TW202010612A - Container unit of a robot arm - Google Patents

Abstract

A container unit of a robot arm is disclosed to support a carrier and the robot arm with a buffer rod. The robot arm on the carrier is turned down to store into the container, and the container unit is carried to a predetermined position. Then the robot arm is turned up and supported by the buffer rod and stoppers to stand on the container to operation for raising the moving safety.

Description

Robot arm storage unit

The invention relates to a robot, in particular to a robot storage unit that quickly folds and stores the robot after work, and moves and transports it to change the working position.

The robot arm has the characteristics of flexible movement, precise positioning and continuous operation, and has become the best tool for manufacturing and assembly on the product production line. While moving or changing the robot arm to the working position, how to quickly locate and avoid collision with the precision robot arm to improve the efficiency of the production line is the main research topic in the industry.

The prior art robot arm of the US published patent case US20130119039 builds a frame around the standing robot arm, wraps the robot arm in the frame, and installs wheels on the bottom surface of the frame. By directly pushing the frame, the wheels are rotated to facilitate The robot arm moves to the working position. The prior art not only uses the frame to protect the robot arm from collision during movement, but also the standing robot arm can immediately perform positioning operations on the production line to achieve the purpose of improving the efficiency of the production line.

However, during the movement of the aforementioned prior art robot arm, the robot arm stands in the frame. In order to protect the robot arm from collision, it is necessary not only to enlarge the frame to cover the entire robot arm, but also to avoid the fixed frame from hindering the operation of the robot arm The space also needs to expand the space of the frame, making the frame larger and not easy to move at random. Not only does it require more human assistance to move, but also the frame covering the entire robot arm is not easy to configure in the working space of the shaped production line. In addition, during the movement of the robot arm, the huge frame is more likely to collide, and the vibration caused by the collision will reduce the precision of the robot arm and even damage the robot arm, thus increasing the time for adjusting or repairing the robot arm, and delaying The positioning of the robot arm, on the contrary, reduces the efficiency of the production line. Therefore, there are still problems to be solved in the storage and movement of the robot arm.

The purpose of the present invention is to provide a storage unit for a robot arm. The support plate is folded by a telescopic support of a buffer rod, so that the robot arm fixed on the support plate can be easily and quickly stored in the storage box to improve the safety of movement.

Another object of the present invention is to provide a storage unit for a robot arm, which utilizes the expansion and contraction of a buffer rod and a block to support the support plate to turn upright, so that the robot arm fixed on the support plate stands firmly on the storage box to accelerate the positioning of the robot arm operation.

Still another object of the present invention is to provide a storage unit for a robot arm. A retractable pull rod is provided in the storage box. During the operation of the robot arm, the retracted rod is not affected by the working space of the robot arm, and the pull rod is extended when the robot arm is moved. In order to move the storage unit with wheels installed.

In order to achieve the purpose of the foregoing invention, the robot arm storage unit of the present invention uses a frame to fix a multi-sided box board to form a hollow storage box, the main frame at the edge of the upper box surface fixes the hinge, and the hinge links the carrier board so that the carrier board has an edge The shaft is fixed so that the shaft can be turned over, and the side box plate relative to the direction of the bearing plate is set as the door plate of the movable switch, and the storage box body is provided with a plurality of wheels on the lower surface of the bottom box plate. The robot arm is fixed on the surface of the bearing plate. The buffer rod is hydraulic or nitrogen type. One end is fixed on the lower surface of the bearing plate, and the other end can be fixed on the main frame rotatably, supporting the weight of the bearing plate and the robot arm, and turning with the bearing plate. The stopper is provided on the edge of the upper surface of the storage box and is adjacent to the lower surface of the frame on both sides of the main frame. Each side of the frame is provided with a stopper. The stopper can rotate to protrude from the lower surface of the frame, against the lower surface of the bearing plate, and rotate When the stopper is retracted into the lower surface of the frame, the bearing plate is released to turn over.

The robot arm storage unit of the present invention opens the door panel when the robot arm is in the storage mode, rotates the stopper to retract into the lower surface of the frame, releases the support of the carrier board, applies force to fold the carrier board, and allows the robot arm to be stored in the storage box with the carrier board. Close the door again to move the robot arm. When the robot arm moves to the position, open the door panel, apply force to turn over the carrier board, rotate the protruding stopper to support the carrier board, and let the robot arm stand on the carrier board to perform the operation.

In the storage unit of the robot arm of the present invention, the storage box is provided with a pull rod on the opposite side panel of the door panel. The pull rod is a retractable pull rod. The pull rod is extended when the robot arm is moved, and retracted when the robot arm is standing on the carrier board. In addition, the storage unit of the robot arm storage unit of the present invention sets the storage mode to return the robot arm to the storage posture. The storage posture is set according to the hollow space of the storage box. The robot arm is folded to a contracted state, and the entire robot arm can be stored in the storage together with the carrier plate Inside the box. And an elastic body is added between the bearing plate and the storage box.

10‧‧‧ Robot arm storage unit

11‧‧‧Storage box

12‧‧‧Robot arm

13‧‧‧Buffer rod

14‧‧‧stop

15‧‧‧frame

16‧‧‧Main frame

17‧‧‧ hinge

18‧‧‧Bearing plate

19‧‧‧door panel

20‧‧‧Bottom board

21‧‧‧wheel

22‧‧‧Tie rod

23‧‧‧Elastomer

FIG. 1 is a perspective view of the robot arm of the present invention standing on the storage unit.

FIG. 2 is a perspective view of the door panel of the robot arm storage unit of the present invention.

FIG. 3 is a perspective view of the fixed carrying plate of the robot arm storage unit of the present invention.

FIG. 4 is a schematic view of the folding loading board of the robot arm storage unit of the present invention.

5 is a perspective view of the storage unit storing the robot arm of the present invention.

FIG. 6 is a schematic diagram of the supporting plate of the present invention supported on an elastic body.

Regarding the technical means adopted by the present invention to achieve the above-mentioned objectives, and their effects, the preferred embodiments are described below with reference to the drawings.

Please refer to FIG. 1, FIG. 2 and FIG. 3 at the same time. FIG. 1 is a perspective view of the robot arm of the present invention standing on the storage unit, FIG. 2 is a perspective view of the robot arm storage unit of the present invention with the door panel removed, and a fixed load of the robot arm storage unit of the present invention Perspective view of the board. The robot arm storage unit 10 of the present invention mainly includes a storage box 11, a robot arm 12, a buffer rod 13, a stopper 14 and the like. In FIG. 1, the storage box 11 of the present invention is a hollow box formed by fixing a multi-sided box plate to a frame 15, wherein the main frame 16 at the edge of the upper box surface of the storage box 11 is fixed with a hinge 17 (see FIG. 3 ). The chain 17 links the bearing plate 18, and an edge of the bearing plate 18 is fixed as a shaft to cause overturning, and the robot arm 12 is fixed on the upper surface of the bearing plate 18 so that the robot arm 12 can be turned with the bearing plate 18. In the storage box 11, the side box board in the folding direction relative to the carrier board 18 is used as the door panel 19 of the movable switch, so as not to hinder the folding or turning up of the robot arm 12. Although the door panel 19 of this embodiment is exemplified in a detachable form (see FIG. 2 ), it includes but is not limited to a detachable box plate, such as a hinge link form, which can also achieve the purpose of the present invention.

In FIG. 2, the storage box 11 of the present invention is further provided with a plurality of wheels 21 on the lower surface of the bottom box panel 20, and a pull rod 22 is provided on the opposite side panel of the removable door panel 19 of the storage box 11. The pull rod 22 is a retractable pull rod. When the robot arm 12 is stored, the pull rod 22 is extended to facilitate grasping, so that the storage unit 10 can be easily moved, and when the robot arm 12 stands on the carrying plate 18, the pull rod 22 is retracted to avoid affecting the machine Work space for arm 12.

In FIG. 3, the present invention places the buffer rod 13 on the lower surface of the carrier plate 18, opposite the upper surface of the carrier plate 18 provided on the robot arm 12, and the buffer rod 13 may be a retractable buffer such as an oil pressure type or a nitrogen type. One end of the rod is fixed on the lower surface of the bearing plate 18, and the other end is rotatably fixed on the main frame 16 of the fixed hinge 17. The buffer rod 13 flips with the bearing plate 18, causing the buffer rod 13 to extend or contract to balance and support the bearing plate 18 and the weight of the robot arm 12, so as long as the user exerts a slight force on the carrier plate 18, the carrier plate 18 can be flipped with the applied force to reduce the weight of the user supporting the carrier plate 18 and the robot arm 12.

According to the present invention, on the edge of the upper box surface of the storage box 11 adjacent to the lower surfaces of the frames 15 on both sides of the main frame 16, a stopper 14 is provided, and the stopper 14 can rotate. When the stopper 14 is rotated in a specific direction, the stopper can be turned on. The block 14 partially protrudes from the lower surface of the frame 15 to abut both sides of the lower surface of the carrier plate 18 to prevent the carrier plate 18 from turning over, so as to enhance the support force for the robot arm 12 to stand on the carrier plate 18 to perform work. When the protruding stopper 14 is rotated at a right angle, the stopper 14 can be completely retracted into the lower surface of the frame 15 (meal 5) to release the support of the carrier plate 18 so that the carrier plate 18 can be turned over to store the robot arm 12 .

The robot arm 12 of the present invention stands on the carrier plate 18 and can work in various modes after being in place. In order to facilitate the storage of the robot arm 12, the storage mode is set in the robot arm 12, regardless of the completion of various modes of operation or the need to move to change the working position, As long as the storage mode is executed, the robot arm 12 will return to the storage posture, and the storage posture is set according to the hollow space of the storage box 11, so that the robot arm 12 is automatically folded to a contracted state, so that the entire robot arm 12 accompanies the carrier plate 18 It is stored in the storage box 11 and allows the door 19 in the form of a movable switch to be installed in the storage box 11.

Please also refer to FIG. 1 to FIG. 5 at the same time. FIG. 4 is a schematic view of the folding support plate of the robot arm storage unit of the present invention. FIG. 5 is a perspective view of the storage unit storing the robot arm of the present invention. When the robot arm storage unit of the present invention is used, as shown in FIG. 1, the pull rod 22 of the storage box 11 is retracted, and the carrier plate 18 is turned upright on the storage box 11, so that the robot arm 12 stands on the carrier board 18 with turning over Do homework. As shown in FIG. 2, when the robot arm 12 completes work or needs to move to change positions, it first executes the collection mode to return the robot arm 12 to the collection posture. Next, the door panel 19 is opened, and then the pull rod 22 is pulled out, but the pull rod 22 can also be pulled out after storing the robot arm 12.

As shown in FIG. 3, the opening of the removed door panel rotates the retractable stop 14 to release the support of the bearing plate 18, and the buffer bar 13 supports the weight of the bearing plate 18 and the robot arm 12. As shown in FIG. 4, the robot arm 12 or the bearing plate 18 is forced and folded to compress the buffer rod 13 so that the bearing plate 18 rotates downward with the hinge 17 fixed by the main frame 16 close to the box plate of the main frame 16, At the same time, the carrying robot arm 12 rotates downward. As shown in FIG. 5, the bearing plate 18 rotates downward into the storage box 11, and the loaded robot arm 12 also enters the storage box 11 with the rotation. Due to the rotation process, the weight of the bearing plate 18 and the robot arm 12 are all balanced by the buffer rod 13 Support, you can easily and quickly store the robot arm 12 into the storage box 11 with only a little force, and finally close the door panel 19 (see Figure 1). If the lever 22 is not pulled out, the lever 22 can be pulled out for luggage The box method uses wheels 21 to move the robot arm 12. The storage box 11 can also be covered with a box plate (not shown) on the box surface to move the robot arm 12 in a closed state.

After moving the robot arm 12 to position, according to the reverse procedure of the aforementioned storing arm, the door panel 19 is opened to allow the buffer rod 13 to balance the weight of the supporting plate 18 and the robot arm 12, and the supporting plate 18 is turned upside down and the protrusion is rotated. The block 14 supports the carrying plate 18, allows the robot arm 1 to stand on the carrying plate 18, and then retracts the draw bar 22 and closes the door panel 19 to quickly position the robot arm 1 for operation.

As shown in FIG. 6, it is a schematic diagram of a robot arm storage unit supporting a carrier plate on an elastic body according to another embodiment of the present invention. The basic structure of this embodiment is the same as that of the previous embodiment. To simplify the description, the part numbers of the same components are declared together with the part numbers of the previous embodiment. The foregoing embodiment stores the robot arm 12 into the storage box 11 for movement. Although the robot arm 12 can buffer the vibration of the moving process by the buffer rod 13 to avoid damaging the robot arm 12, in order to further avoid the vibration and collision of the moving process, this embodiment is An elastic body 23 is added between the carrying plate 18 and the storage box 11 to strengthen the absorption of the vibration during the movement to avoid damage to the robot arm 12.

Therefore, the storage unit of the robot arm of the present invention can balance the weight of the support plate and the robot arm fixed on the load plate by the expansion and contraction of the buffer rod, so that the load plate can be folded over effortlessly, and it is easy to quickly store in the storage box, and The shock absorber is provided by the buffer rod and the elastic body to achieve the purpose of the invention to improve the safety of movement. The robot arm storage unit of the present invention can also use the support of the buffer rod to rotate the bearing plate, quickly turn the robot arm up, and strengthen the support by the stopper, so that the robot arm stands firmly on the bearing plate of the storage box, which can be achieved The purpose of the invention of accelerating the positioning of the robot arm for operation. In addition, the robot arm storage unit of the present invention is provided with a retractable pull rod in the storage box. When the robot arm is in operation, the retracted pull rod will not affect the working space of the robot arm. When the robot arm is extended, the pull rod can be reached. The purpose of the invention to facilitate the movement of a storage unit equipped with wheels.

The above are only for the convenience of describing the preferred embodiments of the present invention, and the scope of the present invention is not limited to these preferred embodiments. Any changes made according to the present invention without departing from the spirit of the present invention , All belong to the scope of patent application of the present invention.

11‧‧‧Storage box

12‧‧‧Robot arm

14‧‧‧stop

18‧‧‧Bearing plate

21‧‧‧wheel

22‧‧‧Tie rod

Claims (8)

A robot arm storage unit includes: a storage box, a hollow box formed by fixing a multi-sided box plate to the frame, a main frame at the edge of the upper box surface to fix a hinge, the hinge links the bearing plate, and the edge of the bearing plate is fixed as a shaft Reversible, the side panel opposite to the direction of the carrier plate is set as the door panel of the movable switch, the storage box is provided with a plurality of wheels on the bottom surface of the bottom panel; the robot arm is fixed on the surface of the carrier plate; the buffer bar is fixed on one end The lower surface of the bearing plate, the other end can be rotated and fixed on the main frame, support the weight of the bearing plate and the robot arm, and flip with the bearing plate; the stopper is provided on the edge of the upper surface of the storage box and is adjacent to both sides of the main frame The lower surface of the frame is provided with a stopper on each side of the frame. The stopper can rotate to protrude from the lower surface of the frame and abut the lower surface of the bearing plate. When the rotating stopper is retracted into the lower surface of the frame, the bearing plate is released to turn over; When the robot arm is in the storage mode, open the door panel, rotate the stopper to retract into the lower surface of the frame, release the support of the carrier panel, apply force to fold the carrier panel, let the robot arm collect with the carrier panel into the storage box, and then close the door panel to move Robot arm. The robotic arm storage unit as described in item 1 of the patent application scope, in which the robotic arm moves to a position, opens the door panel, applies force to lift the supporting plate, rotates the protruding stopper to support the supporting plate, and allows the robotic arm to stand on the supporting plate To do homework. The robot arm storage unit as described in item 1 of the patent scope, wherein the door panel is a removable box panel. The robot arm storage unit as described in item 1 of the scope of the patent application, wherein the storage box is provided with drawbars on the opposite side of the door panel. The robot arm storage unit as described in item 4 of the patent application scope, wherein the lever is a retractable lever, the lever is extended when the robot arm is moved, and the lever is retracted when the robot arm is standing on the carrier board. The robot arm storage unit as described in item 1 of the patent application scope, wherein the buffer rod is a hydraulic or nitrogen type telescopic buffer rod. The robotic arm storage unit as described in item 1 of the patent application scope, in which the robotic arm is set in a storage mode to return the robotic arm to the storage posture, the storage posture is set according to the hollow space of the storage box, and the robotic arm is folded to a contracted state The whole robot arm can be stored in the storage box together with the bearing plate. The robot arm storage unit as described in item 1 of the patent application scope, wherein an elastic body is added between the bearing plate and the storage box.

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