CN213034661U

CN213034661U - Holding device and arrangement for a robot handling device

Info

Publication number: CN213034661U
Application number: CN201922292263.5U
Authority: CN
Inventors: 谢尔吉·奥斯特罗夫斯基
Original assignee: KUKA Deutschland GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2018-12-18
Filing date: 2019-12-18
Publication date: 2021-04-23
Anticipated expiration: 2029-12-18
Also published as: DE202018005804U1

Abstract

A holding device (1) for a robot handling equipment, comprising: a neck region (2); a first strap region (3) having a first distal end side connection region (102 a); a second strap region (4) having a second distal end side connection region (102 b); wherein the first distal connecting region (102a) has two end regions (7, 8), which are designed in particular as free strap ends, wherein the second distal connecting region (102b) has two end regions (9,10), which are designed in particular as free strap ends, wherein a connecting element (11-12) is provided on each end region (7-10), which is designed to be mechanically releasably connectable to a complementary connecting element of the robot manipulator. The utility model discloses still relate to a facility including this retaining device.

Description

Holding device and arrangement for a robot handling device

Technical Field

The present invention relates to a holding device for a robot handling device and to the use of such a holding device.

Background

In an industrial environment, in order to operate a robot, it is necessary to use a so-called robot operating device. The connection of the robot operating device to the robot or the robot controller is realized by a cable connected to the robot operating device or by wireless. The robot operating device is carried by an operator for controlling, teaching and/or programming the robot, most often in the vicinity. In this case, the robot handling device must usually be lowered from the hand in order to perform other activities, such as learning a work instruction.

The robotic manipulation device therefore has a harness system for easy manipulation that allows the operator not to have to put the device down completely, but to wear the device on the shoulder or neck. Such harness systems are mostly formed by harnesses which are arranged on the robot handling device. Accordingly, the wearing of the robotic manipulation device is limited to hanging it around the neck or shoulder.

Disclosure of Invention

An object of the utility model is to provide an improved, low cost's a holding device for robot handling equipment, can wear robot handling equipment according to the configuration of difference through this holding device. The object of the invention is achieved by a holding device, a facility and the use of a holding device.

The utility model relates to a holding device for robot operation equipment, this holding device includes: a neck region; a first strap region having a first distal connecting region and a second strap region having a second distal connecting region, wherein the first distal connecting region has two end regions, which are in particular designed as free strap ends; the second distal connecting region has two end regions, which are designed in particular as free strap ends, wherein a connecting element is provided on each end region, which connecting element is designed for mechanical, releasable connection to a complementary connecting element of the robot manipulator.

By means of the connecting elements on the free strap end of the holding device, the holding device can be mounted on corresponding connecting elements on the robot manipulator, allowing wearing in different configurations, i.e. different wearing and operating positions. For this purpose, in a first configuration, the holding device can be worn on the shoulder or neck, wherein the connecting elements on the free strap ends of the first and second distal connecting regions are connected only with the corresponding first connecting elements of the robot handling device. In the second configuration, i.e. the operating position, the connecting elements of the other free strap end of the first and second distal end side connecting regions are connected with the corresponding connecting elements of the robotic manipulation device. This is advantageous because the device can thus be carried both in the wearing position and in the operating position, in particular around the neck, wherein the device is supported by the holding device in front of the operator in the use position. These positions can be changed quickly and easily without the need to remove the robot handling device or the holding device.

The neck region is the region which, when worn or during operation, rests on the neck or, for example, on the shoulders of the operator. Preferably, the neck region is a cushion-like member, which is bendable and flexible. The neck region can be fixedly connected, releasably connected or pushed in with the strap region.

Preferably, the first strap region has a first proximal side fastening region and the second strap region has a second proximal side fastening region. In this case, the first and second proximal fastening regions can preferably be arranged or fastened on opposite sides of the neck region.

Preferably, a harness clip may be provided in the first and second harness regions to avoid interference with the connection region not required for wearing. To this end, the harness clip may be moved along the first and second harness regions. The movement of the harness clip here results in that the free harness ends can abut against each other and thus be stabilized in a wearing position, in which the robotic manipulation device can be held or worn. In the operating position, the harness clip can be moved expediently in the direction of the neck region, to be precise in the direction of the neck region, whereby the free harness ends can be moved relative to one another and the robot operating device can be held in the operating position. In an alternative embodiment, instead of a strap clip, a velcro closure may be provided on the strap area, which may hold the strap together.

In a preferred embodiment of the holding device, the first strap region is wound around the first strap adjuster and the second strap region is wound around the second strap adjuster. By means of the strap adjuster, which is preferably made of plastic, it is possible to adjust the length of the individual strap regions and thus adapt the holding device individually to the operator.

Preferably, at least one, preferably two or all of the connecting elements are designed as push buttons. This design allows the operator to transfer the holding device from the wearing position to the operating position. For this purpose, it is merely necessary to connect the free end region, i.e. not connected to the robot handling device by means of the connecting element, into the connecting element of the robot handling device which is complementary thereto. In a further preferred embodiment, the connecting element is designed as a hook-and-loop fastener. In a further preferred embodiment, the connecting element is mixed, i.e. it can consist of a button and a hook-and-loop fastener. The use of a push button is advantageous in that the push button is movable or rotatable about an axis and thus allows for slight variations in the position of the harness region depending on the different configurations of the harness region.

Preferably, the end regions of the free strap ends of the first and second distal end side connection regions are provided with stops for limiting the movement of the strap clip. Due to this limitation, the harness clip cannot move beyond or slide off the free harness end.

The variants of the embodiments shown and described can be carried out in various ways. In particular, the features of the different embodiments can be combined with one another as desired, in particular also interchanged.

The invention also relates to a facility comprising a robot handling device and the aforementioned holding device, wherein the robot handling device has a connecting element complementary to the connecting element.

The invention also relates to the use of the above mentioned installation, wherein, in a first configuration, the robot handling device can be worn in a wearing position, wherein the connecting elements of the first and second harness regions are connected with the corresponding connecting elements of the robot handling device and the connecting elements of the first and second harness regions are not connected, and wherein, in a second configuration, the robot handling device can be worn in an operating position, wherein the connecting elements of the first and second harness regions are connected with the corresponding connecting elements of the robot handling device and the connecting elements of the first and second harness regions are connected with the corresponding connecting elements of the robot handling device.

Drawings

The present invention is described in detail below by way of example with reference to the accompanying drawings. Here, like elements have like reference numerals. Wherein:

fig. 1 shows an embodiment of a holding device for a robot handling apparatus;

fig. 2 shows a schematic front view of an operator with a holding device having a robotic manipulation apparatus in a wearing position;

fig. 3 shows a schematic side view of an operator with a holding device having a robotic manipulation apparatus in an operational position;

figure 4 schematically shows an alternative embodiment of a holding device for a robot handling equipment;

fig. 5 schematically shows another alternative embodiment of a holding device for a robot handling apparatus.

Wherein the reference numerals are as follows:

1 holding device

2 neck region

3 harness area

301 first strap

4 harness area

401 second strap

5 first strap adjuster

6 second strap adjuster

7-10 end region

101a first proximal fastening region

101b second proximal fastening region

102a first distal connection region

102b second distal connection region

11a, 11b connecting element

12a, 12b connecting element

13 first strap clip

14 second strap clip

15a first stop

15b second stop

16 Robotic manipulator

17 operator

18a, 18b connecting element

19a, 19b connecting element

Detailed Description

A schematic view of a holding device 1 with a neck region 2 can be seen in fig. 1. The neck region 2 is designed as a cushioned, flexible element. Likewise, other cushion-like neck regions 2, in particular textile neck regions, are also conceivable. The neck region 2 is designed such that it is adapted to the front and/or rear neck region of an operator, not shown here.

Furthermore, the holding device 1 has a first strap region 3 and a second strap region 4, wherein the

strap regions

3, 4 are formed in the embodiment shown by a first strap 301 and a second strap 401, respectively. The carrying strap 301 and the carrying strap 401 are in particular nylon straps. It is apparent that: other suitable materials may be used for carrying strap 301 and carrying strap 401.

The first strap region 3 has a first proximal fastening region 101a and a first distal connecting region 102 a. The same applies to the second strap region 4, which has a second proximal fastening region 101b and a second distal connecting region 102 b. The two proximal fastening regions 101a and 101b are arranged or fastened on opposite sides of the neck region 2. Preferably, the back belt 301 and the back belt 401 may be wound around the

back belt adjusters

5 and 6, respectively. The length of the

back bands

301 and 401 can be adjusted by the

back band adjusters

5, 6, whereby the holding device can be adapted to the respective operator. The first and second distal connecting

regions

102a and 102b of the carrying strap 301 and the back 401 have end regions 7-10, respectively, which are configured as carrying strap ends of the carrying

straps

301 and 401. A connecting

element

11a, 11b, 12a, 12b is arranged on each end region 7-10. In the embodiment shown, connecting

elements

11a and 11b in the form of buttons are provided on the

end regions

7 and 9, while velcro are provided at the

end regions

8 and 10.

In the illustrated embodiment, first and second strap clips 13, 14 are movably arranged on the first and

second strap regions

3, 4. The harness clips 13, 14 are movable along the

harnesses

301, 401 toward the respective proximal-side fastening regions 101a, 101b and toward the respective distal-

side connecting regions

102a, 102 b. The back-

strap clips

13, 14 are responsible here: when the

respective braces

13, 14 are moved in the direction of the distal end

side connection regions

102a, 102b, the

braces

301, 401 abut against themselves; or the carrying

belts

301, 401 are movable or spaced apart from each other.

On the

end regions

7, 10, there are provided

stops

15a, 15b, preferably in the form of small projections made of woven fabric, plastic or metal, respectively, which limit the movement of the

braces

13, 14 along the

braces

301, 401 to prevent the

braces

13, 14 from accidentally falling or loosening.

Next, an application of the aforementioned holding device with respect to the robot operating device will be described with reference to fig. 2 and 3. For the sake of clarity, a complete view of the holding device is not shown in fig. 3.

Fig. 2 shows the holding device 1 in use with the robot operating device 16 and the operator 17 in a front view. In a first configuration, i.e. in the wearing position, the robotic manipulation device 16 is worn around the neck by the operator 17.

For wearing the robotic manipulation device 16, the neck region 2 is placed around the neck of the operator 17 and the

connection elements

11a, 11b of the

end regions

7, 9 of the first and second

distal connection regions

102a, 102b are releasably mechanically connected with

complementary connection elements

18a, 18b located on the back side of the robotic manipulation device 16. The connecting

elements

12a, 12b are not connected with corresponding complementary connecting

elements

19a, 19b of the robotic manipulation device 16. In this case, the strap clips 13, 14 prevent the

end regions

8, 9, which are designed as strap ends, from moving freely and interfering with one another.

The robotic manipulation device 16 may be suspended or worn on the shoulder of the operator 17 in addition to being worn around the neck. In the wearing position around the shoulders and in the wearing position around the neck, it is of course also possible to use the robot operating device 16, wherein the operator 17 grasps the robot operating device 16 with both hands and hangs it again on the neck or shoulders after use.

Fig. 3 shows a second configuration of the holding device according to fig. 2, namely an operating position, in which the

braces

13, 14 of the holding device 1 are moved in the direction towards the proximal fastening regions 101a, 102 b. The connecting

elements

11a, 11b are connected with complementary connecting

elements

18a, 18b of the robot operating device 16 as in the wearing position. The connecting

regions

12a, 12b of the

end regions

8, 10 of the carrying

straps

301, 401, which are designed as hook and loop fasteners, are likewise connected to the complementary connecting

elements

19a, 19 b. The robot handling equipment 16 is thereby held in the operating position by the holding device 1 at an angle of approximately 45-70 ° in front of the operator 17. Hereby, the hands of the operator 17 are advantageously left free, i.e. the operator 17 can perform other activities during, after or before use of the robot handling device without having to take off the robot handling device. This application can be immediately restored to use here.

Fig. 4 shows a further preferred embodiment of the holding device 1. The difference from the foregoing embodiment is that: the neck region 2 is pushed onto the carrying

straps

301, 401.

Fig. 5 shows a further preferred embodiment of the holding device 1. In this embodiment, the

straps

301, 401 are fixedly connected to the neck region. To form the holding device 1, the back band 302 fixedly connected to the neck region 2 is parallel to and opposed to the back band 301, and the back band 402 fixedly connected to the neck region 2 is parallel to and opposed to the back band 401. The connecting elements 11-12 can also be designed as openings in the end regions 7-10 instead of being configured as buttons and velcro, wherein the complementary connecting elements 18-19 on the robot manipulator 16 are configured as pins.

Furthermore, instead of the harness clips 13, 14, velcro may be provided on the

harness

301, 401, which holds the

harness

301, 401 together.

Claims

1. A holding device (1) for a robot handling equipment, characterized in that the holding device comprises:

-a neck region (2);

-a first strap region (3) having a first distal connecting region (102 a);

-a second strap region (4) having a second distal connecting region (102 b);

-wherein the first distal connecting region (102a) has two end regions configured as free strap ends,

-wherein the second distal connecting region (102b) has two end regions configured as free strap ends,

-wherein a connecting element is provided on each end region, which connecting element is designed to be mechanically releasably connected with a complementary connecting element of the robot manipulator.

2. The holding device according to claim 1, characterized in that the first strap region (3) has a first proximal fastening region (101a) and the second strap region (4) has a second proximal fastening region (101 b).

3. A holding device according to claim 2, wherein the first proximal fastening area (101a) and the second proximal fastening area (101b) are arranged or fastened on opposite or opposite sides of the neck region (2).

4. The holding device according to any one of claims 1 to 3, characterized in that strap clips (13, 14) are provided on the first strap region (3) and the second strap region (4), and wherein the strap clips (13, 14) are movable along the first strap region (3) and the second strap region (4).

5. Holding device according to claim 4, characterized in that an end region of the first distal connecting area and an end region of the second distal connecting area are each provided with a stop (15a, 15b) for limiting the movement of the braces clips (13, 14).

6. The holding device according to any one of claims 1 to 3, characterized in that the first strap region (3) is wrapped around a first strap adjuster (5) and the second strap region is wrapped around a second strap adjuster (6).

7. The holding device according to claim 6, characterized in that the length of the first strap region (3) and the length of the second strap region (4) are adjustable by means of the first strap adjuster and the second strap adjuster.

8. A holding device as claimed in any one of claims 1 to 3, characterized in that at least one connecting element is configured as a push button.

9. A holding device as claimed in any one of claims 1 to 3, characterized in that at least one connecting element is configured as a hook-and-loop fastener.

10. Installation comprising a robot handling device (16) and a holding device (1) according to any of claims 1 to 9, characterized in that the robot handling device has a connecting element complementary to the connecting element.

11. The plant according to claim 10, characterized in that in a first configuration the robotic manipulation device (16) is wearable in a wearing position, wherein the connecting elements of the first strap region (3) and the second strap region (4) are connected with corresponding connecting elements of the robot operating device (16), and the connecting elements of the first strap region (3) and the second strap region (4) are not connected, and wherein, in a second configuration, the robotic manipulation device (16) is wearable in a manipulation position, wherein the connecting elements of the first strap region (3) and the second strap region (4) are connected with corresponding connecting elements of the robot handling device (16), and the connecting elements of the first strap region (3) and the second strap region (4) are connected with corresponding connecting elements of the robot manipulator (16).