WO2003031125A2

WO2003031125A2 - Robotic console

Info

Publication number: WO2003031125A2
Application number: PCT/EP2002/010625
Authority: WO
Inventors: Robert Fleischmann
Original assignee: F.Ee Gmbh Automation
Priority date: 2001-10-05
Filing date: 2002-09-21
Publication date: 2003-04-17
Also published as: WO2003031125A3; AU2002337124A1; DE10149327A1

Abstract

The invention relates to a robotic console comprising a base plate (2), a spacer (4) and a cover plate (3), wherein said console (1) is fixed to the floor by means of the base plate (2) and the robot is fixed to the cover plate (3) while the spacer (4) is welded to the base plate (2) and the cover plate (3). The robotic console according to the invention is characterized in that one of said plates (2, 3), more particularly the base plate (2), has a groove that is bigger than or has the same size as the other plate (3, 2), especially the cover plate (3) and in that at least one of the weld seams for connecting the base plate (2), the spacer (4) and/or the cover plate (3) is a weld seam (11) with edge preparation.

Description

robot console

The present invention relates to a robot console with a base plate, a spacer and a cover plate, the console being attached to the base via the base plate and the robot to the cover plate, and the spacer being welded to the base plate and the cover plate.

Robots are often used in automated manufacturing. In order to absorb forces and torques, the robots are attached directly or indirectly to the floor. The attachment is usually done with screws and dowels, which are anchored in the hall floor. In order to achieve an elevated working position of the robot, brackets are often provided on which the robots are attached. This increased working position expands the robot's work area. Known robot consoles consist, for example, of concrete or of welded structures. Such a welded construction is known for example from DE 200 05708 U1. The base plate consists of a ring on which a spacer is attached. The cover plate on which the robot stands is in turn on the spacer. A special arrangement of holes in the base plate significantly increased the strength of the bracket with regard to its anchoring in the floor. However, it is disadvantageous in the embodiment shown that the manufacturing costs for this console are very high in order to be able to absorb the dynamic forces acting on the console by the robot.

It is therefore an object of the present invention to provide a robot console which, on the one hand, can be manufactured inexpensively and, on the other hand, can absorb very high, in particular dynamic, forces. The present object is achieved with a robot console according to the features of claim 1.

According to the invention, the base plate is designed such that it has a recess which is greater than or equal to the cover plate. This has the effect that a relatively large base plate is available, via which the forces can be introduced into the hall floor. In addition, the invention takes into account that the load-bearing action of the base plate in the region of the recess, which is arranged in particular in the region of the center of the base plate, does not make a significant contribution to the transmission of forces.

If the recess is greater than or equal to the cover plate, it is possible in a particularly advantageous embodiment of the invention that the material of the base plate, which is made free by the production of the recess, is used for the cover plate. As a result, it is not necessary that two large-area material plates have to be processed, each of which causes a large waste or has areas which do not, or at least not significantly, contribute to the function of the individual plates and are therefore not necessary.

With modern robot consoles it is necessary to be able to absorb very high dynamic forces. Particularly in the case of robots which have large projections and high load capacities combined with high speeds, very high dynamic forces act on the robot console. Particularly in emergency stop situations, in which the robot has to come to a standstill within a very short time and travel distances, extremely high torques and dynamic forces are generated, which have to be picked up by the robot console and directed into the hall floor.

In order to further increase the performance of the robot console despite the large material savings of the present invention, measure provided that at least one of the welds for connecting the base plate, spacer and / or cover plate is a weld with weld preparation. The preparation of the weld seam enables a very intimate connection between the weld seam and the components to be connected to be obtained. It is only through this measure in connection with the material saving in the area of the base plate and / or cover plate that it is possible to create an inexpensive robot console which is more powerful than conventional robot consoles.

The use of a weld seam with weld preparation also enables material to be used for the spacers which is thinner and / or has cutouts in comparison to conventional robot consoles and thus additionally contributes to material savings and cost reduction. Contrary to the prevailing opinion that an increased use of materials is required for a more powerful robot console, the present invention has created a robot console which, owing to a significantly lower amount of material used in combination with selected welded connections, is less expensive and more efficient compared to conventional robot consoles.

If the recess is greater than or equal to the cover plate, it is possible in a particularly advantageous embodiment of the invention that the material of the base plate, which is made free by the production of the recess, is used for the cover plate. As a result, it is not necessary that two large-area material plates have to be processed, each of which causes a large waste or has areas which do not or at least not significantly contribute to the function of the individual plates and are therefore not necessary. If the base plate and cover plate are welded to each other with the spacer rotated, a weld seam with and without preparation can be used alternately, for example. This is particularly useful when the outline of the recess and the resulting plate are, for example, undulating.

According to an embodiment of the invention, the recess is provided in the cover plate. Here, too, there are areas that are not necessary for attaching the robot to the console and transferring force from the robot to the console. This is also usually a central area of the cover plate. Material is taken from this area of the cover plate and is used to manufacture the base plate. Here, it is possible, for example, that the material from the recess is used to produce several base plates, which are connected in the manner of individual feet to the spacer and thus form a multi-part base plate, via which the robot console connects to the hall floor, for example using screw plugs -Connections.

If the base plate and the cover plate are made from one part, it is possible to use the material which is made free by the recess in one plate for the production of the other plate. This creates cover and base plates with the same wall thickness. Even if this is not absolutely necessary for the force absorption, this is a particularly advantageous embodiment of the invention, since the waste of material is significantly reduced, which in turn contributes to the cost reduction of the complete robot console.

It is particularly advantageous since the introduction of force can be particularly gentle on the welded connection and the material if the spacer is on the top surface of one of the plates, in particular the base plate, and on the end surface of the other plate, in particular the cover plate. plate is arranged. This arrangement makes it possible for the one plate, which is produced per se from the waste, ie from the recess in the one plate, to be connected to the spacer by means of a very strong weld seam. In addition, a large weld seam can also be produced by the arrangement of the spacer on the top surface of the other plate.

The weld preparation is advantageously provided at least on the connection between the spacer and the base plate. In this area, higher dynamic forces are to be expected than at the connection between the spacer and the cover plate. It is therefore provided that the weld seam with the weld seam preparation preferably takes place in this lower region.

For preparation of the weld seam, it is particularly advantageous if the base plate, the cover plate and / or the spacer have a chamfer. At least one of the abutting surfaces to which the weld seam is attached is chamfered by the chamfer. As a result, the connection of the two parts, in particular when exposed to dynamic forces, is designed to be more durable than in the case of a weld without preparation of the weld, as would be the case, for example, with a simple fillet.

A HV, K or HY seam has proven to be particularly advantageous. These can be welded through, counter welded or non-welded through seams. It is important that the weld seams can transmit very high dynamic forces even when the cover plate, base plate and spacer are used very little.

It has proven to be particularly advantageous if the outer circumference of the cover plate and the inner circumference of the base plate are round. Here- This enables even force absorption with minimal use of materials.

If the outer circumference of the cover plate and the inner circumference of the base plate is a polygon, possibly also with rounded corners, the manufacture of the robot console may be facilitated, since no curved components, in particular the spacer, are required. However, this requires a higher use of material from the components.

The spacer is usually cylindrical or polygonal. In individual embodiments of the invention, however, it is also advantageous if the spacer is conical and thus to compensate for a greater difference between the inner circumference of one plate and the outer circumference of the other plate or to achieve greater support for the robot.

Further advantages of the invention are described in the following exemplary embodiments. It shows:

FIG. 1 shows a robot console in a perspective view,

FIG. 2 shows a connection point, in particular between the cover plate and the spacer,

Figure 3 shows a connection point, in particular between the base plate and spacer

Figure 4-10 different connections between spacer, base plate and cover plate. FIG. 1 shows a perspective view of a robot console 1. The robot console 1 essentially consists of a base plate 2 and a cover plate 3. Base plate 2 and cover plate 3 are connected to one another with a spacer 4. The cross section of the robot console 1 is octagonal in the present exemplary embodiment. The base plate 2, as can be seen in particular from the broken line, is an octagonal ring on which the spacer 4 is placed. The inside of this ring is larger in area than the cover plate 3 without its cutouts. The shape of the cover plate 3 corresponds essentially to the shape of the recess in the base plate 2. It is thus possible and in the present exemplary embodiment that the cover plate 3 is cut out or burned out from a single piece together with the base plate 2. The cover plate 3 is thus smaller than the inner circumference of the base plate 2 with respect to its circumference by at least the cutting or firing gap. The base plate 2 and cover plate 3 are connected to one another in a manner to be described in more detail later.

Holes 5 are provided on the base plate 2, via which the robot console 1 is fastened to a hall floor (not shown) by means of screws and dowels. The cover plate 3 has holes 6 to which the robot is screwed.

The spacer 4 is octagonal. In the present exemplary embodiment, it consists of at least one sheet metal which is bent over on eight surfaces and which is welded at the joints with a conventional weld seam 7. ,

Openings 8 are provided in individual areas of the spacer 4. On the one hand, these openings 8 enable cables to be fed into the robot console 1 for the energy supply of the robot. They also facilitate welding work in the manufacture of the robot console 1. Likewise, the cover plate 3 has an opening 9. Also through this opening 9, power lines can be routed for the robot and welding work can be carried out inside the robot console 1.

A connection of the cover plate 3 to the spacer 4 is shown in FIG. The cover plate 3 is at a slight distance from the spacer 4, which is arranged in the region of the end face of the cover plate 3. This distance results from the fact that the cover plate 3 has arisen from the base plate 2 and is slightly smaller than the base plate 2 due to the cutting or burning gap. In addition, the spacer 4 sits on the top surface of the base plate 2 or is flush with the end face of the inner circumference of the base plate 2. In the present exemplary embodiment, two fillet welds are provided for fastening the cover plate 3 with the spacer 4. These keel seams represent a weld seam without weld seam preparation. Because the spacer is located on the end face of the thicker cover plate 3, the complete wall thickness of the spacer 4 is available for the weld seam. It is thus created here with a weaker fillet weld, sufficient for many applications, fastening the cover plate 3 to the spacer 4.

The overlap of the cover plate 3 with the spacer 4 has the value x. This value x is variable and depends in particular on the requirements for the robot console 1. For higher requirements, the value x should at least be such that the two weld seams 1.0 can each develop full power transmission.

In Figure 3, the connection between the spacer 4 and the base plate 2 is shown. The spacer 4 sits on the top surface of the base plate 2. The contact surface between the spacer 4 and the base plate 2 has a chamfer 13 in the base plate 2. The chamfer 13, which in the present exemplary embodiment is 50 °, represents the weld preparation. By using a weld 11 with weld preparation At this point, a particularly strong connection between the spacer 4 and the base plate 2 is created. Dynamic forces in particular can hereby be introduced very reliably into the base plate 2. The weld seam 11 is suitable for absorbing and transmitting particularly high dynamic forces due to the weld seam preparation by means of the chamfer 13. The weld seam 10 opposite the weld seam 11 again has no weld preparation in this exemplary embodiment. It consists of a simple fillet weld. Due to the arrangement of the spacer 4 on the top surface of the base plate 2, a relatively large fillet weld can also be arranged here, which can support the weld 11 in the power transmission.

FIGS. 4 to 9 show different exemplary embodiments of how the base plate 2, the cover plate 3 and the spacer 4 can be connected to one another. The inner circumference of the base plate 2 is larger than the outer circumference of the cover plate 3. The spacer 4 is seated on the cover surface of the base plate 2 and is arranged laterally on the end face of the cover plate 3. In other embodiments of the invention, the connections shown can of course also be exchanged with one another, i.e. a connection shown in the area of the base plate can also be used in the area of the cover plate and vice versa.

FIG. 4 essentially represents the connection of FIGS. 2 and 3 schematically. A weld seam preparation by means of a chamfer 13 is only provided on the end face of the base plate 2. At this point, a weld 11 with weld preparation is placed. The remaining welds are welds 10 without preparation, i.e. simple fillet welds.

FIG. 5 shows weld seams 11 with weld seam preparation at the two internal connection points. Accordingly, the end face of the cover plate 3 also has a weld preparation in the form of a chamfer 13 on. The two outer weld seams are weld seams 10 without preparation.

In FIG. 6, three of the four weld seams are provided with a weld seam preparation. As in FIG. 5, these are the two inner weld seams 11 and the outer weld seam 11 of the cover plate 3. In this exemplary embodiment, the value x of the overlap of the spacer 4 with respect to the end face of the cover plate 3 is such that it corresponds to the thickness of the cover plate 3 corresponds. This large overlap creates a particularly firm connection, in particular together with the two weld seams 11 from the cover plate 3 to the spacer 4.

While in FIG. 6 the cover plate 3 has two chamfers 13 for preparing the weld seam, in FIG. 7 the spacer 4 is also provided with a chamfer 13. As a result, the outer weld seam between cover plate 3 and spacer 4 can be designed as a double HV seam and generate additional strength. The exemplary embodiment according to FIG. 7 additionally has a double HV seam in the region of the transition from the spacer 4 to the base plate 2. This means that the spacer 4 also has a chamfer 13 in the region of the joint to the top surface of the base plate 2.

In FIG. 8, the cover plate 3 is fastened with the spacer 4 with an inner weld 10 without preparation and an outer weld 11 with preparation. The connection between spacer 4 and base plate 2 has an HV seam with fillet weld in the outer region. For this purpose, the end face of the spacer 4 is provided with a chamfer 13. A chamfer 13 is also provided at the joint between the spacer 4 and the base plate 2 on the base plate 2.

In Figure 9, all four welds 11 are provided with weld preparation. For this purpose, chamfers 13 are on the end face of the cover plate 3, side of the spacer 4 in the region of the base plate 2 and on the end face of the base plate 2 is provided.

Of course, other possible combinations of weld seams are possible with and without preparation. Such further possibilities can be seen in the explanations in FIG. 10. Part 1 denotes the base plate 2, part 2 the spacer 4 and part 3 the cover plate 3. U seams and Y seams can also be used, for example. In any case, it is always essential that at least one of the weld seams is provided with weld seam preparation and thus has a high dynamic force absorption. Only in this way is it possible to produce a very stable robot console, which is also suitable for modern, powerful robots, despite saving material. The present invention is therefore not limited to the exemplary embodiments shown. In particular, the spacer can also be designed differently from the exemplary embodiments shown. Round shapes are possible as well as a conical design of the spacer. The lateral overlap of the spacer with respect to the cover plate, as was shown in the present exemplary embodiments, can also take place in the area of the base plate. In this case, there are two contact points on the two end faces of the base plate and cover plate to the spacer. It is also within the scope of the invention if the cover plate rests on the spacer and the spacer itself is arranged on the end face of the base plate. This corresponds to an exchange of base plate with cover plate in the exemplary embodiments described above.

Claims

Patent claims

1. Robot console with a base plate (2), a spacer (4) and a cover plate (3), the console (1) being attached to the base via the base plate (2) and the robot to the cover plate (3) and the spacer (4) is welded to the base plate (2) and the cover plate (3), characterized in that one of the plates (2, 3), in particular the base plate (2), has a recess which is greater than or equal to the other plate (3 , 2), in particular the cover plate (3), and that at least one of the weld seams for connecting the base plate (2), spacer (4) and / or cover plate (3) is a weld seam (11) with weld seam preparation.

2. Robot console according to claim 1, characterized in that the base plate (2) and cover plate (3) are made from one part.

3. Robot console according to one or more of the preceding claims, characterized in that the base plate (2) and cover plate (3) rotated relative to one another are welded to the spacer (4).

4. Robot console according to one or more of the preceding claims, characterized in that the spacer (4) on the top surface of one of the plates (2, 3), in particular the base plate (2) and on the

End face of the other plate (3,2), in particular the cover plate (3) is arranged.

5. Robot console according to one or more of the preceding claims, characterized in that the weld preparation is provided at least on the connection between the spacer (4) and base plate (2).

6. Robot console according to one or more of the preceding claims, characterized in that the base plate (2), the cover plate (3) and / or the spacer (4) has a chamfer (13) for preparing the weld seam.

7. Robot console according to one or more of the preceding claims, characterized in that the weld seam (11) is a HV, a K or a HY seam.

8. Robot console according to one or more of the preceding claims, characterized in that the outer circumference of the cover plate (3) and the inner circumference of the base plate (2) is round.

9. Robot console according to one or more of the preceding claims, characterized in that the outer circumference of the cover plate (3) and the inner circumference of the base plate (2) is a polygon, in particular with rounded corners.

10. Robot console according to one or more of the preceding claims, characterized in that the spacer (4) is cylindrical, conical, polygonal or wavy.