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WO2018108860A1 - Poste de travail robotique - Google Patents

Poste de travail robotique Download PDF

Info

Publication number
WO2018108860A1
WO2018108860A1 PCT/EP2017/082317 EP2017082317W WO2018108860A1 WO 2018108860 A1 WO2018108860 A1 WO 2018108860A1 EP 2017082317 W EP2017082317 W EP 2017082317W WO 2018108860 A1 WO2018108860 A1 WO 2018108860A1
Authority
WO
WIPO (PCT)
Prior art keywords
base unit
robotic
robotic workstation
bottom section
section
Prior art date
Application number
PCT/EP2017/082317
Other languages
English (en)
Inventor
Per Lachenmeier
Original Assignee
EasyRobotics ApS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by EasyRobotics ApS filed Critical EasyRobotics ApS
Publication of WO2018108860A1 publication Critical patent/WO2018108860A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • the present invention relates to the field of robotic workstations, and specifically to robotic workstations for use for educational purposes, for demonstration purposes, for use at exhibitions, and to robotic workstations that can easily be moved from one place to another.
  • the objective of the present invention is to provide a robotic workstation, which can be managed by a single user.
  • a first aspect of the present invention relates to a robotic workstation comprising
  • a base unit comprising a bottom section with a pair of wheels, and a top section;
  • a movable robotic arm with multiple joints and configured to be coupled to the top section of the base unit;
  • a handle a) positioned in close relation to the top section of the base unit or b) retractable to a position in close relation to the top section of the base unit;
  • a second aspect of the present invention relates to a robotic workstation comprising:
  • a base unit comprising a bottom section with a pair of wheels, and a top section;
  • a movable robotic arm with multiple joints and configured to be coupled to the top section of the base unit;
  • - a handle a) positioned in close relation to the top section of the base unit or b) retractable to a position in close relation to the top section of the base unit; and - a runner configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation.
  • a third aspect of the present invention relates to a robotic workstation
  • a base unit comprising a bottom section with a pair of wheels, and a top section;
  • a movable robotic arm with multiple joints and configured to be coupled to the top section of the base unit;
  • a handle a) positioned in close relation to the top section of the base unit or b) retractable to a position in close relation to the top section of the base unit;
  • a sliding unit configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation.
  • the bottom section of the base unit comprises the control unit for the robotic arm.
  • the position of the control unit optionally, in combination with suitable ballast and/or support legs (preferably retractable), prevent the robotic workstation from tilting.
  • the top section of the base unit and a part of the bottom section of the base unit is configured as a beam, preferably a hollow beam. This configuration stabilizes the robotic workstation when the robotic arm is operating.
  • the robotic workstation comprises two or more (longitudinal) runners attached to the base unit, and positioned in line from the bottom section towards the top section of the base unit; wherein said two or more (longitudinal runners) are positioned with a space between them.
  • the (longitudinal) runner is positioned between the pair of wheels, and extends upwards towards the top section of the base unit.
  • an obstacle such as down from a boot or transport compartment of a car
  • an edge such as the bumper or side rail of the car
  • the runner is preferably longitudinal, as the sliding operation will be needed along a substantial length of the robotic workstation.
  • the pair of wheels and the handle extends beyond the back face of the base unit.
  • the (longitudinal) runner comprises a top layer of an elastic and/or flexible material.
  • an elastic and/or flexible material exists, such as rubber, elastomer, carpets, or woven or non-woven textiles.
  • the runner should have a relatively smooth surface in order to allow for the robotic workstation to slide over an obstacle.
  • the surface should also preferably be elastic to avoid damaging the obstacle and/or the robotic workstation.
  • the (longitudinal) runner is configured as a cord winder.
  • the (longitudinal) runner is attached to the backside of the robotic workstation, such as to the backside of the bottom section and/or to the top section of the base unit.
  • the (longitudinal) runner is attached to the backside of the robotic workstation, such as to the backside of the bottom section and/or to the top section of the base unit, and wherein the base of the runner is narrower than its top section (serving as the sliding surface), such that a cord may be wrapped around the base.
  • the handle comprises one or more wheels.
  • the one or more wheels may be releasably attached to the handle.
  • the wheels of the handle and the pair of wheels of the bottom section makes it possible for a user to position the robotic workstation in a rollout position (e.g. within a trunk of a car, i.e. within the main storage compartment), which makes it easier to handle during loading, positioning, and unloading during transportation (e.g. within the trunk).
  • the pair of wheels and the handle extends beyond the back face of the bottom section of the base unit.
  • the handle further comprises a control pad holder.
  • the control pad holder is attached to the handle, preferably between the wheels; and wherein the handle is configured for being rotated such that the control pad holder may be in a retracted position behind the wheels and in an advanced position, in front of the wheels.
  • the robotic workstation further comprises a protective cover adapted for covering at least a part of the movable arm segments when the movable arm is collapsed.
  • the protective cover comprises a horizontal plate configured for covering at least a part of the top face of the bottom section of the base unit, and wherein said cover is adapted for being positioned in an inverted position, such that the horizontal plate serves as a table top for the movable arm to work on when active.
  • the horizontal plate may comprise fixture holes and/or or work holes for demonstration items.
  • the top section of the base unit is narrower than the bottom section of the base unit, such that the top face of the bottom section of the base unit may function as a table top for the movable arm to work on when active.
  • the top face of the bottom section may comprise fixture holes and/or or work holes for demonstration items.
  • the bottom section comprises a compartment with an opening through the upper face of bottom section, and wherein the opening is configured with a cable slot facing the back face of the bottom section; wherein the compartment is configured for holding a control pad for storage.
  • the robotic workstation comprises means for zero- point clamping. This configuration reduces the need for recalibration of the robotic workstation.
  • the base unit such as the bottom section and/or the top section, comprises means for zero-point clamping.
  • Zero-point clamps may employ a mounting knob and clamping wedge lock to pull the robotic workstation against the ground face of a zero-point chuck and/or against another workstation.
  • the retention knob sits inside the chuck bore and offers positional accuracy to within a few tenths of an inch and several tons of clamping force until released through mechanical, hydraulic, or pneumatic pressure.
  • Figure 1 is a perspective view of a robotic workstation in accordance with various embodiments of the invention.
  • Figure 2 is a left-side perspective view of a robotic workstation in accordance with various embodiments of the invention, where a protective cover has been removed;
  • Figure 3 is a right-side perspective view of a robotic workstation in accordance with various embodiments of the invention, where a protective cover has been removed;
  • Figure 4 is a right-side perspective view of a robotic workstation in accordance with various embodiments of the invention, where a protective cover has been inverted such that the horizontal plate serves as a table top for the movable arm;
  • Figure 5 is a close-up view of the top face of the bottom section of the base unit in accordance with various embodiments of the invention.
  • Figure 6 is a perspective view of a robotic workstation in a rollout position from e.g. a trunk of a car;
  • Figure 7 is a perspective view of a robotic workstation with a movable robotic arm that can be completely covered by a protective cover;
  • Figure 8 is a perspective view of the robotic workstation shown in Figure 7, where a parts tray may be connected to the protective cover when the latter serves as a table top;
  • Figure 9 is a perspective view of a robotic workstation in a rollout position from e.g. a trunk of a car, and in an upright position;
  • Figure 10 is a close-up view of the handle of a robotic workstation in accordance with various embodiments of the invention.
  • Figure 1 1 is a close-up view of the handle shown in Figure 10, and where a control pad is positioned in the control pad holder;
  • Figure 12 is a cross section of a robotic workstation in accordance with various embodiments of the invention. References
  • FIG. 1 is a perspective view of a robotic workstation in accordance with various embodiments of the invention.
  • the robotic workstation comprises a base unit
  • the base unit 100 comprises a bottom section 1 10 with a pair of wheels 300, and a top section 120.
  • the movable robotic arm 200 comprises multiple joints 210, and is configured to be coupled to the top section 120 of the base unit 100.
  • the handle 500 is positioned in close relation to the top section 120 of the base unit 100, and comprises two wheels 510.
  • the wheels 510 of the handle 500 and the pair of wheels 300 of the bottom section 1 10 makes it possible for a user to position the robotic workstation in a rollout position ( Figures 6+9) e.g. within a trunk of a car, which makes it easier to position within the trunk, but also to roll out of the trunk.
  • the pair of wheels 300 and the handle 500 extends beyond the back face 1 12 of the bottom section 1 10 of the base unit 100.
  • the longitudinal runner 400 is configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; and is positioned between the pair of wheels 300 of the bottom section 1 10, and extends upwards towards the top section 120 of the base unit 100.
  • the longitudinal runner 400 is configured as a cord winder.
  • the pair of wheels 300 extend beyond the longitudinal runner 400, as can be better seen in the cross section of the robotic workstation in Figure 12.
  • the robotic workstation also comprises a protective cover 600 adapted for covering at least a part of the movable arm segments when the movable robotic arm 200 is collapsed.
  • the protective cover can cover all the movable arm segments when the movable robotic arm is collapsed.
  • the cover 600 comprises a horizontal plate 610 configured for covering at least a part of the top face 1 14 of the bottom section 1 10 of the base unit 100.
  • the cover 600 is also adapted for being positioned in an inverted position, such that the horizontal plate 610 serves as a table top for the movable arm 200 to work on when active ( Figures 4+8).
  • FIG. 2 is a left-side perspective view of a robotic workstation in accordance with various embodiments of the invention, where a protective cover has been removed.
  • the top section of the base unit is narrower than the bottom section of the base unit, such that the top face 1 14 of the bottom section of the base unit may function as a table top for the movable arm to work on when active.
  • the bottom section comprises a compartment with an opening 1 16 through the upper face 1 14 of bottom section, and wherein the opening 1 16 is configured with a cable slot 1 18 facing the back face 1 12 of the bottom section.
  • the compartment is configured for holding a control pad 700 for storage (Figure
  • Figure 7 is a perspective view of a robotic workstation with a movable robotic arm that can be completely covered by a protective cover. Furthermore, a parts tray 620 is stored on the side of the protective cover.
  • Figure 8 is a perspective view of the robotic workstation shown in Figure 7, where the parts tray 620 is connected to the protective cover when the latter serves as a table top.
  • Figure 10 is a close-up view of the handle of a robotic workstation as shown in Figure 7.
  • the wheels 510 are here positioned at a different position on the handle than as shown in Figure 1 .
  • a control pad holder 520 is attached to the handle between the wheels 510.
  • the handle is configured for being rotated such that the control pad holder 520 may be in a retracted position behind the wheels 510 (as shown to the left) and in an advanced position (as shown to the right), in front of the wheels 510, where the control pad may be positioned therein (Figure 1 1 ).

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un poste de travail robotisé, qui peut être géré par un seul utilisateur. Le poste de travail robotique comprend une unité de base (100), un bras robotique mobile (200), une poignée (500), et un coulisseau longitudinal (400) configuré pour entrer en contact coulissant avec un bord d'un obstacle devant être dépassé pendant le transport du poste de travail robotique.
PCT/EP2017/082317 2016-12-13 2017-12-12 Poste de travail robotique WO2018108860A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201600761 2016-12-13
DKPA201600761A DK179501B1 (en) 2016-12-13 2016-12-13 Robotic workstation

Publications (1)

Publication Number Publication Date
WO2018108860A1 true WO2018108860A1 (fr) 2018-06-21

Family

ID=60888380

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/082317 WO2018108860A1 (fr) 2016-12-13 2017-12-12 Poste de travail robotique

Country Status (2)

Country Link
DK (1) DK179501B1 (fr)
WO (1) WO2018108860A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110076799A (zh) * 2019-05-23 2019-08-02 厦门钛尚人工智能科技有限公司 一种智能型的搬运机器人
JP2020049594A (ja) * 2018-09-27 2020-04-02 株式会社安川電機 ロボット、ロボットシステム、ロボットの位置調整方法
CN111223383A (zh) * 2019-11-07 2020-06-02 山东大未来人工智能研究院有限公司 一种具有翻转功能的智能教育机器人
WO2020236778A1 (fr) * 2019-05-22 2020-11-26 Covidien Lp Ensembles de stockage de bras robotiques chirurgicaux et procédés de remplacement de bras robotiques chirurgicaux à l'aide des ensembles de stockage
CN114454190A (zh) * 2022-02-15 2022-05-10 上海机器人产业技术研究院有限公司 一种远程操控的智能移动检修机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4309710A1 (de) * 1992-09-14 1994-03-17 Heinrich Leifeld Flaschenkarre zum Transport von Schweißgasflaschen
US20030155747A1 (en) * 2002-01-24 2003-08-21 Bridges J. Clinton Folding robotic system
JP2008254588A (ja) * 2007-04-05 2008-10-23 Matsushita Electric Ind Co Ltd 走行装置および自走式ロボット
US20130119039A1 (en) * 2011-11-11 2013-05-16 Lincoln Global, Inc. Educational welding cell unit
CN205428288U (zh) * 2015-12-03 2016-08-03 西安蒜泥电子科技有限责任公司 智能小车教育机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4309710A1 (de) * 1992-09-14 1994-03-17 Heinrich Leifeld Flaschenkarre zum Transport von Schweißgasflaschen
US20030155747A1 (en) * 2002-01-24 2003-08-21 Bridges J. Clinton Folding robotic system
JP2008254588A (ja) * 2007-04-05 2008-10-23 Matsushita Electric Ind Co Ltd 走行装置および自走式ロボット
US20130119039A1 (en) * 2011-11-11 2013-05-16 Lincoln Global, Inc. Educational welding cell unit
CN205428288U (zh) * 2015-12-03 2016-08-03 西安蒜泥电子科技有限责任公司 智能小车教育机器人

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020049594A (ja) * 2018-09-27 2020-04-02 株式会社安川電機 ロボット、ロボットシステム、ロボットの位置調整方法
WO2020236778A1 (fr) * 2019-05-22 2020-11-26 Covidien Lp Ensembles de stockage de bras robotiques chirurgicaux et procédés de remplacement de bras robotiques chirurgicaux à l'aide des ensembles de stockage
CN113840579A (zh) * 2019-05-22 2021-12-24 柯惠Lp公司 手术机器人臂储存组合件和使用储存组合件更换手术机器人臂的方法
CN110076799A (zh) * 2019-05-23 2019-08-02 厦门钛尚人工智能科技有限公司 一种智能型的搬运机器人
CN111223383A (zh) * 2019-11-07 2020-06-02 山东大未来人工智能研究院有限公司 一种具有翻转功能的智能教育机器人
CN114454190A (zh) * 2022-02-15 2022-05-10 上海机器人产业技术研究院有限公司 一种远程操控的智能移动检修机器人

Also Published As

Publication number Publication date
DK179501B1 (en) 2019-01-17
DK201600761A8 (en) 2018-07-16
DK201600761A1 (en) 2018-06-28

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