Robotic work cell with mechanical arm

Abstract

The utility model provides a kind of mechanical arm robot work single station, including mechanical arm, workstation and vision module, the top of workstation is provided with working panel and mounting bracket;Working panel has middle region, installation side and multiple circumferentially communicating operation sides, mechanical arm is installed in middle region, installation side is fixedly installed with mounting bracket, operation side is open structure without shelter, the bottom end of mounting bracket is installed in installation side, the top end of mounting bracket extends vertically upwards, forms vertical mounting beam, the top end of vertical mounting beam extends towards the opposite side of installation side, forms horizontal mounting beam, vision module is installed in the bottom of horizontal mounting beam.The utility model installs mechanical arm in the working panel with multiple circumferentially communicating operation sides, so that mechanical arm can freely stretch in multiple directions, end effector covers multiple work areas without obstacle, single device can complete multiple processes, improves space utilization, can satisfy the flexible production demand of multiple tasks.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a robotic arm robot workstation. Background Technology

[0002] With the rapid development of modern industry, automated production lines using robotic arms are increasingly widely used in industrial production, such as in electronics manufacturing, automobile manufacturing, processing and packaging, and goods sorting. By utilizing robotic arms on production lines, the level of automation of the system is greatly improved. These automated production lines typically employ one or more robotic arms as the specific execution mechanisms for picking or processing.

[0003] In traditional production lines, robotic arms are confined to a limited space in a single working direction. Due to low space utilization, robotic arms cannot effectively cover multiple workstations, resulting in relatively simple functions. A single robotic arm can only perform a specific process and cannot be used in scenarios that require handling multiple tasks (such as assembly, inspection, material handling, etc.) or dealing with different product models. This makes it difficult to meet the flexible production needs of small batches and multiple varieties in modern manufacturing.

[0004] Patent document CN219132302U discloses a dual-arm collaborative robot, including an operation board. The top surface of the operation board has grooves on both the left and right sides, and each groove has a slider. The top of each slider is fixedly connected to a base plate, and the top of each base plate has a hydraulic press protective cover. The hydraulic press protective cover contains a hydraulic press, and the top of each hydraulic press is fixedly connected to a first connecting rod. The left side surface of each first connecting rod is fixedly connected to a sliding rod, and the end of the sliding rod away from the first connecting rod is slidably connected to a fixed tube. In this utility model, the robotic arm can only work in a limited space in a single working direction, and its function is relatively simple. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a robotic arm robot workstation.

[0006] The robotic arm workstation provided by this utility model includes a robotic arm, a worktable, and a vision module. The top of the worktable is provided with a work panel and a mounting frame, and an electrical box is installed inside the worktable.

[0007] The work panel has a central area, a mounting side, and multiple circumferentially connected operating sides. The robotic arm is mounted in the central area of ​​the work panel. A mounting bracket is fixedly mounted on the mounting side. The operating side has an unobstructed opening structure, and a working area is formed outside the operating side.

[0008] The bottom end of the mounting bracket is installed on the mounting side, and the top end of the mounting bracket extends vertically upward to form a vertical mounting beam. The top end of the vertical mounting beam extends toward the opposite side of the mounting side to form a horizontal mounting beam. The vision module is installed at the bottom of the horizontal mounting beam to cover the work area.

[0009] Preferably, the working panel is rectangular and has one mounting side and three operating sides;

[0010] There are two vertical mounting beams, which are installed vertically at both ends of the working panel mounting side, and there are two horizontal mounting beams, which are installed on top of the two vertical mounting beams respectively.

[0011] The vision module is installed at the end of the transverse mounting beam away from the mounting side, and is used to cover the work area outside the three operating sides.

[0012] Preferably, the vision module includes an image acquisition camera module and a 3D depth camera module;

[0013] Both the image acquisition camera module and the D-depth camera module are mounted on the bottom of at least one horizontal mounting beam, and both are connected to the electrical box through conduits inside the mounting frame.

[0014] Preferably, a position adjustment mechanism is installed at the end of the transverse mounting beam;

[0015] The image acquisition camera module is mounted at the end of a transverse mounting beam via a position adjustment mechanism, and the D-depth camera module is mounted at the end of another transverse mounting beam via a position adjustment mechanism.

[0016] The position adjustment mechanism is used to adjust the installation position of the image acquisition camera module and the D-depth camera module on the horizontal mounting surface.

[0017] Preferably, the mounting side of the work panel is provided with a waterproof connector, a main switch, and a cable through-wall plate;

[0018] The actuator air passage of the robotic arm is connected from inside the worktable to a waterproof connector, and then to an external air pipe through the waterproof connector;

[0019] The electrical box is connected to the main switch from inside the workbench via wires, and the cables of the robotic arm are connected from inside the workbench to a cable wall plate, and then to an external power source via the cable wall plate.

[0020] Preferably, a middle crossbeam is provided between the two vertical mounting beams, and a start button, a pause button and an emergency stop button are arranged side by side on the middle crossbeam;

[0021] The start button, pause button, and emergency stop button are connected to the electrical box via conduit inside the mounting bracket.

[0022] Preferably, the bottom of the workbench is equipped with multiple casters and multiple height-adjustable feet along the circumferential direction.

[0023] Preferably, the central area of ​​the work panel is provided with a fault lifting protection mechanism, which is used to isolate the robotic arm from the work area by raising it.

[0024] Preferably, the electrical box is installed inside the housing of the workbench;

[0025] The electrical box has multiple stepped protrusions along the inner edge of its door panel, and the workbench has a groove at the box opening that matches the stepped protrusions.

[0026] Preferably, the electrical box is equipped with a robotic arm control box, an industrial computer, a cooling fan, a control PCB module, and a network module.

[0027] The robotic arm control box, industrial computer, cooling fan, control PCB module, and internet module are connected by wires, and the robotic arm is connected to the robotic arm control box by wires.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] This invention installs a robotic arm on a work panel with multiple circumferentially connected operating sides. The operating sides are not equipped with any vertical enclosure components, which allows the robotic arm's working space to break through the traditional unidirectional limitation and extend freely in multiple directions. The end effector can cover multiple working areas without obstruction, and a single device can complete multiple processes, improving space utilization and meeting the flexible production needs of multi-tasking. Attached Figure Description

[0030] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0031] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0032] Figure 2 This is a structural schematic diagram of the rear view angle of this utility model;

[0033] Figure 3 This is a structural schematic diagram of one side of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure on the other side of this utility model;

[0035] Figure 5This is a top-view structural diagram of the present invention.

[0036] The diagram shows:

[0037] Image acquisition camera module 1, work panel 8

[0038] 3D Depth Camera Module 2 Universal Wheels 9

[0039] Robotic arm 3, height-adjustable feet 10

[0040] Start button 4 Waterproof connector 11

[0041] Fault lifting protection mechanism 5 Main switch 12

[0042] Pause button 6 Cable through wall panel 13

[0043] Emergency stop button 7 Electrical box 14 Detailed Implementation

[0044] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0045] This utility model discloses a robotic arm workstation. By installing the robotic arm on a work panel with multiple circumferentially connected operating sides, and without any vertical enclosure components on the operating sides, the working space of the robotic arm breaks through the traditional unidirectional limitation and can extend freely in multiple directions. The end effector can cover multiple working areas without obstruction. A single device can complete multiple processes, improve space utilization, and meet the flexible production needs of multi-tasking.

[0046] The robotic arm workstation provided by this utility model includes a robotic arm 3, a worktable, and a vision module. The top of the worktable is provided with a work panel 8 and a mounting frame. An electrical box 14 is installed inside the worktable. The work panel 8 has a central area, a mounting side, and multiple circumferentially connected operating sides. The robotic arm 3 is installed in the central area of ​​the work panel 8. A mounting frame is fixedly installed on the mounting side. The operating sides have an unobstructed opening structure, and a working area is formed outside the operating sides. The bottom end of the mounting frame is installed on the mounting side, and the top end of the mounting frame extends vertically upward to form a vertical mounting beam. The top end of the vertical mounting beam extends towards the opposite side of the mounting side to form a horizontal mounting beam. The vision module is installed at the bottom of the horizontal mounting beam to cover the working area.

[0047] In a preferred example, such as Figures 1-5 As shown, the work panel 8 is rectangular and has one mounting side and three operating sides. There are two vertical mounting beams, each vertically mounted at one end of the mounting side of the work panel 8. There are also two horizontal mounting beams, corresponding to the tops of the two vertical mounting beams. The vision module is mounted on the end of the horizontal mounting beam furthest from the mounting side, covering the work area outside the three operating sides. The robotic arm 3 has the ability to freely switch between three sides (front, left, and right), adapting to various work tasks. The open design of the three sides of the work panel 8 expands the workspace of the robotic arm 3 from a traditional single-sided fan shape to a three-sided cubic area. A single device can serve three workstations simultaneously, reducing floor space and improving production efficiency.

[0048] In more preferred embodiments, the vision module includes an image acquisition camera module 1 and a 3D depth camera module 2; both the image acquisition camera module 1 and the 3D depth camera module 2 are mounted on the bottom of at least one transverse mounting beam, and both are connected to the electrical box 14 via conduits inside the mounting bracket. Further, as... Figure 5 As shown, a position adjustment mechanism is installed at the end of the transverse mounting beam; the image acquisition camera module 1 is mounted at the end of one transverse mounting beam via the position adjustment mechanism, and the 3D depth camera module 2 is mounted at the end of another transverse mounting beam via the position adjustment mechanism; the position adjustment mechanism is used to adjust the mounting positions of the image acquisition camera module 1 and the 3D depth camera module 2 on the horizontal mounting surface. The position adjustment mechanism can be configured as a rod-shaped structure with multiple mounting holes, or as a telescopic rod-shaped structure whose ends can rotate in the horizontal plane, allowing for different mounting positions to meet the installation position requirements of the vision module in different processes. Preferably, the image acquisition camera module 1 is a high-resolution camera module located at the top, responsible for acquiring images and providing software analysis of item placement position, angle, and screening of qualified products. The 3D depth camera module 2 is used for depth measurement and grasping item position, ensuring accurate grasping by the robotic arm 3.

[0049] In a preferred embodiment, the mounting side of the work panel 8 is provided with a waterproof connector 11, a main switch 12, and a cable penetration plate 13. The pneumatic circuit of the actuator of the robotic arm 3 is connected from inside the worktable to the waterproof connector 11, and then to an external air pipe through the waterproof connector 11. The electrical box 14 is connected from inside the worktable to the main switch 12 via wires, and the cable of the robotic arm 3 is connected from inside the worktable to the cable penetration plate 13, and then to an external power source through the cable penetration plate 13. A middle crossbeam is provided between the two vertical mounting beams, and a start button 4, a pause button 6, and an emergency stop button 7 are arranged side by side on the middle crossbeam. The start button 4, pause button 6, and emergency stop button 7 are connected to the electrical box 14 through conduits inside the mounting frame. By integrating various switches, buttons, and connectors on the mounting side, the three operating sides can be kept open and unobstructed to the greatest extent, ensuring the freedom of movement of the robotic arm 3.

[0050] The main switch 12 is a waterproof switch with an IP57 waterproof rating, effectively blocking external moisture and water mist. The start button 4 is used to start the robotic arm 3 and the control system inside the housing when the main switch 12 is turned on. The pause button 6 is used to stop the operation of the robotic arm 3. The waterproof connector 11 is used to connect the air pipes of the gripper and the pneumatic control of the grasping mechanism on the robotic arm 3. The external plastic corrugated pipe is installed to enhance protection. The cable through-wall plate 13 is used to allow the robotic arm's cable to pass through. It has a waterproof function and isolates external moisture and water mist.

[0051] In a preferred embodiment, the bottom of the workbench is equipped with a plurality of casters 9 and a plurality of height-adjustable feet 10 along the circumferential direction. The casters 9 facilitate moving the workbench to the next workstation, and the height-adjustable feet 10 are height-adjustable (preferably in the range of 10-200mm) to accommodate belt conveyors and transmission lines of different heights.

[0052] In a preferred embodiment, a fault lifting protection mechanism 5 is provided in the central area of ​​the work panel 8. When the robotic arm malfunctions and does not respond, the mechanism rises to isolate the robotic arm from the work area, thereby protecting the robotic arm and the items from damage.

[0053] In a preferred embodiment, the electrical box 14 is equipped with a robotic arm control box, an industrial computer, a cooling fan, a control PCB module, and an internet access module. The robotic arm control box, industrial computer, cooling fan, control PCB module, and internet access module are connected by wires. The robotic arm 3 is connected to the robotic arm control box by wires. The electrical box 14 is responsible for the overall operation control of a single station.

[0054] In more preferred embodiments, the door and the body of the electrical box 14 are staggered. Specifically, the inner edge of the door panel is provided with multi-level stepped protrusions, and the opening of the workbench box is machined with a groove that matches the protrusions. Combined with the waterproof function of the waterproof connector 11 and the cable through-wall plate 13, an effective water isolation structure is formed. Combined with the waterproof function of the robotic arm 3 itself, it further ensures that the inside of the equipment is protected from water intrusion.

[0055] The working principle of this utility model is as follows:

[0056] Power on:

[0057] Turn on the main switch 12 and press the start button 4 to start the robotic arm 3 and the control system inside the box;

[0058] Task execution:

[0059] The high-resolution camera module acquires images of the object, analyzes and determines the position and angle of the object, the 3D depth camera module 2 measures the depth dimensions to determine the grasping position, and the robotic arm 3 performs the grasping task accordingly.

[0060] Pause and fault protection:

[0061] Pressing the pause button 6 will stop the robot arm 3 from working. When the robot arm 3 malfunctions, the fault lifting protection mechanism 5 will rise to protect the robot arm 3 and the object.

[0062] Movement and height adjustment:

[0063] Loosen the height adjustment feet 10, and the single station can be easily moved to the next workstation using the casters 9. Adjust the height of the height adjustment feet 10 as needed.

[0064] This invention solves the problem of adapting a single station to multiple work tasks by utilizing the three-sided free switching capability of the robotic arm.

[0065] This invention utilizes a high-resolution camera module and a 3D depth camera module to solve the problem of accurate measurement and grasping of the position, angle, and depth dimensions of objects.

[0066] This invention improves the ease of operation and safety of the equipment by incorporating a start button, a pause button, and a fault lifting protection mechanism.

[0067] This invention solves the problem of moving a single station to different work positions and adapting to different height requirements by using casters and height-adjustable feet.

[0068] This invention solves the problem of preventing moisture intrusion into the equipment by using an interleaved design of the electrical box, waterproof joints, cable through-wall plates, and the waterproof function of the robotic arm itself, thereby improving the reliability and service life of the equipment.

[0069] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0070] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A robotic arm workstation, characterized in that, It includes a robotic arm (3), a workbench and a vision module. The top of the workbench is provided with a work panel (8) and a mounting bracket. An electrical box (14) is installed inside the workbench. The work panel (8) has a central area, an installation side and multiple operating sides connected in the circumferential direction. The robotic arm (3) is installed in the central area of ​​the work panel (8). The installation side is fixedly equipped with a mounting bracket. The operating side has an unobstructed opening structure. The outside of the operating side forms a working area. The bottom end of the mounting bracket is installed on the mounting side, and the top end of the mounting bracket extends vertically upward to form a vertical mounting beam. The top end of the vertical mounting beam extends toward the opposite side of the mounting side to form a horizontal mounting beam. The vision module is installed at the bottom of the horizontal mounting beam to cover the work area.

2. The robotic arm workstation according to claim 1, characterized in that, The work panel (8) is rectangular and has one mounting side and three operating sides; There are two vertical mounting beams, which are installed vertically at both ends of the mounting side of the working panel (8), and there are two horizontal mounting beams, which are installed on the top of the two vertical mounting beams respectively. The vision module is installed at the end of the transverse mounting beam away from the mounting side, and is used to cover the work area outside the three operating sides.

3. The robotic arm workstation according to claim 2, characterized in that, The vision module includes an image acquisition camera module (1) and a 3D depth camera module (2); The image acquisition camera module (1) and the 3D depth camera module (2) are both installed at the bottom of at least one horizontal mounting beam. The image acquisition camera module (1) and the 3D depth camera module (2) are both connected to the electrical box (14) through the conduit inside the mounting frame.

4. The robotic arm workstation according to claim 3, characterized in that, The end of the transverse mounting beam is equipped with a position adjustment mechanism; The image acquisition camera module (1) is installed at the end of a horizontal mounting beam via a position adjustment mechanism, and the 3D depth camera module (2) is installed at the end of another horizontal mounting beam via a position adjustment mechanism. The position adjustment mechanism is used to adjust the installation position of the image acquisition camera module (1) and the 3D depth camera module (2) on the horizontal mounting surface.

5. The robotic arm workstation according to claim 1, characterized in that, The working panel (8) is provided with a waterproof connector (11), a main switch (12) and a cable through-wall plate (13) on the mounting side; The actuator air passage of the robotic arm (3) is connected from inside the worktable to a waterproof connector (11), and is connected to an external air pipe through the waterproof connector (11); The electrical box (14) is connected from inside the workbench to the main switch (12) via a wire, and the cable of the robotic arm (3) is connected from inside the workbench to the cable wall plate (13) and connected to the external power source via the cable wall plate (13).

6. The robotic arm workstation according to claim 2, characterized in that, A middle crossbeam is provided between the two vertical mounting beams, and a start button (4), a pause button (6) and an emergency stop button (7) are arranged side by side on the middle crossbeam; The start button (4), pause button (6) and emergency stop button (7) are connected to the electrical box (14) through conduits inside the mounting bracket.

7. The robotic arm workstation according to claim 1, characterized in that, The bottom of the workbench is equipped with multiple casters (9) and multiple height-adjustable feet (10) along the circumferential direction.

8. The robotic arm workstation according to claim 1, characterized in that, The central area of ​​the work panel (8) is provided with a fault lifting protection mechanism (5) for raising to block the robotic arm (3) from the work area.

9. The robotic arm workstation according to claim 1, characterized in that, The electrical box (14) is installed inside the box of the workbench; The electrical box (14) has multiple stepped protrusions along the inner edge of its door panel, and the workbench has a groove at the box opening that matches the stepped protrusions.

10. The robotic arm workstation according to claim 1, characterized in that, The electrical box (14) is equipped with a robotic arm control box, an industrial computer, a cooling fan, a control PCB module, and an internet access module. The robotic arm control box, industrial computer, cooling fan, control PCB module and Internet module are connected by wires, and the robotic arm (3) is connected to the robotic arm control box by wires.

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