A multi-axis robot, workstation and production line

Abstract

The utility model provides a kind of multi-axis robot, workstation and production line.The utility model provides multi-axis robot including fixed part and the material taking arm connected with the fixed part, it is connected between the fixed part and material taking arm by multiple connecting arms, the connecting arm includes first connecting arm and second connecting arm, the first connecting arm and material taking arm are respectively rotationally connected in the both ends of the second connecting arm, and all are connected in the same side of the second connecting arm, the fixed part and second connecting arm are respectively rotationally connected in the both ends of the first connecting arm.The utility model provides multi-axis robot, workstation and production line have the advantage that structure is compact.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a multi-axis robot, a workstation, and a production line. Background Technology

[0002] With the rapid development of global manufacturing, industrial automation has become a key factor in improving production efficiency, reducing costs, and enhancing product quality. Traditional manual operation methods, when faced with large-scale production, high precision requirements, and complex processes, have gradually revealed numerous problems such as low efficiency, unstable quality, and high labor intensity. Existing handling mechanisms that require simultaneous movement of workpieces along the x and z axes require relatively complex structures and occupy considerable space. For example, patent application number 202510598381.6 discloses a material handling module whose handling mechanism includes a mounting base located at the bottom of a dual-axis drive mechanism and capable of moving along the x and y axes of a loading frame under the drive of the dual-axis drive mechanism. The mounting base is equipped with at least one first rotary motor and a lifting component for driving the first rotary motor to move up and down along the z-axis of the loading frame. The output end of the first rotary motor is equipped with a suction cup assembly capable of rotating along the r-axis of the loading frame under the drive of the first rotary motor. The suction cup assembly consists of a pneumatic quick-change component connected to the output end of the first rotary motor and a suction nozzle component detachably connected to the pneumatic quick-change component. It can be seen that its overall structure is very complex and takes up a lot of space. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a multi-axis robot, workstation, and production line.

[0004] The technical solution used in this utility model is as follows: a multi-axis robot is provided, the multi-axis robot includes a fixed part and a picking arm connected to the fixed part, the fixed part and the picking arm are connected by a plurality of connecting arms, the connecting arm includes a first connecting arm and a second connecting arm, the first connecting arm and the picking arm are respectively rotatably connected to the two ends of the second connecting arm, and are both connected to the same side of the second connecting arm, the fixed part and the second connecting arm are respectively rotatably connected to the two ends of the first connecting arm.

[0005] Preferably, the first connecting arm can rotate at an angle greater than 360° relative to the fixed part, the second connecting arm can rotate at an angle greater than 360° relative to the first connecting arm, and the material-picking arm can rotate at an angle greater than 360° relative to the second connecting arm.

[0006] Preferably, the length of the second connecting arm is greater than the length of the first connecting arm. The first connecting arm includes a first end and a second end. The first end of the first connecting arm is connected to the second connecting arm. In the retracted state, the second connecting arm can swing to overlap with the second end of the first connecting arm, so that the first end, the second end, and the picking arm of the first connecting arm are sequentially arranged on the same side of the second connecting arm facing the fixing part along the length direction of the second connecting arm. The fixing part is connected to the side of the first connecting arm away from the second connecting arm.

[0007] Preferably, the fixing part includes a first end and a second end, the first end of the fixing part being connected to the first connecting arm; in the retracted state, the first connecting arm is rotatable to overlap with the second end of the fixing part.

[0008] Preferably, in the retracted state, the first connecting arm can drive the second connecting arm and the material picking arm to rotate around the fixed part within a range of angles greater than 360°.

[0009] Preferably, the fixing part and the second connecting arm are connected to the same side of the first connecting arm. The second connecting arm includes a first end and a second end. The first end of the second connecting arm is connected to the first connecting arm, and the second end of the second connecting arm is connected to the material picking arm. The fixing part includes a first end and a second end. The first end of the fixing part is connected to the first connecting arm. In the retracted state, the first connecting arm can swing to overlap with the second end of the fixing part, so that the first end of the fixing part, the second end of the fixing part, and the first end of the second connecting arm are sequentially arranged on the same side of the first connecting arm along the length direction of the first connecting arm.

[0010] This utility model also provides a workstation, including a frame, a working mechanism, a multi-axis mounted robot, and a material handling robot, wherein the multi-axis mounted robot, the material handling robot, and the working mechanism are all mounted on the frame.

[0011] The working mechanism includes a vision unit and / or a processing unit;

[0012] The multi-axis robotic arm includes a robotic arm body and an output joint connected to the tail end of the robotic arm body. The output joint has a mounting end. The robotic arm body includes a mounting end and multiple swing arms connected between the mounting end and the output joint. The swing arms can drive the output joint to swing relative to the mounting end, so that the output joint moves closer to or away from the working mechanism. The output joint can rotate relative to the swing arms, so that the mounting end of the output joint faces the working mechanism.

[0013] The working mechanism performs visual inspection and / or processing on the workpiece mounted on the mounting end.

[0014] Preferably, the frame includes a lower frame and an upper frame, which are separated by a partition. The working mechanism is located in the upper frame and is suspended on the upper side of the upper frame. The lower frame is provided with electrical components that are connected to the working mechanism and the multi-axis robot. The swing arms are multiple and are stacked in the upper frame along the vertical direction. The rotation axes of the multiple swing arms extend in the vertical direction. The multiple swing arms are distributed sequentially from the head end to the tail end of the multi-axis robot. The swing arms and output joints of the multi-axis robot are located in the upper frame.

[0015] The main body of the robotic arm also includes a lifting arm connected to the swing arm. The lifting arm moves up and down in the vertical direction, so that the output joint moves closer to or further away from the working mechanism in the vertical direction. When the lifting arm is retracted, it can be embedded in the lower frame. When the lifting arm is extended, it can be inserted into the upper frame.

[0016] Preferably, the plurality of swing arms includes a first swing arm, a second swing arm, and a third swing arm, which are stacked along the vertical direction. The lifting arm is connected to the first swing arm. The second swing arm swings relative to the first swing arm, and the third swing arm swings relative to the second swing arm. The rotation axes of the first, second, and third swing arms extend along the vertical direction. The first, second, and third swing arms are distributed sequentially from the head end to the tail end of the multi-axis mounted robot. The output joint is located at the tail end of the third swing arm.

[0017] Preferably, the multi-axis loading robot includes a first multi-axis loading robot and a second multi-axis loading robot. The picking robot transfers the workpiece to be processed to the first multi-axis loading robot or the second multi-axis loading robot, and the picking robot also takes away the processed workpiece from the first multi-axis loading robot or the second multi-axis loading robot.

[0018] Preferably, the multi-axis loading robot includes a first multi-axis loading robot and a second multi-axis loading robot. The workstation also includes a transfer station adjacent to the first and second multi-axis loading robots. The material handling robot transfers the workpiece to be processed to the transfer station or removes the processed workpiece from the transfer station. The first and / or second multi-axis loading robots remove the workpiece to be processed and / or place the processed workpiece at the transfer station.

[0019] Preferably, the picking robot transfers the workpiece to be processed to the first multi-axis mounting robot, then the working mechanism processes a first part of the workpiece's surface, the first multi-axis mounting robot transfers the workpiece with the first part of its surface processed to the second multi-axis robot, then the working mechanism processes a second part of the workpiece's surface, the second multi-axis robot places the workpiece with the second part of its surface processed at the transfer station, and the picking robot removes the processed workpiece from the transfer station.

[0020] Preferably, the swing arm connected to the output joint includes a main body, a first protrusion, and a second protrusion. The first and second protrusions extend in the same direction relative to the main body and are spaced apart, forming a joint mounting position between the main body, the first protrusion, and the second protrusion. The output joint is mounted in the joint mounting position. A flip motor is installed in the swing arm connected to the output joint. A transmission space is provided on one side of the swing arm connected to the output joint. A transmission mechanism is installed in the transmission space. The transmission mechanism is connected to the flip motor and the output joint respectively, and is used to drive the output joint to rotate relative to the main body of the robotic arm around a first rotating axis. The output joint is also provided with an output part that rotates around a second rotating axis. The first and second rotating axes are not parallel.

[0021] The swing arm connected to the output joint is provided with a receiving cavity and a wiring space. The wiring space is located on the other side of the swing arm. The receiving cavity and the joint mounting position are located between the wiring space and the transmission space. The receiving cavity is provided with a driver and the flip motor. The cable enters the wiring space from the receiving cavity and then connects to the output joint.

[0022] The main body of the robotic arm has a main cover that can close the opening of the receiving cavity. The openings of the wiring space and the transmission space are both outward. The opening directions of the receiving cavity, the wiring space and the transmission space are different. The main body of the robotic arm has a first side cover that closes the opening of the wiring space and a second side cover that closes the opening of the transmission space.

[0023] The output joint is connected to the first protrusion and the second protrusion on both sides, the wiring space extends from the main body to the first protrusion, and the transmission space extends from the main body to the second protrusion.

[0024] This utility model also provides a production line, including the aforementioned workstations and workpiece conveyor belt, wherein the plurality of workstations are arranged along the conveying direction of the workpiece conveyor belt.

[0025] The workpiece conveyor belt includes a loading conveyor belt and a unloading conveyor belt that are parallel to each other. Both the loading conveyor belt and the unloading conveyor belt are located on the side of the workstation with the picking robot. The picking robot picks up workpieces from the loading conveyor belt and supplies workpieces to the multi-axis robot, and takes out the workpieces processed by the working mechanism and places them on the unloading conveyor belt.

[0026] The multi-axis robot, workstation, and production line provided by this utility model have a compact structure. Attached Figure Description

[0027] The above and other objects, features, and advantages of this invention will become clearer through a more detailed description of the preferred embodiments shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally drawn to scale with actual dimensions; the focus is on illustrating the gist of this invention.

[0028] Figure 1-3 , Figure 8-9 This is a structural diagram of the workstation below for the multi-axis robot provided by this utility model.

[0029] Figure 4-5 A schematic diagram of the workstation structure for a single multi-axis robot provided by this utility model.

[0030] Figure 6 This is a schematic diagram of a workstation structure where a multi-axis robot is positioned above, and a material handling robot and a multi-axis robot transfer materials.

[0031] Figure 7 This is a schematic diagram of the structure of the workstation above the multi-axis robot provided by this utility model.

[0032] Figure 10-11 The diagram shows the structure of the workstation in two embodiments of this utility model.

[0033] Figure 12-14 This is a structural schematic diagram of one embodiment of the multi-axis robot (material handling robot) provided by this utility model.

[0034] Figure 15 This is a structural schematic diagram of one embodiment of the multi-axis robot (material handling robot) provided by this utility model.

[0035] Figure 16 A schematic diagram of the cleaning unit structure provided by this utility model.

[0036] Figure 17 A schematic diagram of the multi-axis mounted robot structure provided by this utility model.

[0037] Figure 18A comparative schematic diagram of the multi-axis robot provided by this utility model and existing multi-axis robots.

[0038] Figure 19-22 A schematic diagram of the connection structure between the robotic arm and the output joint of the multi-axis mounted robot provided by this utility model.

[0039] Figure 23 This is a schematic diagram of the structure for workpiece transfer between two multi-axis mounted robots provided by this utility model.

[0040] Figure 24 This is a schematic diagram of the structure of one type of workstation provided by this utility model.

[0041] Figure 25-27 Schematic diagrams of different production line structures provided for this utility model. Detailed Implementation

[0042] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand this utility model and implement it. However, the embodiments are not intended to limit this utility model. In this embodiment, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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 utility model 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 limiting this utility model.

[0043] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to and integrated with the other element, or there may be an intervening element present. The terms "mounted," "one end," "the other end," and similar expressions used in this invention are for illustrative purposes only.

[0044] refer to Figure 12-15 This invention provides a multi-axis robot, which includes a fixed part 201, a connecting arm, and a picking arm 204 connected in sequence. The picking arm 204 has a picking end 2041 and is mainly used to carry workpieces. The fixed part 201 and the picking arm 204 are connected by multiple connecting arms, including a first connecting arm 202 connected to the fixed part 201 and a second connecting arm 203 connected to the picking arm 204.

[0045] The first connecting arm 202 and the picking arm 204 are rotatably connected to both ends of the second connecting arm 203, and are both connected to the same side of the second connecting arm 203. The fixing part 201 and the second connecting arm 203 are rotatably connected to both ends of the first connecting arm 202. The multi-axis robot provided by this utility model has a compact structure, occupies little space, and has a large effective working space for flexible operation. The compact structure can realize the transmission of workpieces along the x-axis and z-axis. The multi-axis robot provided by this utility model has a long range of motion when unfolded and does not occupy space when retracted. It can be used as a picking robot for loading and unloading workpieces, and can save the volume of the workstation.

[0046] refer to Figure 4-5 , Figure 12-15 In a preferred embodiment, the fixing part 201, the first connecting arm 202, the second connecting arm 203 and the picking arm 204 are connected in sequence, and the fixing part 201 and the second connecting arm 203 are respectively rotatably connected to the two ends of the first connecting arm 202. The first connecting arm 202 includes a first end 202a and a second end 202b. The first end 202a of the first connecting arm 202 is connected to the second connecting arm 203, and the second end 202b of the first connecting arm 202 is connected to the fixing part 201. The second connecting arm 203 includes a first end 203a and a second end 203b. The first end 203a of the second connecting arm 203 is connected to the picking arm 204, and the second end 203b of the second connecting arm 203 is connected to the first connecting arm 202. The picking arm 204 includes a picking end 204a and a connecting end 204b. The connecting end 204b is connected to the second connecting arm 203. The picking end 204a is the end away from the connecting end 204b. The fixing part 201 includes a first end 201a and a second end 201b. The first end 201a of the fixing part 201 is connected to the first connecting arm 202, and the second end 201b of the fixing part 201 is the end away from the first end 201a.

[0047] refer to Figure 14 The first connecting arm 202 can rotate more than 360° relative to the fixed part 201, resulting in a large range of space for the second connecting arm 203 and the picking arm 204 to move as a whole. The second connecting arm 203 can rotate more than 360° relative to the first connecting arm 202, resulting in a large range of space for the picking arm 204 to move. The picking arm 204 can rotate more than 360° relative to the second connecting arm 203. The axial rotation axes of the first connecting arm 202, the second connecting arm 203, and the picking arm 204 are parallel.

[0048] refer to Figure 12-14In a preferred embodiment, the fixing part 201 is connected to the side of the first connecting arm 202 away from the second connecting arm 203. The first connecting arm 202 and the picking arm 204 are connected to the same side of the second connecting arm 203, making the swing arm more compact. At the same time, the length of the second connecting arm 203 is greater than the length of the first connecting arm 202, so that the rotation of the second connecting arm 203 in any state is not hindered by the picking arm 204. There is a rotational space between the first end 203a and the second end 203b of the second connecting arm 203, through which the second end 202b of the first connecting arm 202 can pass. When the second connecting arm 203 rotates, the second end 202b of the first connecting arm 202 can pass through this rotational space. The first connecting arm 202 and the picking arm 204 never come into contact, and the rotation of the second connecting arm 203 is not hindered. This allows the rotation angle range of the second connecting arm 203 relative to the first connecting arm 202 in any state to be greater than 360°. This results in the picking robot 200 having a compact structure, occupying little space, and having a large effective working space for flexible operation.

[0049] refer to Figure 13 When the material handling robot 200 rotates to its retracted state, the second connecting arm 203 can swing to overlap with the second end 202b of the first connecting arm 202. The first connecting arm 202 substantially overlaps one side of the second connecting arm 203 in the length direction, so that the first end 202a, the second end 202b of the first connecting arm 202 and the material handling arm 204 are sequentially arranged on the same side of the second connecting arm 203 facing the fixing part 201 along the length direction of the second connecting arm 203. The first connecting arm 202 can rotate to overlap with the second end 201b of the fixing part 201, and the fixing part 201 substantially overlaps one side of the first connecting arm 202 in the length direction. When the material handling robot 200 is not working, it can retract into a more compact structure, without occupying much space in the workstation.

[0050] refer to Figure 13 In the retracted state, where the first connecting arm 202 substantially overlaps one side of the second connecting arm 203 along its length, the first connecting arm 202 can rotate more than 360° around the fixed part 201. This allows the second connecting arm 203 and the picking arm 204 to rotate more than 360° around the fixed part 201. When a large effective space is not required, the picking robot 200 can be flexibly adjusted to a retracted state. In this state, the first connecting arm 202 substantially overlaps one side of the second connecting arm 203 along its length, and movement is achieved by rotating the first connecting arm 202, saving space. The picking robot 200 of this invention can flexibly adjust its effective working space and occupied space.

[0051] refer to Figure 15In a preferred embodiment, the fixing part 201 and the second connecting arm 203 are connected to the same side of the first connecting arm 202. In the retracted state, the first connecting arm 202 can swing to overlap with the second end of the fixing part 201, so that the first end and the second end of the fixing part 201 and the first end of the second connecting arm 203 are sequentially arranged on the same side of the first connecting arm 202 along the length direction of the first connecting arm 202. When the picking robot 200 is not working, it can be retracted into a more compact structure, without occupying much space in the workstation. There is a second rotation space between the first end 201a of the fixing part 201 and the first end 203a of the second connecting arm 203, through which the second end 201b of the fixing part 201 can pass. When the first connecting arm 202 rotates, the second end 201b of the fixing part 201 can pass through the second rotation space, so that the rotation angle range of the first connecting arm 202 in any state can be greater than 360°. There is a third transmission space between the connecting end 204b of the picking arm 204 and the second end 202b of the first connecting arm 202, through which the picking end 204a can pass. In the retracted state, the picking end 204a can retract into the third transmission space.

[0052] Please refer to Figure 1-11 This utility model provides a workstation.

[0053] refer to Figure 1 As shown, the workstation provided by this utility model includes a frame 100, a working mechanism 300, and a multi-axis mounted robot 400. The multi-axis mounted robot 400 and the working mechanism 300 are mounted on the frame 100 and integrated into a workstation.

[0054] refer to Figure 2 The working mechanism 300 includes a vision unit 301 and / or a processing unit 302. The working mechanism 300 can perform visual inspection and / or processing on the workpiece mounted on the mounting end of the multi-axis mounting robot 400.

[0055] The working mechanism 300 may include only the vision unit 301 or the processing unit 302, or it may have both the vision unit 301 and the processing unit 302. The vision inspection unit is mainly used for visual inspection of workpieces, such as inspecting the condition of the workpiece surface, and / or visually positioning the workpiece.

[0056] The visual inspection performed by the vision unit 301 can be to inspect the surface of the workpiece, to perform visual positioning of the workpiece, or both.

[0057] The processing unit 302 can be a cleaning unit, which includes one or more of a wiping mechanism, a blowing mechanism, a dry ice mechanism, and a plasma mechanism. The cleaning unit can clean the workpiece.

[0058] refer to Figure 16As shown, the cleaning unit may include a sponge 3021, an eraser 3022, a brush 3023, a polishing wheel 3024, and a rotating module 3025. The rotating module 3025 can be driven to rotate, which can make the sponge 3021, eraser 3022, brush 3023, and polishing wheel 3024 rotate, so as to flexibly replace the cleaning head.

[0059] The processing unit 302 can perform one or more of the following: wiping, blowing, dry ice treatment, and plasma treatment. Dry ice treatment utilizes compressed air to propel high-speed jets of extremely low-temperature dry ice particles onto the workpiece surface. The kinetic energy of the high-speed impact breaks down the contaminant layer, the thermal shock caused by the ultra-low temperature embrittles and cracks the contaminant layer, and the instantaneous sublimation of the dry ice generates a massive volume expansion that peels off the contaminant layer, achieving a highly efficient, wear-free, and residue-free cleaning effect. Plasma treatment reconstructs surface properties at the atomic / molecular level, achieving a transformation from "inert" to "active," with effects far exceeding traditional solvent cleaning or polishing.

[0060] The "processed workpiece" referred to in this utility model refers to the workpiece after being processed by the working mechanism 300. It can be a workpiece processed only by the vision inspection unit, a workpiece processed only by the processing unit 302, or a workpiece processed by both the vision inspection unit and the processing unit 302.

[0061] The processing of the workpiece by the working mechanism referred to in this utility model can be the processing by the vision inspection unit alone, the processing by the processing unit 302 alone, or the processing by both the vision inspection unit and the processing unit 302.

[0062] refer to Figure 17 and Figure 1-11 The multi-axis robot 400 includes a robotic arm body and an output joint 42, which is connected to the tail end of the robotic arm body.

[0063] refer to Figure 3 , Figure 6 The output joint 42 has a mounting end 4211, which is the end that mounts the workpiece and can be used to mount the workpiece.

[0064] refer to Figure 3 The main body of the robotic arm includes a mounting end and a swing arm 4a connected between the mounting end and the output joint 42. The swing arm 4a can drive the output joint 42 to swing relative to the mounting end, so that the mounting end 4211 of the output joint 42 moves closer to or further away from the working mechanism 300.

[0065] This utility model integrates the working mechanism 300 and the multi-axis robot 400 into a single workstation via a frame, reducing the involvement of humans in the production process. It enables automated collaborative work between the multi-axis robot 400 and the working mechanism 300, completely replacing manual operation and reducing labor costs.

[0066] This utility model's workstation uses a multi-axis loading robot 400 to load workpieces. The swing arm of the multi-axis loading robot 400 moves the loaded workpiece, enabling direct or indirect loading and unloading. Furthermore, the swinging of the multi-axis loading robot 400's arm allows the loading end to approach the working mechanism 300, aligning the workpiece loaded at the loading end with the working mechanism 300, which then processes the workpiece. The multi-axis loading robot 400 and the working mechanism 300 can work collaboratively, greatly improving work efficiency.

[0067] refer to Figure 1-6 , Figure 8-9 , Figure 10-11 ,and Figure 12-15 In a preferred embodiment, the workstation includes a material handling robot 200, which can be used for loading and unloading materials. The material handling robot 200 is a multi-axis robot as referred to in this utility model, including a fixed part 201, a connecting arm, and a material handling arm 204 connected in sequence. The material handling arm 204 has a material handling end 2041, which is mainly used to carry workpieces.

[0068] The fixing part 201 is used to fix the picking robot 200, which can fix the picking robot 200 on the frame 100.

[0069] The connecting arm swings relative to the fixed part 201, thereby driving the material handling arm 204 to swing. (Reference) Figure 5 The swinging of the connecting arm allows the picking arm 204 to move in both the x and z directions of the workstation. In this embodiment, the x-direction refers to the direction in which the workpiece can be transferred within the frame 100, for example, the direction in which the workpiece is transferred from outside the frame 100 to inside the frame 100; or, for example, the direction in which the workpiece is transferred within the frame 100. (Reference) Figure 1-6 The material handling robot 200 can be a three-axis robot. (Reference) Figure 11 The material handling robot 200 can also be a four-axis robot.

[0070] refer to Figure 4-5 , Figure 12-15 In a preferred embodiment, the material handling robot 200 includes a first connecting arm 202 connected to the fixed part 201 and a second connecting arm 203 connected to the material handling arm 204. The first connecting arm 202 connected to the fixed part 201 moves relative to the fixed part 201 in the x and z directions, thereby enabling the material handling arm 204 to move in the x and z directions of the workstation.

[0071] This invention allows for direct loading and unloading of workpieces via a picking robot 200 and a multi-axis mounting robot 400. For example, the picking end of the picking robot 200 can rotate to transfer workpieces to the multi-axis mounting robot 400. The picking robot 200 can also move workpieces outside the frame 100 to a transfer position inside the frame 100 near the multi-axis mounting robot 400, allowing the multi-axis mounting robot 400 to directly load or unload workpieces from the transfer position. By coordinating the picking robot 200 and the multi-axis mounting robot 400, this invention saves time on loading and unloading for the multi-axis mounting robot 400, improving workpiece processing efficiency. Furthermore, the picking robot 200 can transfer workpieces from outside the workstation to inside without interrupting processing time, saving space required for loading and unloading mechanisms within the workstation.

[0072] refer to Figure 1 and Figure 5 In a preferred embodiment, the connecting arm drives the picking arm 204 to move along the x and z directions of the workstation. When the picking robot 200 and the multi-axis mounting robot 400 transfer workpieces, the picking robot 200 rotates until its picking end 2041 is opposite to the mounting end 4211 of the multi-axis mounting robot 400, so that the picking robot 200 and the multi-axis mounting robot 400 can transfer workpieces.

[0073] refer to Figure 3 and Figure 17 In a preferred embodiment, the main body of the robotic arm includes a lifting arm 10, which moves up and down in the vertical direction, causing the output joint 42 to move closer to or further away from the working mechanism 300 in the vertical direction.

[0074] refer to Figure 3 and Figure 17 The robotic arm body has multiple swing arms 4a, which are stacked vertically within the upper frame 100. The rotation axis of each swing arm 4a extends vertically along axis c. The swing arms 4a are distributed sequentially from the front end (the end where the robot is mounted) to the rear end (the mounting end) of the multi-axis mounted robot 400, with their length direction being horizontal. This invention's multi-axis mounted robot 400 occupies relatively little space in terms of height; the height from the bottom to the top of the swing arm is less than 500mm, and can even be less than 300mm, achieving a larger working space while occupying less space.

[0075] refer to Figure 3 , Figure 6 ,and Figure 17At least one swing arm 4a extends horizontally along its length, and the swing arm can drive the output joint 42 to move horizontally toward or away from the working mechanism 300. When it is necessary to receive or transfer materials, the swing arm can drive the output joint 42 to move horizontally away from the working mechanism 300. When the working mechanism 300 needs to process the workpiece, the swing arm can drive the output joint 42 to move horizontally toward the working mechanism 300, with the mounting end opposite to the working mechanism 300.

[0076] In this embodiment, the swing arm 4a extends horizontally and drives the output joint 42 to move horizontally, so that the range of motion of the swing arm is horizontal, which reduces the space occupied by the swing arm in the vertical direction. Since the swing arm does not occupy vertical space, the working mechanism 300 and the multi-axis mounted robot 400 can be vertically spaced on the frame 100. That is, from the height of the workstation, one of the working mechanism 300 and the multi-axis mounted robot 400 is above and the other is below. Specifically, the working mechanism 300 can be above the multi-axis mounted robot 400 (including directly above and to the side), or the multi-axis mounted robot 400 can be above the working mechanism 300 (including directly above and to the side). In this case, the working mechanism 300 and the multi-axis mounted robot 400 are vertically spaced on the frame 100 to work together, and the swing arm can drive the mounting end to move horizontally, making the layout of the workstation more reasonable and compact.

[0077] refer to Figure 6 When the swing arm drives the mounting end 4211 to move horizontally away from the working mechanism 300, the workpiece can be mounted by loading and unloading.

[0078] refer to Figure 3 The swing arm drives the mounting end 4211 to move horizontally closer to the working mechanism 300. When working with the working mechanism 300, the working mechanism 300 processes the workpiece mounted on the mounting end. The space occupied by the swing arm movement of the multi-axis mounting robot 400 and the space occupied by the working mechanism 300 can be reasonably arranged, resulting in higher work efficiency and a smaller workstation footprint.

[0079] refer to Figure 17In a preferred embodiment, the swing arm includes a first swing arm 20, a second swing arm 30, a robotic arm, and a robotic arm 40. The first swing arm 20, the second swing arm 30, and the robotic arm 40 are stacked vertically. The lifting arm 10 is connected to the first swing arm 20. The second swing arm 30 swings relative to the first swing arm 20, and the robotic arm 40 swings relative to the second swing arm 30. The rotation axes of the first swing arm 20, the second swing arm 30, and the robotic arm 40 extend vertically. The first swing arm 20, the second swing arm 30, and the robotic arm 40 are distributed sequentially from the head end to the tail end of the robotic arm. The output joint 42 is located at the tail end of the robotic arm 40. This allows the multi-axis robotic arm to swing at multiple angles, resulting in a more compact structure and more flexible use.

[0080] refer to Figure 17 In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20. The first swing arm 20 is connected to the lifting arm 10 through a first swing arm joint. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through a second swing arm joint. The head end of the robotic arm 40 is connected to the tail end of the second swing arm 30 through a robotic arm joint. The pivots of the first swing arm 20, the second swing arm 30, and the robotic arm 40 are located in the first swing arm joint, the second swing arm joint, and the robotic arm joint, respectively. The pivots of the first swing arm 20, the second swing arm 30, and the robotic arm 40 are hollow structures. Cables pass sequentially through the pivots of the lifting arm 10, the first swing arm 20, the second swing arm 30, and the robotic arm 30, extending into the robotic arm 40.

[0081] refer to Figure 18 Compared to traditional four-axis systems, it offers a larger workspace and occupies less space; compared to traditional six-axis systems, the workspace is comparable, but the space occupied is even smaller. This significantly reduces the size of the workstation, making the overall workstation more compact. The workspace and space occupied by a traditional four-axis system are as follows... Figure 18 As shown in Figure A, the workspace and footprint of a traditional six-axis system are as follows: Figure 18 As shown in Figure B, the working space and occupied space of the robot arm of this utility model are as follows. Figure 18 As shown in C.

[0082] refer to Figure 17 and Figure 20 ,and Figure 22 In the preferred embodiment, the axis c of the swing arm is not parallel to the axis of the output joint, and the length direction of the swing arm connected to the output joint is perpendicular to the axis of the output joint. The axis of the output joint is also the first axis a, so that the output joint can provide rotation in other directions to flexibly adjust the position and direction of the mounting end 4211.

[0083] refer to Figure 19-22In a preferred embodiment, the swing arm connected to the output joint is called the robotic arm 40. The output end of the output joint 42 is provided with an output portion 421. The output portion 421 itself can be a mounting end, or the output portion 421 can be connected to a mounting end 4211. The robotic arm 40 includes a main body 4001, a first protrusion 4002, and a second protrusion 4003. The first protrusion 4002 and the second protrusion 4003 extend in the same direction relative to the main body 4001. The first protrusion 4002 and the second protrusion 4003 are spaced apart, such that the main body 4001, the first protrusion 4002, and the second protrusion 4003 are spaced apart. A joint mounting position 4004 is formed between 003. The output joint 42 is connected to the first protrusion 4002 and the second protrusion 4003 on both sides, respectively. The output joint 42 is installed in the joint mounting position 4004. A flip motor 404 is installed inside the robotic arm 40. A transmission space 402 is provided on one side of the robotic arm 40. A transmission mechanism 41a is installed in the transmission space 402. The transmission mechanism 41a is connected to the output joint 42 and the flip motor 404, respectively, and is used to drive the output joint 42 to rotate relative to the robotic arm 40 around the first rotating axis a. An output part 421 that rotates around the second rotating axis b is provided on the output joint 42. The first rotating axis and the second rotating axis are not parallel. Furthermore, the first rotating axis a and the second rotating axis b are perpendicular.

[0084] In this invention, when the output joint rotates relative to the main body of the robotic arm 40 around the first pivot a, the orientation of the mounting end can be changed, allowing the mounting end to face the working mechanism 300 and cooperate with the working mechanism 300 to process the workpiece. When there are two mounting robots 400, their mounting ends can rotate to face each other, realizing the transfer of workpieces between the two mounting robots 400. The output part 421 can rotate around the second pivot b, realizing the rotation of the workpiece at the mounting end, thus better realizing the processing of the workpiece.

[0085] The workstation provided by this utility model enables a compact multi-axis robot to rotate in multiple directions, making its movement more flexible and convenient, while occupying less space.

[0086] The main body 4001, the first protrusion 4002, and the second protrusion 4003 form a recessed joint mounting position 4004 for mounting the output joint, making the structure more compact. At the same time, the transmission mechanism 41a is set on one side of the robotic arm 40, so that the transmission space can provide rotational power for the output joint mounted in the joint mounting position 4, while making the structure more compact.

[0087] refer to Figure 19-22In a preferred embodiment, the robotic arm 40 has a transmission space 402 on one side and a wiring space 401 on the other side. A cable 50 is installed in the wiring space 401. The robotic arm 40 also has a receiving cavity 403 located between the wiring space 401 and the transmission space 402. A drive and flip motor 404 is installed in the receiving cavity 403. The drive includes a first drive and a second drive. The first drive is connected to the flip motor 404, and the second drive is connected to the transmission motor. The receiving cavity 403 communicates with the transmission space 402. The input end of the transmission mechanism located in the transmission space 402 is connected to the flip motor 404 located in the receiving cavity 403, and the output end is connected to the output joint 42. The receiving cavity 403 communicates with the wiring space 401. A portion of the cable powers the flip motor 404 in the receiving cavity 403, and a portion enters the wiring space 401 from the receiving cavity 403, then exits the wiring space 401 and connects to the output part 421 of the output joint 42. By setting up transmission spaces 402 and wiring spaces 401 on both sides and setting up a receiving cavity 403 in the middle, the motor, transmission mechanism and wiring can be reasonably arranged, enabling multi-axis rotation in a compact structure and improving the flexibility of the robotic arm.

[0088] refer to Figure 19-22 In a preferred embodiment, the robotic arm 40 has a main cover 4031 that can close the opening of the receiving cavity 403. Opening the cover facilitates the installation, maintenance, and replacement of the driver and the tilting motor 404, while also allowing for better cable routing. After installation, closing the opening of the receiving cavity 403 with the main cover 4031 provides better waterproofing and dustproofing. In this embodiment, the transmission mechanism is a synchronous pulley transmission mechanism or a gear transmission mechanism.

[0089] refer to Figure 19-22 In a preferred embodiment, the openings of both the wiring space 401 and the transmission space 402 are arranged facing outwards. In this embodiment, "outwards" refers to... Figure 20 and 22 As shown, the opening directions of the accommodating cavity 403, the wiring space 401, and the transmission space 402 are all different, which can save space and facilitate the maintenance of wiring and transmission mechanisms.

[0090] refer to Figure 19-22 In a preferred embodiment, the robotic arm 40 has a first side cover 4011 and a second side cover (not shown) that can close the opening of the wiring space 401 and the opening of the transmission space 402, which can facilitate installation and provide waterproof and dustproof protection.

[0091] refer to Figure 19-22In a preferred embodiment, the joint mounting position 4004 is located between the transmission space 402 and the wiring space 401. The wiring space 401 extends from the main body 4001 to the first protrusion 4002, and the transmission space 402 extends from the main body 4001 to the second protrusion 4003. The receiving cavity 403 is disposed on the main body 4001. In this embodiment, the robotic arm 40 has a recessed position for mounting the output joint 42. Simultaneously, the wiring space 401 and the transmission space 402 are formed by utilizing the first protrusion 4002 and the second protrusion 4003 on both sides of the joint mounting position 4004. The transmission and wiring within the main body 4001 are transmitted to the output joint 42 through the first protrusion 4002 and the second protrusion 4003. The structure is very compact, with high space utilization. This results in better dynamic response and more sensitive reaction when the robotic arm changes position.

[0092] refer to Figure 3-4 The frame 100 of this utility model may include a lower frame 103 and an upper frame 102, which are separated by a partition 104. The swing arm 4a and output joint of the working mechanism 300 and the multi-axis mounted robot 400 are located in the upper frame 102. The lower frame 103 is provided with electrical components connected to the working mechanism 300 and the multi-axis mounted robot 400. The swing arm 4a swings within the space formed by the upper frame 102.

[0093] refer to Figure 3-4 and Figure 6-7 The working mechanism 300 and the multi-axis robot 400 are vertically spaced on the upper frame 102, meaning that from the height of the workstation, one of the working mechanism 300 and the multi-axis robot 400 is above the other. (Reference) Figure 3 The working mechanism 300 can be located above (directly above and to the side above) the multi-axis robot 400, for reference. Figure 6-7 Alternatively, the multi-axis robot 400 can be positioned above (directly above and to the side above) the working mechanism 300. This allows for a more compact and rational workstation layout, without occupying too much horizontal or vertical space. The workstation of this invention integrates both the multi-axis robot 400 and the working mechanism 300 onto the frame 100, and the cooperative operation of the multi-axis robot 400 and the working mechanism 300 is completed within the upper frame 102, resulting in a more compact workstation structure.

[0094] refer to Figure 1-9In a preferred embodiment, the working mechanism 300 is suspended above the upper frame 102, while the swing arm 4a and output joint 42 are located below the upper frame 102. The robot 400 is positioned below the working mechanism 300. The swing arm 4a of the robot 400 can drive the output joint 42 horizontally towards the working mechanism 300 to handle the workpiece; the swing arm 4a can also drive the output joint 42 horizontally away from the working mechanism 300 to perform loading, unloading, or transfer operations. The working mechanism 300 is suspended above the upper frame 102, while the swing arm and output joint are located below the upper frame 102, maximizing the use of the workstation's vertical space and minimizing its footprint.

[0095] refer to Figure 5 In a preferred embodiment, when the lifting arm 10 carrying the robot 400 is retracted, it can be partially or completely embedded in the lower frame 103, so that the lifting arm 10 does not occupy the working space of the upper frame 102, thereby enabling the upper suspended working mechanism 300 of the upper frame 102 to also be structurally compact in the vertical direction.

[0096] refer to Figure 3 When the lifting arm of the robot 400 is extended, it can be inserted into the upper frame 102, driving the mounting end to move closer to or further away from the working mechanism 300 in the vertical direction, so as to cooperate well with the working mechanism 300 in working.

[0097] When the lifting arm of the multi-axis robot 400 of this invention is retracted, it can be partially or completely embedded in the lower frame 103, allowing the multi-axis robot 400 to achieve a lifting effect without excessively occupying the working space of the upper frame 102. The height of the multi-axis robot 400's arm in the working space of the upper frame 102 can be less than 500mm, or even less than 300mm. This results in a larger working space in the upper frame 102 while occupying less space, leading to a higher space utilization rate for the upper frame 102.

[0098] refer to Figure 1-6 , Figure 8-9 , Figure 11In a preferred embodiment, the workstation may include a picking robot 200 that cooperates with the multi-axis mounted robot 400 to transfer workpieces. Here, "cooperative transfer" can refer to the picking robot 200 and the multi-axis mounted robot 400 directly cooperating to transfer workpieces 700, or it can refer to the picking robot 200 and the multi-axis mounted robot 400 indirectly cooperating to transfer workpieces 700 through a transfer station. The picking robot 200 is mounted on the upper frame 102 via its fixing part 201. By integrating the multi-axis mounted robot 400, the picking robot 200, and the working mechanism 300 onto a single frame 100, a more integrated and compact structure is achieved. The picking robot 200's picking arm can swing between the inside and outside of the upper frame 102, realizing the transfer of workpieces outside the upper frame 102 to the inside of the upper frame 102. By having the picking robot 200 extend outside the frame 100 to pick up materials, this utility model can reduce the space required for the horizontal swing of the arm of the carrying robot 400. At the same time, by having the picking robot 200 transfer workpieces 700, workpieces outside the workstation can be transferred to the workstation without occupying processing time, which can save the volume of the workstation's loading and unloading mechanism.

[0099] refer to Figure 1-4 , Figure 6-11 In a preferred embodiment, the multi-axis mounted robot 400 referred to in this utility model may have multiple components, including a first multi-axis mounted robot 400a and a second multi-axis mounted robot 400b.

[0100] refer to Figure 8 The first multi-axis loading robot 400a and the second multi-axis loading robot 400b can rotate until their output joints are facing each other, enabling workpiece transfer between the two loading robots 400. This allows one multi-axis loading robot 400 to load or unload workpieces while its loading end is away from the working mechanism 300, while the workpiece loaded by the other multi-axis loading robot 400 cooperates with the working mechanism 300 to process the workpiece, improving the workstation's efficiency and the flexibility of loading and unloading.

[0101] Furthermore, the workpiece transfer between the two carrying robots 400 can also achieve workpiece orientation change during transfer, allowing the inspection surface of the carried workpiece to be reversed. This enables the working mechanism 300 to process different surfaces of the workpiece, realizing multiple possibilities for flexible operation of the workstation. Specifically: after the first multi-axis carrying robot 400a carries a workpiece, its carrying end can rotate so that the first part of the workpiece's surface faces the working mechanism 300, allowing the working mechanism 300 to process the first part of the workpiece's surface (including processing by the vision unit 301 and / or the processing unit 302). The carrying end of the first multi-axis carrying robot 400a can also rotate to transfer the workpiece with the processed first part of its surface to the second multi-axis carrying robot 400b. After receiving the workpiece transferred by the first multi-axis carrying robot 400a, the carrying end of the second multi-axis carrying robot 400b can rotate to face the second part of the workpiece to the working mechanism 300, allowing the working mechanism 300 to process the second part of the workpiece's surface.

[0102] In this utility model, the working mechanism 300 processes the workpiece, including processing performed by the vision unit 301 and / or the processing unit 302. For example, the vision unit 301 may perform visual positioning processing or visual inspection processing, or the processing unit 302 may perform cleaning processing, or the processing may include processing performed by both the vision unit 301 and the processing unit 302.

[0103] In this invention, the working mechanism 300 for treating the first part of the workpiece surface and the working mechanism 300 for treating the second part of the workpiece surface can be the same working mechanism 300 or different working mechanisms 300.

[0104] In this invention, the first part of the surface and the second part of the surface are different. For example, when the first multi-axis mounting robot 400a is mounted, the working mechanism 300 processes the front side of the workpiece, and when the second multi-axis mounting robot 400b is mounted, the working mechanism 300 processes the back side of the workpiece. This enables the detection and processing of multiple sides of the workpiece within a compact workstation, resulting in higher efficiency.

[0105] refer to Figure 8In a preferred embodiment, when a workpiece needs to be transferred between the first multi-axis mounting robot 400a and the second multi-axis mounting robot 400b, the mounting ends of their output joints are positioned relative to each other (not limited to parallel relative, tilting relative is also allowed, the purpose is to transfer the workpiece) to achieve workpiece transfer, enabling the two multi-axis mounting robots 400 to transfer workpieces in the horizontal direction of the workstation. At this time, the output joints of the two robots can be at the same height (basically at the same height, allowing for a certain measurement error). When the two multi-axis mounting robots 400 transfer workpieces in the horizontal direction of the workstation, both multi-axis robots can be located below the working mechanism 300, or both multi-axis robots can be located above the working mechanism 300, or one multi-axis mounting robot 400 can be located below the other multi-axis mounting robot 400.

[0106] refer to Figure 23 In a preferred embodiment, the first multi-axis mounting robot 400a and the second multi-axis mounting robot 400b are rotatable such that the mounting end of one multi-axis mounting robot 400 is above the mounting end of the other multi-axis mounting robot 400, and the mounting ends of their output joints are opposite each other, transferring workpieces in the vertical direction of the workstation. When the two multi-axis mounting robots 400 transfer workpieces in the vertical direction of the workstation, both multi-axis robots can be located below the working mechanism 300, or both multi-axis robots can be located above the working mechanism 300, or one multi-axis mounting robot 400 can be located below the other multi-axis mounting robot 400.

[0107] In a preferred embodiment, for a workstation with multiple multi-axis mounted robots 400, the picking robot 200 can quickly transfer workpieces without affecting the working time of the multi-axis mounted robots 400 and the working mechanism 300, making the cooperation between the multi-axis mounted robots 400 and the working mechanism 300 more efficient. In this embodiment, the picking robot 200 can transfer the workpiece to be processed to the first multi-axis mounted robot 400a or the second multi-axis mounted robot 400b; and / or the picking robot 200 can also remove the processed workpiece from the first multi-axis mounted robot 400a or the second multi-axis mounted robot 400b.

[0108] refer to Figure 1 and Figure 6 In a preferred embodiment, the material handling robot 200 directly loads the workpiece onto the first multi-axis loading robot 400a or the second multi-axis loading robot 400b. After loading the workpiece, the first multi-axis loading robot 400a or the second multi-axis loading robot 400b moves close to the working mechanism 300 and cooperates with the working mechanism 300 to process the workpiece.

[0109] refer to Figure 1-3In a preferred embodiment, the material handling robot 200 does not unload the processed workpiece carried by the multi-axis loading robot 400. For example, the first multi-axis loading robot 400a or the second multi-axis loading robot 400b directly unloads the processed workpiece or places it in the transfer station 101.

[0110] In a preferred embodiment, the material handling robot 200 does not directly load materials onto the first multi-axis mounting robot 400a or the second multi-axis mounting robot 400b, but the material handling robot 200 will take away the processed workpiece from the first multi-axis mounting robot 400a or the second multi-axis mounting robot 400b.

[0111] In a preferred embodiment, the picking robot 200 directly loads the workpiece onto the first multi-axis mounting robot 400a or the second multi-axis mounting robot 400b, and the picking robot 200 also removes the processed workpiece from the first multi-axis mounting robot 400a or the second multi-axis mounting robot 400b.

[0112] In this embodiment, the arrangement of the material handling robot 200 increases the working efficiency of the first multi-axis loading robot 400a and the second multi-axis loading robot 400b, and the combination of the three makes the workstation's workpiece transfer and processing more flexible and efficient. Furthermore, when the loading robot 400 does not need to perform loading and unloading itself, it spends more time cooperating with the working mechanism 300 to process workpieces. The horizontal movement range of the loading robot 400 can be reduced. With a reduced horizontal movement range, two loading robots 400 can be arranged in a smaller space, greatly improving workpiece processing efficiency.

[0113] refer to Figure 1-3 In a preferred embodiment, for a workstation with multiple multi-axis mounted robots 400, there is a material handling machine, and in conjunction with a transfer station 101 adjacent to the first multi-axis mounted robot 400a and the second multi-axis mounted robot 400b, the workpiece transfer and processing of the entire workstation can be made more efficient and smooth.

[0114] The picking robot 200 can transport the workpiece to be processed to the transfer station 101 or take away the processed workpiece from the transfer station 101. The first multi-axis carrying robot 400a and / or the second multi-axis carrying robot 400b take away the workpiece from the transfer station 101 and / or place the processed workpiece into the transfer station 101.

[0115] The picking robot 200 can transport workpieces to be processed from the multi-axis mounting robot 400 to a transfer station 101 near the multi-axis mounting robot 400. Both the first multi-axis mounting robot 400a and the second multi-axis mounting robot 400b can pick up workpieces from the transfer station 101 and then move them to the working mechanism 300 for processing. The processed workpieces can then be transferred back to the transfer station 101 by either the first multi-axis mounting robot 400a or the second multi-axis mounting robot 400b. The picking robot 200 can also remove the processed workpieces from the transfer station 101 for unloading. In this embodiment, through the cooperation of the picking robot 200 and the transfer station 101, the picking robot 200 can quickly perform loading and unloading operations, rapidly transporting workpieces to be processed to the transfer station 101 or removing processed workpieces from the transfer station 101. The first multi-axis robot 400a and the second multi-axis robot 400b can also quickly load or unload materials from the central station 101, making the overall workstation more efficient.

[0116] refer to Figure 1 After the picking robot 200 picks up the workpiece to be processed, it first transfers the workpiece to the first multi-axis loading robot 400a. Then, the first multi-axis loading robot 400a rotates so that its loading end faces the working mechanism 300, so that the working mechanism 300 processes the first part of the surface of the workpiece.

[0117] refer to Figure 8 The first multi-axis loading robot 400a rotates and transfers the first part of the surface-treated workpiece to the second multi-axis robot. Then the second multi-axis loading robot 400b rotates so that its loading end faces the working mechanism 300, so that the working mechanism 300 processes the second part of the workpiece surface.

[0118] refer to Figure 2 The second multi-axis robot 400b then rotates to place the second part of the surface-treated workpiece into the intermediate transfer position 101;

[0119] refer to Figure 3 Then, the material handling robot 200 takes away the processed workpiece from the intermediate transfer station 101.

[0120] In this invention, the workpiece orientation is changed multiple times during the workpiece transfer process.

[0121] When the workpiece is being loaded onto the conveyor belt (face outwards);

[0122] After the picking robot 200 picks up the workpiece, it changes direction for the first time (back side facing outwards).

[0123] The picking robot 200 transfers the workpiece to the first multi-axis loading robot 400a. After the second reversal, the first multi-axis loading robot 400a loads the workpiece (face outward).

[0124] The first multi-axis robot 400a transfers the workpiece to the second multi-axis robot 400b. After the third reversal, the second multi-axis robot 400b loads the workpiece (with the back facing outwards).

[0125] The second multi-axis robot 400b transfers the workpiece to the transfer station 101. The fourth reversal places the workpiece (face outward) in the transfer station.

[0126] The picking robot 200 takes the workpiece from the transfer station 101. After the fifth reversal, the picking robot 200 takes the workpiece (with the back facing out) from the transfer station 101.

[0127] When the material handling robot 200 unloads the workpiece onto the conveyor belt, it reverses direction for the sixth time, so that the workpiece is facing outwards on the unloading conveyor belt.

[0128] The design of this workstation is more reasonable, and the workpiece flow is smoother and more efficient.

[0129] The workstation of this utility model can process multiple sides of the workpiece, and the orientation is consistent before loading and after unloading, which provides convenience for subsequent processing and improves the stability of the system.

[0130] In a preferred embodiment, when the workstation is working...

[0131] refer to Figure 1 After the picking robot 200 picks up the workpiece to be processed, it rotates its picking arm 204. The first multi-axis loading robot 400a also adjusts its swing arm accordingly, moving it away from the working mechanism 300, and also adjusts the orientation of its loading end 4211 so that the picking arm of the picking robot 200 is opposite to the loading end of the first multi-axis loading robot 400a, and the workpiece to be processed is transferred to the first multi-axis loading robot 400a. After the first multi-axis loading robot 400a loads the workpiece, it swings its swing arm so that its loading end is close to the working mechanism 300, for example, located below the working mechanism 300, and rotates so that its loading end faces the working mechanism 300, so that the first part of the surface of the workpiece faces the working mechanism 300, and the working mechanism 300 processes the first part of the surface of the workpiece to be processed.

[0132] refer to Figure 8After the first part of the workpiece's surface is treated, the first multi-axis loading robot 400a swings its arm to move the workpiece away from the working mechanism 300 and rotates its loading end 4211. The second multi-axis loading robot 400b also adaptively swings its arm and rotates its loading end 4211, so that the loading end of the first multi-axis loading robot 400a is opposite to the loading end of the second multi-axis loading robot 400b, transferring the workpiece with the first part of its surface treated to the second multi-axis loading robot 400b. After the second multi-axis loading robot 400b loads the workpiece, it swings its arm to move its loading end closer to the working mechanism 300 and so that the loading end faces the working mechanism 300, so that the second part of the workpiece's surface faces the working mechanism 300, allowing the working mechanism 300 to treat the second part of the workpiece's surface.

[0133] refer to Figure 2 After the second part of the workpiece is surface treated, the second multi-axis loading robot 400b swings its arm so that the loading end moves away from the working mechanism 300 and moves to a position above the transfer station 101, with its loading end facing the transfer station 101, and transfers the processed workpiece to the transfer station 101.

[0134] refer to Figure 3 The material handling robot 200 can rotate until its material handling arm 204 is above the transfer position 101 to pick up the processed workpiece.

[0135] refer to Figure 24 In a preferred embodiment, the multi-axis carrying robot 400 includes a first multi-axis carrying robot 400a and a second multi-axis carrying robot 400b. The workstation also includes a picking robot 200, a first transfer station 101a, and a second transfer station 101b. The first transfer station 101a is adjacent to the first multi-axis carrying robot 400a, and the second transfer station 101b is adjacent to the second multi-axis carrying robot 400b. The picking robot 200 transfers the workpiece to be processed to the first transfer station 101a or the second transfer station 101b. The picking robot 200 also removes the processed workpiece from the first transfer station 101a or the second transfer station 101b. The first multi-axis carrying robot 400a removes the workpiece to be processed from the first transfer station 101a and / or places the processed workpiece in the first transfer station 101a. The second multi-axis carrying robot 400b removes the workpiece to be processed from the second transfer station 101b and / or places the processed workpiece in the transfer station 101b.

[0136] In this invention, each multi-axis robot 400 is equipped with a corresponding transfer station 101, enabling each multi-axis robot 400 to work with the material handling robot 200 to quickly perform loading, processing, and unloading operations. This results in higher processing efficiency for each multi-axis robot 400.

[0137] In a preferred embodiment, there are multiple multi-axis mounted robots 400 and multiple working mechanisms 300. The multi-axis mounted robots 400 include a first multi-axis mounted robot 400a and a second multi-axis mounted robot 400b, and the working mechanisms 300 include a first working mechanism 300 and a second working mechanism 300.

[0138] refer to Figure 1 In a preferred embodiment, the first multi-axis mounted robot 400a and the second multi-axis mounted robot 400b are respectively located below the first working mechanism 300a and the second working mechanism 300b in the vertical direction;

[0139] refer to Figure 7 In a preferred embodiment, the first multi-axis mounted robot 400a and the second multi-axis mounted robot 400b are respectively located above the first working mechanism 300 and the second working mechanism 300 in the vertical direction;

[0140] refer to Figure 10 In a preferred embodiment, the first working mechanism 300 is located above the first multi-axis mounted robot 400a in the vertical direction, and the second working mechanism 300 is located below the second multi-axis mounted robot 400b in the vertical direction; or, the first working mechanism 300 is located below the first multi-axis mounted robot 400a in the vertical direction, and the second working mechanism 300 is located above the second multi-axis mounted robot 400b in the vertical direction.

[0141] refer to Figure 10 In a preferred embodiment, the working mechanism 300 includes a vision positioning unit for positioning the workpiece, and also includes an assembly unit 105. The multi-axis loading robot 400 includes a first multi-axis loading robot 400a and a second multi-axis loading robot 400b. The first multi-axis loading robot 400a is used to load a first workpiece, and the vision positioning unit is used to visually position the first workpiece. The second multi-axis loading robot 400b is used to load a second workpiece, and the vision positioning unit is used to visually position the second workpiece. The first and second multi-axis loading robots 400a and 400b are used to bring the loaded first and second workpieces close to the assembly unit 105 for assembly, thereby achieving the assembly of two workpieces. Furthermore, before the multi-axis loading robot 400 loads the workpiece, the first camera of the vision positioning unit first positions the workpiece, then the multi-axis loading robot 400 accurately loads the workpiece. After the multi-axis loading robot 400 loads the workpiece, the second camera of the vision positioning unit again positions the loaded workpiece. The worktable provided by this utility model can realize the assembly of two workpieces.

[0142] refer to Figure 2In a preferred embodiment, the working mechanism 300 includes a vision unit 301 and a processing unit 302. After the robot 400 carries the workpiece, the working mechanism 300 is used to perform detection, processing, and re-detection on the workpiece carried by the robot 400. This invention achieves higher accuracy in workpiece processing and higher product yield and quality. In this embodiment, the processing unit 302 is a cleaning unit. In this embodiment, the condition of the workpiece is first detected, then the workpiece is cleaned, and the condition of the workpiece is detected again after cleaning to ensure the yield and quality of the workpiece.

[0143] refer to Figure 2 In a preferred embodiment, the multi-axis carrying robot 400 moves the carried workpiece close to the vision inspection unit 301 to perform vision inspection on the workpiece. Then, the multi-axis carrying robot 400 moves the workpiece to the processing unit 302 to process the workpiece. The multi-axis carrying robot 400 then moves the processed workpiece to the vision inspection unit 302 again for vision inspection, so that the working mechanism 300 performs inspection-processing-re-inspection on the workpiece.

[0144] In a preferred embodiment, the visual inspection unit includes a first visual inspection unit and a second visual inspection unit. The multi-axis robot 400 moves the mounted workpiece close to the first visual inspection unit to perform visual inspection on the workpiece, and then moves it to the processing unit 302 to process the workpiece. After processing, it moves it to the second visual inspection unit for visual inspection again.

[0145] refer to Figure 2 In a preferred embodiment, when the workstation includes two multi-axis loading robots 400 cooperating with the working mechanism 300 for inspection-processing-re-inspection, when the first multi-axis loading robot 400a brings the loaded workpiece close to the working mechanism 300, the first part of the workpiece's surface faces the working mechanism 300, allowing the working mechanism 300 to inspect, process, and re-inspect the first part of the workpiece's surface. When the second multi-axis loading robot 400b brings the loaded workpiece close to the working mechanism 300, the second part of the workpiece's surface faces the working mechanism 300, allowing the working mechanism 300 to inspect, process, and re-inspect the second part of the workpiece's surface. This workstation allows for workpiece transfer and reversal between the two loading robots 400, enabling inspection-processing-re-inspection of different inspection surfaces of the loaded workpiece, resulting in higher work efficiency and higher product quality.

[0146] refer to Figure 25-27 This utility model also includes a production line, comprising the workstations described in any of the above embodiments, and a workpiece conveyor belt for conveying workpieces. The workpieces can be loaded or unloaded directly from the workpiece conveyor belt by a robot 400; or they can be loaded or unloaded from the workpiece conveyor belt by a picking robot 200.

[0147] refer to Figure 25 In a preferred embodiment, multiple workstations are arranged along the conveying direction of the workpiece conveyor belt, which includes a parallel loading conveyor belt 501 and a unloading conveyor belt 502. The loading conveyor belt 501 and the unloading conveyor belt 502 are located on the side of the workstation with the picking robot 200. The picking robot 200 picks up workpieces from the loading conveyor belt 501 and supplies them to the multi-axis mounting robot 400 (directly or indirectly), and also removes workpieces processed by the working mechanism 300 and places them on the unloading conveyor belt 502. The loading conveyor belt 501 and the unloading conveyor belt 502 are located on the same side of the workstation. The loading and unloading of workpieces are achieved by the picking robot 200, avoiding an excessively large working range for the mounting robot 400. This allows the mounting robot 400 to work more efficiently in conjunction with the working mechanism 300, resulting in a more rational and efficient production line layout.

[0148] In this production line, a workstation can have only one loading robot 400 or multiple loading robots 400. When a workstation has two loading robots 400, the picking robot 200 moves outside the frame 100, picks up the workpiece to be processed from the feeding conveyor belt 501, and moves the workpiece to be processed into the frame 100. The workpiece to be processed can be directly passed to the first multi-axis loading robot 400a or the second multi-axis loading robot 400b, or it can be placed in the transfer station 101, from which the first multi-axis loading robot 400a or the second multi-axis loading robot 400b picks up the workpiece to be processed. The picking robot 200 can directly pick up the processed workpiece from the first multi-axis carrying robot 400a or the second multi-axis carrying robot 400b, or the first multi-axis carrying robot 400a or the second multi-axis carrying robot 400b can transfer the processed workpiece to the transfer station 101, where the picking robot 200 picks up the processed workpiece and then places it on the unloading conveyor belt 502.

[0149] Furthermore, after the first multi-axis mounting robot 400a carries the workpiece to be processed, it cooperates with the working mechanism 300 to enable the working mechanism 300 to process the first part of the workpiece surface; the first multi-axis mounting robot 400a and the second multi-axis mounting robot 400b realize the transfer of the workpiece; the second multi-axis mounting robot 400b cooperates with the working mechanism 300 to enable the working mechanism 300 to process the second part of the workpiece surface.

[0150] In this specification, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0151] In the description of this specification, the references to terms such as "preferred embodiment," "another embodiment," "other embodiment," or "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0152] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A multi-axis robot, characterized in that, The multi-axis robot includes a fixed part and a picking arm connected to the fixed part. The fixed part and the picking arm are connected by multiple connecting arms. The connecting arms include a first connecting arm and a second connecting arm. The first connecting arm and the picking arm are rotatably connected to both ends of the second connecting arm and are both connected to the same side of the second connecting arm. The fixed part and the second connecting arm are rotatably connected to both ends of the first connecting arm.

2. The multi-axis robot as described in claim 1, characterized in that, The first connecting arm can rotate at an angle greater than 360° relative to the fixed part, the second connecting arm can rotate at an angle greater than 360° relative to the first connecting arm, and the material picking arm can rotate at an angle greater than 360° relative to the second connecting arm.

3. The multi-axis robot as described in claim 1, characterized in that, The length of the second connecting arm is greater than the length of the first connecting arm. The first connecting arm includes a first end and a second end. The first end of the first connecting arm is connected to the second connecting arm. In the retracted state, the second connecting arm can swing to overlap with the second end of the first connecting arm, so that the first end, the second end, and the picking arm of the first connecting arm are sequentially arranged on the same side of the second connecting arm facing the fixing part along the length direction of the second connecting arm. The fixing part is connected to the side of the first connecting arm away from the second connecting arm.

4. The multi-axis robot as described in claim 3, characterized in that, The fixing part includes a first end and a second end. The first end of the fixing part is connected to the first connecting arm. In the retracted state, the first connecting arm can rotate to overlap with the second end of the fixing part.

5. The multi-axis robot as described in claim 3, characterized in that, In the retracted state, the first connecting arm can drive the second connecting arm and the material picking arm to rotate around the fixed part by an angle greater than 360°.

6. The multi-axis robot as described in claim 1, characterized in that, The fixing part and the second connecting arm are connected to the same side of the first connecting arm. The second connecting arm includes a first end and a second end. The first end of the second connecting arm is connected to the first connecting arm, and the second end of the second connecting arm is connected to the material picking arm. The fixing part includes a first end and a second end. The first end of the fixing part is connected to the first connecting arm. In the retracted state, the first connecting arm can swing to overlap with the second end of the fixing part, so that the first end of the fixing part, the second end of the fixing part, and the first end of the second connecting arm are sequentially arranged on the same side of the first connecting arm along the length direction of the first connecting arm.

7. A workstation, characterized in that, The system includes a frame, a working mechanism, a multi-axis mounted robot, and a material handling robot, wherein the material handling robot is a multi-axis robot as described in any one of claims 1-6, and the multi-axis mounted robot, the material handling robot, and the working mechanism are all mounted on the frame. The working mechanism includes a vision unit and / or a processing unit; The multi-axis robotic arm includes a robotic arm body and an output joint connected to the tail end of the robotic arm body. The output joint has a mounting end. The robotic arm body includes a mounting end and multiple swing arms connected between the mounting end and the output joint. The swing arms can drive the output joint to swing relative to the mounting end, so that the output joint moves closer to or away from the working mechanism. The output joint can rotate relative to the swing arms, so that the mounting end of the output joint faces the working mechanism. The working mechanism performs visual inspection and / or processing on the workpiece mounted on the mounting end.

8. The workstation as described in claim 7, characterized in that, The frame includes a lower frame and an upper frame, which are separated by a partition. The working mechanism is located in the upper frame and is suspended on the upper side of the upper frame. The lower frame is equipped with electrical components that connect to the working mechanism and the multi-axis robot. There are multiple swing arms, which are stacked vertically in the upper frame. The rotation axes of the multiple swing arms extend vertically. The multiple swing arms are distributed sequentially from the head end to the tail end of the multi-axis robot. The swing arms and output joints of the multi-axis robot are located in the upper frame. The main body of the robotic arm also includes a lifting arm connected to the swing arm. The lifting arm moves up and down in the vertical direction, so that the output joint moves closer to or further away from the working mechanism in the vertical direction. When the lifting arm is retracted, it can be embedded in the lower frame. When the lifting arm is extended, it can be inserted into the upper frame.

9. The workstation as described in claim 8, characterized in that, The plurality of swing arms includes a first swing arm, a second swing arm, and a third swing arm. The first, second, and third swing arms are stacked along the vertical direction. The lifting arm is connected to the first swing arm. The second swing arm swings relative to the first swing arm, and the third swing arm swings relative to the second swing arm. The rotation axes of the first, second, and third swing arms extend along the vertical direction. The first, second, and third swing arms are distributed sequentially from the head end to the tail end of the multi-axis mounted robot. The output joint is located at the tail end of the third swing arm.

10. The workstation as described in claim 7, characterized in that, The multi-axis loading robot includes a first multi-axis loading robot and a second multi-axis loading robot. The picking robot will transfer the workpiece to be processed to the first multi-axis loading robot or the second multi-axis loading robot. The picking robot will also take away the processed workpiece from the first multi-axis loading robot or the second multi-axis loading robot.

11. The workstation as described in claim 7, characterized in that, The multi-axis loading robot includes a first multi-axis loading robot and a second multi-axis loading robot. The workstation also includes a transfer station adjacent to the first and second multi-axis loading robots. The picking robot transfers the workpiece to be processed to the transfer station or removes the processed workpiece from the transfer station. The first and / or second multi-axis loading robots remove the workpiece to be processed and / or place the processed workpiece at the transfer station.

12. The workstation as described in claim 11, characterized in that, The picking robot transfers the workpiece to be processed to the first multi-axis mounting robot, and then the working mechanism processes the first part of the workpiece's surface. The first multi-axis mounting robot transfers the workpiece with the first part of its surface processed to the second multi-axis robot, and then the working mechanism processes the second part of the workpiece's surface. The second multi-axis robot places the workpiece with the second part of its surface processed at the transfer station, and the picking robot removes the processed workpiece from the transfer station.

13. The workstation as described in claim 7, characterized in that, The swing arm connected to the output joint includes a main body, a first protrusion, and a second protrusion. The first and second protrusions extend in the same direction relative to the main body and are spaced apart, forming a joint mounting position between the main body, the first protrusion, and the second protrusion. The output joint is mounted in the joint mounting position. A flip motor is installed in the swing arm connected to the output joint. A transmission space is provided on one side of the swing arm connected to the output joint. A transmission mechanism is installed in the transmission space. The transmission mechanism is connected to the flip motor and the output joint respectively, and is used to drive the output joint to rotate relative to the main body of the robotic arm around a first rotating axis. The output joint is also provided with an output part that rotates around a second rotating axis. The first and second rotating axes are not parallel. The swing arm connected to the output joint is provided with a receiving cavity and a wiring space. The wiring space is located on the other side of the swing arm. The receiving cavity and the joint mounting position are located between the wiring space and the transmission space. The receiving cavity is provided with a driver and the flip motor. The cable enters the wiring space from the receiving cavity and then connects to the output joint. The main body of the robotic arm has a main cover that can close the opening of the receiving cavity. The openings of the wiring space and the transmission space are both outward. The opening directions of the receiving cavity, the wiring space and the transmission space are different. The main body of the robotic arm has a first side cover that closes the opening of the wiring space and a second side cover that closes the opening of the transmission space. The output joint is connected to the first protrusion and the second protrusion on both sides, the wiring space extends from the main body to the first protrusion, and the transmission space extends from the main body to the second protrusion.

14. A production line, characterized in that, It includes a plurality of workstations and a workpiece conveyor belt as described in any one of claims 7-13, wherein the plurality of workstations are arranged along the conveying direction of the workpiece conveyor belt; The workpiece conveyor belt includes a loading conveyor belt and a unloading conveyor belt that are parallel to each other. Both the loading conveyor belt and the unloading conveyor belt are located on the side of the workstation with the picking robot. The picking robot picks up workpieces from the loading conveyor belt and supplies workpieces to the multi-axis robot, and takes out the workpieces processed by the working mechanism and places them on the unloading conveyor belt.

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