four pickup portions 23111, the four pickup portions 23111 can be used to improve the accuracy of workpiece picking, thereby improving the accuracy of picking and processing.

[0077] Based on this, the manipulator body 2 also includes a quick-change member 3 and a fixed seat 4. The fixed seat 4 is mounted on the transverse movable beam 221 of the transverse movement device 22. The fixed seat 4 is provided with a plug-in fitting portion 411 and a first clamping portion 421. When assembling the end pickup assembly 23, the plug-in fitting portion 411 can be matched with the plug-in portion 2312, and the quick-change member 3 can be clamped and matched with the first clamping portion 421, so as to quickly install the end pickup assembly 23 on the transverse movable beam 221. When disassembling the end pickup assembly 23, the quick-change member 3 is first pulled out from the first clamping portion 421, and then the plug-in portion 2312 is pulled out from the plug-in fitting portion 411, so as to quickly separate the end pickup assembly 23 from the transverse movable beam 221.

[0078] Reference Figures 7 to 9 In one embodiment, the plug-in portion 2312 is provided with a snap-in slot 2313; the fixing seat 4 is provided with a plug-in slot for the plug-in portion 2312 to be plugged in and a second snap-in portion 422 that cooperates with the snap-in slot 2313, the plug-in slot is the plug-in matching portion 411, and the fixing seat 4 is further provided with a through hole 412 for the quick-change part 3 to pass through, and the quick-change part 3 is provided with a snap-in hole 31; when the plug-in slot is plugged and matched with the plug-in portion 2312, the quick-change part 3 is passed through the through hole 412 and snap-fitted with the first snap-fitting portion 421, so that the snap-fitting portion is snap-fitted with the snap-in slot 2313.

[0079] In this embodiment, the fixing base 4 includes a fixing base body 41 and a fixing rod 42. The fixing base body 41 is provided with a plug-in slot, which is a plug-in mating portion 411, and the fixing rod 42 is disposed within the plug-in slot. The fixing rod 42 has a first engaging portion 421 and a second engaging portion 422. A through hole 412 is provided in the fixing base body 41 at a position corresponding to the first engaging portion 421, and the quick-change member 3 is provided with a snap-in hole 31 that snaps in with the second engaging portion 422. When assembling the end picking assembly 23, the plug-in portion 2312 can be inserted into the plug-in slot so that the clamping slot 2313 is clamped and matched with the second clamping portion 422 to position the end picking assembly 23. At the same time, the quick-change part 3 is passed through the through hole 412 so that the clamping hole 31 is clamped and matched with the first clamping portion 421, thereby fixing the plug-in portion 2312 on the fixing seat 4, that is, fixing the end picking assembly 23 on the transverse movable beam 221; when disassembling the end picking assembly 23, first pull out the clamping hole 31 of the quick-change part 3 from the first clamping portion 421, and then pull out the plug-in portion 2312 from the plug-in slot, quickly realizing the separation of the plug-in portion 2312 from the fixing seat 4, and realizing the separation of the end picking assembly 23 from the transverse movable beam 221.

[0080] Reference Figure 10 In one embodiment of the present invention, the manipulator body 2 further includes a cache device 24 provided on one side of the frame 21 , and the cache device 24 includes a cache rack 241 for caching the end pickup assembly 23 .

[0081] In this embodiment, in order to achieve the caching of different types of end pickup assemblies 23, the manipulator body 2 further includes a cache device 24, which is provided on one side of the frame 21. The cache device 24 may include, but is not limited to, a cache rack 241, the cache rack 241 having a plurality of cache positions 2411 along the fourth direction, the types of end pickup assemblies 23 cached in the plurality of cache positions 2411 being different from each other, for example, the plurality of cache positions 2411 include a first cache position 24111 and a second cache position 24112, the first cache position 24111 being capable of caching an end pickup assembly 23 adapted for picking up a first batch of workpieces, and the second cache position 24112 being capable of caching an end pickup assembly 23 adapted for picking up a second batch of workpieces. In this way, according to the type of workpieces processed on the production line, that is, which batch of workpieces, the end pickup assembly 23 adapted thereto can be selected on the corresponding cache position 2411, thereby achieving accurate picking of the workpieces.

[0082] Reference Figure 10 In one embodiment of the present invention, the cache device 24 also includes a transfer component 242 arranged on one side of the cache rack 241, and the transfer component 242 is used to transfer the end picking component 23 on the cache rack 241 to the transverse movement device 22.

[0083] In this embodiment, the transfer component 242 is arranged on one side of the cache rack 241 and is arranged opposite to the multiple cache positions 2411. The transfer component 242 is used to connect the end picking component 23 of the cache rack 241 and the robotic arm of the manipulator 100. When the robotic arm is in operation, it drives the transfer component 242 to move to transfer the end picking component 23 of the cache rack 241 to the transverse movable beam 221 of the transverse device 22.

[0084] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A station switching device (1) for a robot (100), wherein the robot (100) has an end pick-up assembly (23), characterized in that: The workstation switching device (1) comprises: a support frame (11); and A switching assembly (12) is rotatably disposed on the support frame (11), the switching assembly (12) being provided with a plurality of workpiece placement positions (13), the plurality of workpiece placement positions (13) being arranged at intervals along the circumference of the switching assembly (12); the switching assembly (12) being used to rotate at a preset angle to switch one of the plurality of workpiece placement positions (13) to a position suitable for the end pickup assembly (23) to pick up a workpiece.

2. The workstation switching device (1) according to claim 1, characterized in that: The switching assembly (12) comprises a support platform (121a) and a first mounting plate (122a), wherein the support platform (121a) is provided on the support frame (11), the first mounting plate (122a) is rotatably provided on the support platform (121a), and the first mounting plate (122a) is provided with a plurality of workpiece placement positions (13).

3. The workstation switching device (1) according to claim 2, characterized in that: The plurality of workpiece placement positions (13) include a first workpiece placement position (131) and a second workpiece placement position (132), wherein the first workpiece placement position (131) and the second workpiece placement position (132) are arranged at two ends of the first mounting plate (122a); And / or, the switching assembly (12) further includes a first driving member (123a), the first driving member (123a) being disposed on the supporting platform (121a), the first driving member (123a) being drivingly connected to the first mounting plate (122a), the first driving member (123a) being used to drive the first mounting plate (122a) to rotate, so as to achieve switching between different workpiece placement positions (13).

4. The workstation switching device (1) according to claim 1, characterized in that: The switching assembly (12) comprises a rotating shaft (121b) and a rotating disk (122b), wherein the rotating shaft (121b) is rotatably arranged on the support frame (11), and the rotating disk (122b) is connected to the rotating shaft (121b), and the rotating disk (122b) is provided with a plurality of workpiece placement positions (13).

5. The workstation switching device (1) according to claim 4, characterized in that: The switching assembly (12) further comprises a second mounting plate (123b), and the second mounting plate (123b) is arranged on the turntable (122b); the plurality of workpiece placement positions (13) comprise a third workpiece placement position (133) and a fourth workpiece placement position (134), and the third workpiece placement position (133) and the fourth workpiece placement position (134) are arranged at two ends of the second mounting plate (123b); And / or, the switching assembly (12) further includes a second driving member (124b), the second driving member (124b) is drivingly connected to the rotating shaft (121b), and the second driving member (124b) is used to drive the rotating shaft (121b) to rotate to achieve switching between different workpiece placement positions (13).

6. The workstation switching device (1) according to any one of claims 1 to 5, characterized in that: The workstation switching device (1) further comprises a positioning member (14) and a positioning matching member (15), wherein the positioning member (14) is provided on the switching assembly (12), and the positioning matching member (15) is provided on the workpiece placement position (13), and the positioning member (14) cooperates with the positioning matching member (15) to install the workpiece placement position (13) on the switching assembly (12).

7. The workstation switching device (1) according to claim 6, characterized in that: The positioning piece (14) is provided with a positioning portion (141), and the positioning fitting piece (15) is provided with a positioning hole (151) for the positioning portion (141) to be inserted into.

8. A robot (100), characterized in that: include: A manipulator body (2) having an end pick-up assembly (23); as well as The workstation switching device (1) according to any one of claims 1 to 7, wherein the end pickup assembly (23) is used to pick up a workpiece on the workpiece placement position (13) of the workstation switching device (1).

9. The robot (100) according to claim 8, characterized in that The manipulator body (2) further comprises a frame (21) and a transverse movement device (22), wherein the transverse movement device (22) is movably arranged on the frame (21) and connected to the end pickup assembly (23); the transverse movement device (22) is used to move to drive the end pickup assembly (23) to move to the workpiece placement position (13).

10. The robot (100) according to claim 9, characterized in that The end pickup assembly (23) is detachably connected to the transverse movement device (22).

11. The robot (100) according to claim 10, characterized in that The end-picking assembly (23) has a plug-in portion (2312); the manipulator body (2) further comprises a quick-change component (3) and a fixing seat (4) provided on the transverse movement device (22); the fixing seat (4) is provided with a plug-in fitting portion (411) and a first clamping portion (421); the plug-in fitting portion (411) cooperates with the plug-in portion (2312), and the quick-change component (3) cooperates with the first clamping portion (421) to install the end-picking assembly (23) on the transverse movement device (22).

12. The manipulator (100) according to claim 11, characterized in that The plug-in portion (2312) is provided with a snap-in slot (2313); the fixing seat (4) is provided with a plug-in slot for the plug-in portion (2312) to be plugged in, and a second snap-in portion (422) cooperating with the snap-in slot (2313), the plug-in slot being the plug-in cooperating portion (411); the fixing seat (4) is further provided with a through hole (412) for the quick-change member (3) to pass through, and the quick-change member (3) is provided with a snap-in hole (31); when the plug-in slot is plugged in and matched with the plug-in portion (2312), the quick-change member (3) is passed through the through hole (412) and snap-fitted with the first snap-in portion (421), so that the snap-in portion is snap-fitted with the snap-in slot (2313).

13. The robot (100) according to any one of claims 9 to 12, characterized in that The manipulator body (2) further comprises a buffer device (24) provided on one side of the frame (21), and the buffer device (24) comprises a buffer rack (241) for caching the end pickup assembly (23).

14. The manipulator (100) according to claim 13, characterized in that The cache device (24) further comprises a transfer assembly (242) provided on one side of the cache rack (241), wherein the transfer assembly (242) is used to transfer the end pickup assembly (23) on the cache rack (241) to the transverse movement device (22).

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