DK179501B1 - Robotic workstation - Google Patents

Robotic workstation Download PDF

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Publication number
DK179501B1
DK179501B1 DKPA201600761A DKPA201600761A DK179501B1 DK 179501 B1 DK179501 B1 DK 179501B1 DK PA201600761 A DKPA201600761 A DK PA201600761A DK PA201600761 A DKPA201600761 A DK PA201600761A DK 179501 B1 DK179501 B1 DK 179501B1
Authority
DK
Denmark
Prior art keywords
base unit
robotic workstation
wheels
robotic
bottom part
Prior art date
Application number
DKPA201600761A
Other languages
Danish (da)
Inventor
Lachenmeier Per
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
Priority to DKPA201600761A priority Critical patent/DK179501B1/en
Priority to PCT/EP2017/082317 priority patent/WO2018108860A1/en
Publication of DK201600761A1 publication Critical patent/DK201600761A1/en
Publication of DK201600761A8 publication Critical patent/DK201600761A8/en
Application granted granted Critical
Publication of DK179501B1 publication Critical patent/DK179501B1/en

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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
    • 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
    • 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
    • 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

Landscapes

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

Abstract

The present invention relates to a robotic workstation, which can be managed by a single user. The robotic workstation comprises a base unit, a movable robotic arm, a handle, and a longitudinal runner.

Description

Robotic workstation
Technical field of the invention
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.
KR20150133080A discloses a medical robot base for performing a weight balance function. The medical robot base is supported to be moved by front wheels and rear wheels, and configured to be mounted with a medical robot thereon. The medical robot base comprises: a sliding guide for supporting a medical robot to slide in the left and right directions; a counter weight moved in the left and right directions opposite to the directions of the sliding movement of the medical robot, in order to compensate for eccentric weight due to the sliding movement thereof; a weight guide for supporting the sliding movement of the counter weight; and a driving motor driven under the control of a controller in order to drive the counter weight. The medical robot base performs a counter weight function to compensate for eccentric weight due to the sliding movement of the medical robot, and to maintain the weight balance.
Background of the invention
Traditional robotic workstations for use for educational purposes, for demonstration purposes, and for use at exhibitions have the disadvantage that they are unmanageable. Furthermore, the safety legislation in many countries prohibit a single user to lift the weight of a robotic workstation, complicating their transportation.
Object of the Invention
The objective of the present invention is to provide a robotic workstation, which can be managed by a single user.
Description of the Invention
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 longitudinal runner configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; and
- a longitudinal runner configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; wherein the longitudinal runner is positioned between the pair of wheels, and extends upwards towards the top section of the base unit, and wherein the pair of wheels and the handle extends beyond the back face of the bottom 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; and
- a longitudinal runner configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; wherein the longitudinal runner is positioned between the pair of wheels, and extends upwards towards the top section of the base unit, and wherein the pair of wheels and the handle extends beyond the back face of the bottom section of the base unit.
A third 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 sliding unit configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; and
- a longitudinal runner configured for sliding contact with an edge of an obstacle to be passed during transportation of the robotic workstation; wherein the longitudinal runner is positioned between the pair of wheels, and extends upwards towards the top section of the base unit, and wherein the pair of wheels and the handle extends beyond the back face of the bottom section of the base unit.
In one or more embodiments, 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.
In one or more embodiments, 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 longitudinal runner is positioned between the pair of wheels, and extends upwards towards the top section of the base unit. When sliding the robotic workstation down an obstacle (such as down from a boot or transport compartment of a car) and over an edge (such as the bumper or side rail of the car), this configuration will allow for a smooth transition between the wheels being in contact with the edge and the runner being in contact with the edge. The runner is preferably longitudinal, as the sliding operation will be needed along a substantial length of the robotic workstation.
In one or more embodiments, the pair of wheels and the handle extends beyond the back face of the base unit. When sliding the robotic workstation down an obstacle (such as down from a boot or transport compartment of a car) and over an edge (such as the bumper or side rail of the car), this configuration will allow for a smooth transition between the wheels being in contact with the edge and the runner being in contact with the edge.
In one or more embodiments, the longitudinal runner comprises a top layer of an elastic and/or flexible material. Many suitable elastic and/or flexible materials 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.
In one or more embodiments, the longitudinal runner is configured as a cord winder.
In one or more embodiments, 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.
In one or more embodiments, 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.
In one or more embodiments, the handle comprises one or more wheels. 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). In one or more embodiments, the pair of wheels and the handle extends beyond the back face of the bottom section of the base unit.
In one or more embodiments, the handle further comprises a control pad holder. In one or more embodiments, 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.
In one or more embodiments, 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.
In one or more embodiments, 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.
In one or more embodiments, 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.
In one or more embodiments, 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.
In one or more embodiments, the robotic workstation comprises means for zeropoint clamping. This configuration reduces the need for recalibration of the robotic workstation.
In one or more embodiments, 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.
As used in the specification and the appended claims, the singular forms a, an, and the include plural referents unless the context clearly dictates otherwise. Ranges may be expressed herein as from about or approximately one particular value and/or to about or approximately another particular value. When such a range is expressed, another embodiment includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent about, it will be understood that the particular value forms another embodiment.
It should be noted that embodiments and features described in the context of one of the aspects of the present invention also apply to the other aspects of the invention.
Brief description of the figures
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 11 is a close-up view of the handle shown in Figure 10, and where a control pad is positioned in the control pad holder; and
Figure 12 is a cross section of a robotic workstation in accordance with various embodiments of the invention.
References
100 Base unit
110 Bottom section
112 Back face of the bottom section
114 Top face of the bottom section
116 Opening
117 Opening
118 Cable slot
120 Top section of the base unit
200 Movable robotic arm
210 Joint
300 Pair of wheels
400 Longitudinal runner
500 Handle
510 Wheel
520 Control pad holder
600 Protective cover
610 Horizontal plate
620 Parts tray
700 Control pad
Detailed Description of the Invention
Figure 1 is a perspective view of a robotic workstation in accordance with various embodiments of the invention. The robotic workstation comprises a base unit 100, a movable robotic arm 200, a handle 500, and a longitudinal runner 400. The base unit 100 comprises a bottom section 110 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 110 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 112 of the bottom section 110 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 110, 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. In Figure 9, the protective cover can cover all the movable arm segments when the movable robotic arm is collapsed. The protective cover 600 comprises a horizontal plate 610 configured for covering at least a part of the top face 114 of the bottom section 110 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).
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. The top section of the base unit is narrower than the bottom section of the base unit, such that the top face 114 of the bottom section of the base unit may function as a table top for the movable arm to work on when active.
In Figure 4, the bottom section comprises a compartment with an opening 116 through the upper face 114 of bottom section, and wherein the opening 116 is configured with a cable slot 118 facing the back face 112 of the bottom section. The compartment is configured for holding a control pad 700 for storage (Figure 5).
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. Furthermore, 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 11).

Claims (7)

P A T E N T K R A VP A T E N T K R A V 1. Robotarbejdsstation omfattende:A robotic workstation comprising: - en basisenhed (100), der omfatter en bunddel (110) med et hjulpar (300) og en topdel (120);- a base unit (100) comprising a bottom part (110) with a pair of wheels (300) and a top part (120); - en bevægelig robotarm (200) med en flerhed af led (210) og indrettet til at være koblet til topdelen (120) af basisenheden (100);a movable robot arm (200) having a plurality of joints (210) and adapted to be coupled to the top portion (120) of the base unit (100); - et håndtag (500) a) anbragt nær topdelen (120) af basisenheden (100) eller b) tilbagetrækkelig til en position nær topdelen (120) af basisenheden (100); kendetegnet ved, at robotarbejdsstationen endvidere omfatter en langsgående mede (400) indrettet til glidekontakt med en kant på en hindring, der skal passeres under transport af robotarbejdsstationen; hvor den langsgående mede (400) er placeret mellem hjulparret (300) og strækker sig opad mod topdelen (120) af basisenheden (100), og hvor hjulparret (300) og håndtaget (500) strækker sig ud over bagsiden (112) af bunddelen (110) af basisenheden (100).a handle (500) a) located near the top portion (120) of the base unit (100) or b) retractable to a position near the top portion (120) of the base unit (100); characterized in that the robotic workstation further comprises a longitudinal member (400) arranged for sliding contact with an edge of an obstacle to be passed during transport of the robotic workstation; wherein the longitudinal member (400) is located between the pair of wheels (300) and extends upwardly towards the top part (120) of the base unit (100), and wherein the pair of wheels (300) and the handle (500) extend beyond the rear side (112) of the bottom part (110) of the base unit (100). 2. Robotarbejdsstation ifølge krav 1, kendetegnet ved, at den langsgående mede (400) omfatter et dæklag af et elastisk og/eller fleksibelt materiale.Robotic workstation according to claim 1, characterized in that the longitudinal member (400) comprises a cover layer of an elastic and / or flexible material. 3. Robotarbejdsstation ifølge ethvert af kravene 1-2, kendetegnet ved, at håndtaget (500) omfatter et eller flere hjul (510).Robotic workstation according to any one of claims 1-2, characterized in that the handle (500) comprises one or more wheels (510). 4. Robotarbejdsstation ifølge ethvert af kravene 1-3, kendetegnet ved, at den yderligere omfatter en beskyttelseskappe (600), der er indrettet til at dække mindst en del af armsegmenterne, når den bevægelige robotarm (200) er klappet sammen.A robotic workstation according to any one of claims 1-3, characterized in that it further comprises a protective sheath (600) adapted to cover at least a part of the arm segments when the movable robot arm (200) is folded. 5. Robotarbejdsstation ifølge krav 4, kendetegnet ved, at beskyttelseskappen (600) omfatter en vandret plade (610) indrettet til at dække mindst en del af den øvre flade (114) af basisenhedens (100) bunddel (110), og hvor kappen (600) er indrettet til at blive anbragt i en omvendt position, således at den vandrette plade (610) tjener som arbejdsbordplade for den bevægelige robotarm (200), når den er aktiv.A robotic workstation according to claim 4, characterized in that the protective sheath (600) comprises a horizontal plate (610) arranged to cover at least a part of the upper surface (114) of the bottom part (110) of the base unit (100), and wherein the sheath ( 600) is arranged to be placed in an inverted position so that the horizontal plate (610) serves as a work table plate for the movable robot arm (200) when active. 55 6. Robotarbejdsstation ifølge ethvert af kravene 1-5, kendetegnet ved, at topdelen (120) af basisenheden (100) er smallere end bunddelen (110) af basisenheden (100), således at den øvre flade (114) af basisenhedens (100) bunddel (110) kan fungere som en arbejdsbordplade for den bevægelige robotarm (200), når den er aktiv.Robotic workstation according to any one of claims 1-5, characterized in that the top part (120) of the base unit (100) is narrower than the bottom part (110) of the base unit (100), so that the upper surface (114) of the base unit (100) bottom part (110) can act as a work table top for the movable robot arm (200) when active. 7. Robotarbejdsstation ifølge krav 6, kendetegnet ved, at bunddelen (110) omfatter et rum med en åbning (116) gennem den øvre flade (114) af bunddelen (110), og hvor åbningen (116) er udformet med en kabelslids (118), der vender ud mod bunddelens (110) bagside (112); hvor rummet er 15 udformet til at rumme en kontrolpad (700) til opbevaring.Robotic workstation according to claim 6, characterized in that the bottom part (110) comprises a space with an opening (116) through the upper surface (114) of the bottom part (110), and wherein the opening (116) is formed with a cable slot (118 ) facing the rear side (112) of the bottom part (110); wherein the compartment is 15 designed to accommodate a control pad (700) for storage.
DKPA201600761A 2016-12-13 2016-12-13 Robotic workstation DK179501B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DKPA201600761A DK179501B1 (en) 2016-12-13 2016-12-13 Robotic workstation
PCT/EP2017/082317 WO2018108860A1 (en) 2016-12-13 2017-12-12 Robotic workstation

Applications Claiming Priority (1)

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

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DK201600761A1 DK201600761A1 (en) 2018-06-28
DK201600761A8 DK201600761A8 (en) 2018-07-16
DK179501B1 true DK179501B1 (en) 2019-01-17

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WO (1) WO2018108860A1 (en)

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JP6650119B1 (en) * 2018-09-27 2020-02-19 株式会社安川電機 Robot, robot system, robot position adjustment method
CN113840579A (en) * 2019-05-22 2021-12-24 柯惠Lp公司 Surgical robotic arm storage assembly and method of replacing a surgical robotic arm using the storage assembly
CN110076799A (en) * 2019-05-23 2019-08-02 厦门钛尚人工智能科技有限公司 A kind of intelligent transfer robot
CN111223383A (en) * 2019-11-07 2020-06-02 山东大未来人工智能研究院有限公司 Intelligent education robot with upset function

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WO2018108860A1 (en) 2018-06-21
DK201600761A1 (en) 2018-06-28
DK201600761A8 (en) 2018-07-16

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