WO2021160538A1 - Système de robot - Google Patents

Système de robot Download PDF

Info

Publication number
WO2021160538A1
WO2021160538A1 PCT/EP2021/052863 EP2021052863W WO2021160538A1 WO 2021160538 A1 WO2021160538 A1 WO 2021160538A1 EP 2021052863 W EP2021052863 W EP 2021052863W WO 2021160538 A1 WO2021160538 A1 WO 2021160538A1
Authority
WO
WIPO (PCT)
Prior art keywords
rail
rollers
locomotion device
driven
robot system
Prior art date
Application number
PCT/EP2021/052863
Other languages
German (de)
English (en)
Inventor
Thomas HULIN
Martin GÖRNER
Original Assignee
Deutsches Zentrum für Luft- und Raumfahrt e.V.
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 Deutsches Zentrum für Luft- und Raumfahrt e.V. filed Critical Deutsches Zentrum für Luft- und Raumfahrt e.V.
Publication of WO2021160538A1 publication Critical patent/WO2021160538A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading

Definitions

  • the invention relates to a rail-guided robot system.
  • Such a rail-guided robot system is known from DE 10 2017 215 166. It has a rail system on which a robot can be moved for manipulation with the aid of a locomotion device.
  • the rail system has a kinked course and in particular an intersection.
  • the locomotion device can be moved in different directions at an intersection.
  • the disadvantage of this robot system is that it can be difficult for the locomotion device to drive over rail crossings.
  • the rails require a lot of material due to their wide running surface and therefore have a large mass to be supported.
  • the object of the invention is to provide a rail-based robot system that enables more reliable operation and the use of slimmer rail profiles.
  • the robot system according to the invention has a rail system which has a kinked course and in particular an intersection at at least one point. Furthermore, the robot system has at least one locomotion device with a drive. This can for example have a plurality of driven rollers. The locomotion device is involved in this way the rail system together so that it can be moved on the kinked course of the rail system.
  • a connecting element can be connected to the locomotion device, which in turn can be connected to a manipulator and / or a sensor device and / or a lighting device and / or a recording device.
  • Other devices are also possible depending on the task to be performed by the robot.
  • the robot system has a plurality of rails, each rail having two profiles, in particular with an L-shaped cross section, between which a continuous gap runs.
  • the connec tion element can be guided through this gap.
  • the drive has several driven rollers for moving the locomotion device along a rail.
  • rollers rest on the upper side of an essentially horizontally running running surface of the two profiles.
  • the rail system has at least one intersection at which at least two rails meet at an angle to one another.
  • the locomotion device has at least one special non-driven support roller which is arranged in the direction of the rails in such a way that it supports the locomotion device against the direction of gravity when at least one driven roller, in particular in the area of a rail crossing, does not rest on a first rail , Son countries in the gap of a second rail crossing this first rail is arranged. According to the invention, it can thus be avoided that one or more driven rollers fall into the gap of the rail to be crossed when crossing a rail crossing by the transport device.
  • a rail to be crossed is understood to mean a rail which runs at an angle, in particular at a right angle, to the rail on which the locomotion device is currently moving.
  • the distance between a support roller, in particular not driven, and its two adjacent, in particular driven, rollers is greater than the width of the gap over which the locomotion device moves in the area of a rail crossing. In this way it can be achieved that the especially driven roller and the adjacent non-driven support roller cannot fall into this gap at the same time.
  • At least one, in particular two, non-driven support rollers are arranged between each two driven rollers. It is further preferred that the locomotion device is essentially rectangular, in particular square, and at least one driven roller is arranged at each corner.
  • the driven rollers at the four corners can each be rotated about their vertical axis by at least 90 °.
  • two driven rollers can be arranged at a right angle to one another at each corner.
  • the rollers can be moved up and down in at least one direction of travel in the direction of gravity. If the locomotion device is in the middle of an intersection, those roles on which the locomotion device was not driven when arriving at this intersection are shut down so that the locomotion device can lean on these Rol len.
  • the rollers at right angles to this, on which the locomotion device has arrived at the intersection lose contact with the rails, so that the locomotion device on the other rollers that are now in contact with the rail system on the crossing Rail can continue.
  • the rollers on which the locomotion device rode when arriving at this intersection are raised so that they lose contact with the rails, while at the same time the rollers that are at right angles to this are in Come into contact with the rail system so that the locomotive device can continue on the crossing rail.
  • a driven roller can be arranged obliquely, that is to say essentially parallel to a diagonal of the rectangular locomotion device, at each corner. In doing so, omnidirectional roles (e.g. omniwheels) must be used.
  • the locomotion device does not necessarily have to be rectangular.
  • the device itself can also have other shapes.
  • the rollers are arranged in the shape of a rectangle.
  • the rail system consists exclusively of rail crossings that are arranged at constant intervals from one another.
  • a very simple structure of the rail system is possible, please include, the softer enables the locomotion device to drive the robot to any position on the rail system.
  • the central rollers have a smaller diameter than the outer rollers. As a result, a larger gap width can be achieved compared to a system with rollers of the same size.
  • FIGS. 2A-2F show the method of this embodiment on a rail crossing
  • Figure 3 shows a second embodiment of the device according to the invention
  • Figure 4 shows a third embodiment of the device according to the invention
  • FIG. 5 shows a preferred embodiment of a rail system.
  • FIG. 6 shows a perspective illustration of an embodiment of a rail system from below
  • FIGS. 7a and 7b show two further views of embodiments of a robot system according to the invention from the side.
  • FIG. 1 shows part of a rail system 12 in which a first rail 26 and a second rail 28 intersect at a right angle. Both rails have a central gap 24 through which, with the aid of a connecting element, the locomotion device 14 can be connected to a manipulator (not shown) or similar elements. These can carry out manipulations etc. in an area in the direction of gravity under the rail system.
  • the locomotion device 14 has a driven roller 16, 18, 20, 22 at each corner. Between each two driven rollers 16, 22 there are two non-driven rollers 50a, 50b. In Figure 2 it is shown how the locomotion device 14 a rail crossing 13 happens.
  • the locomotion device 14 approaches the rail crossing 13, coming from below.
  • the driven rollers 16, 18, 20, 22 are arranged in the perpendicular right direction and support the locomotion device 14 in the direction of gravity on the vertical rail 28.
  • the driven rollers 16, 18 are located in the gap 24 of the horizontally extending rail 26 to be crossed. Thus, they cannot support the locomotion device 14 against gravity in this area. This is done by the non-driven rollers 50a, 50b, 54a, 54b, which in this situation are in contact with the vertical rail 28.
  • the other four non-driven rollers 56a, 56b, 52a, 52b are located in the area of the gap 24 of the vertical rail 28.
  • rollers that are not in the direction of travel are always in the area of the gap 24, they do not have to be moved up and down in the vertical direction if the gap has a sufficient width. If, however, the gap is so narrow that the rollers that are not oriented in the direction of travel are not in the area of the gap, they would have contact with the running surfaces on which the device is moved. In this case, the non-driven rollers would have to be moved upwards.
  • the size of a non-driven roller or the distance between two adjacent non-driven rollers is selected such that all of the non-driven rollers on one side of the locomotion device fit into the width of the gap 24.
  • the locomotion device 14 is centrally located on the rail crossing 13. In this position, the driven rollers 16, 18, 20, 22 are rotated by 90 °.
  • the movement device 14 has at each corner two rollers 16a, 16b, 18a, 18b, 20a, 20b, 22a, 22b arranged at right angles to one another.
  • the locomotion device 14 moves on the vertical rail 28, it is supported on the rollers 16a, 18a, 20a, 22a. If the device 14 is Fortgeschriftungsvorrich centered on the rail intersection 13, these roles are ge conditions the direction of gravity moved upwards.
  • the driven rollers 16b, 18b, 20b, 22b running at right angles to this are moved downward in the direction of gravity so that they come into contact with the horizontal rail 26 on which the locomotion device 14 now moves away from the intersection.
  • FIG. 1 Another alternative embodiment is shown in FIG.
  • a driven roller 16, 18, 20, 22 is attached obliquely at each corner of the locomotion device 14.
  • the driven rollers 16 and 20 are at an angle parallel to the second diagonal b, while the driven rollers 18 and 22 are at an angle parallel to the first diagonal a.
  • the driven rollers in this embodiment are omniwheels.
  • FIG. 5 a special embodiment of a rail system 12 is presented, which consists exclusively of rail crossings 13 which are arranged at constant distances from one another.
  • a locomotion device 14 according to the invention is shown in perspective from below on a rail system.
  • a holding device 15 is shown which is attached to the lower side of the locomotion device 14 and through which the locomotive device 14 can be connected, for example, to a manipulator. The dimensions of the holding device are selected such that they can be passed through the gap 24.
  • FIGs 7a and 7b embodiments of a locomotion device 14 are shown, wherein in Figure 7a the rollers can be raised and lowered on all four sides, while according to Figure 7b, the rollers can only be raised and lowered on two opposite sides, so that When changing direction, the entire platform rises or falls.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de robot (10) comprenant un système de rails (12) et au moins un dispositif de locomotion (14) avec un entraînement (16, 18, 20, 22), ledit entraînement du dispositif de locomotion (14) coopérant avec le système de rails (12), le système de rails (12) présentant de multiples rails (26, 28), et chaque rail (26, 28) présentant deux sections profilées, entre lesquelles s'étend un espace continu (24). L'entraînement (16, 18, 20, 22) comprend de multiples rouleaux entraînés pour déplacer le dispositif de locomotion (14) le long d'un rail (26, 28), et les rouleaux (16, 18, 20, 22) reposent sur la face supérieure d'une surface de roulement de chacune des deux sections profilées, ladite surface de roulement s'étendant sensiblement horizontalement. Le système de rails (12) présente au moins une intersection (13) où au moins deux rails (26, 28) se croisent au niveau d'un angle, et le dispositif de locomotion (14) dispose d'au moins trois rouleaux de chaque côté, lesdits rouleaux étant agencés de telle sorte qu'au moins deux rouleaux supportent toujours le dispositif de locomotion (14) contre la direction de la gravité.
PCT/EP2021/052863 2020-02-10 2021-02-05 Système de robot WO2021160538A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020103303.6 2020-02-10
DE102020103303.6A DE102020103303B3 (de) 2020-02-10 2020-02-10 Robotorsystem

Publications (1)

Publication Number Publication Date
WO2021160538A1 true WO2021160538A1 (fr) 2021-08-19

Family

ID=74556937

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/052863 WO2021160538A1 (fr) 2020-02-10 2021-02-05 Système de robot

Country Status (2)

Country Link
DE (1) DE102020103303B3 (fr)
WO (1) WO2021160538A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1326304A (en) * 1970-09-08 1973-08-08 Air Preheater Material handling apparatus
FR2730715A1 (fr) * 1995-02-22 1996-08-23 Gec Alsthom Syst Et Serv Chariot automoteur et magasin de stockage desservi par de tels chariots
JPH08324772A (ja) * 1995-06-05 1996-12-10 Shin Meiwa Ind Co Ltd ワーク搬送装置
JP2010235082A (ja) * 2009-03-31 2010-10-21 Kanto Auto Works Ltd 無人搬送車用台車及び無人搬送車
JP2012116648A (ja) * 2010-12-03 2012-06-21 Yuzo Shimizu レール式クレーン
DE102017215166A1 (de) 2017-08-30 2019-02-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotersystem
EP3505416A1 (fr) * 2016-08-26 2019-07-03 Murata Machinery, Ltd. Système de chariot guidé sur rails et chariot guidé sur rails

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7381022B1 (en) * 2004-12-18 2008-06-03 Rodney Joe King Automated 3-dimensional multitasking, stocking, storage, and distribution system
US20070031217A1 (en) * 2005-05-31 2007-02-08 Anil Sharma Track Spiders Robotic System
NO335839B1 (no) * 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transport av lagringsbeholdere
PL3288865T3 (pl) * 2015-04-27 2022-04-25 Attabotics Inc. Układ magazynowy i pobierania
US9616707B2 (en) * 2015-06-26 2017-04-11 Amazon Technologies, Inc. Omnidirectional pinion wheel
US10486303B2 (en) * 2016-05-24 2019-11-26 Bruce Donald Westermo Elevated robotic assistive device system and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1326304A (en) * 1970-09-08 1973-08-08 Air Preheater Material handling apparatus
FR2730715A1 (fr) * 1995-02-22 1996-08-23 Gec Alsthom Syst Et Serv Chariot automoteur et magasin de stockage desservi par de tels chariots
JPH08324772A (ja) * 1995-06-05 1996-12-10 Shin Meiwa Ind Co Ltd ワーク搬送装置
JP2010235082A (ja) * 2009-03-31 2010-10-21 Kanto Auto Works Ltd 無人搬送車用台車及び無人搬送車
JP2012116648A (ja) * 2010-12-03 2012-06-21 Yuzo Shimizu レール式クレーン
EP3505416A1 (fr) * 2016-08-26 2019-07-03 Murata Machinery, Ltd. Système de chariot guidé sur rails et chariot guidé sur rails
DE102017215166A1 (de) 2017-08-30 2019-02-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotersystem

Also Published As

Publication number Publication date
DE102020103303B3 (de) 2021-06-24

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