WO2024069662A1

WO2024069662A1 - Work cell

Info

Publication number: WO2024069662A1
Application number: PCT/IT2023/050218
Authority: WO
Inventors: Massimo AGOSTINI
Original assignee: Idea Prototipi S.R.L.
Priority date: 2022-09-27
Filing date: 2023-09-26
Publication date: 2024-04-04

Abstract

Work cell (10) comprising a base (12), a work plane (13) disposed on said base (12), and an automatic operating device (15).

Description

“WORK CELL”

FIELD OF THE INVENTION

The present invention concerns a work cell having an automatic operating device and a tool for carrying out works such as, but not limited to, welding, cleaning, sanding, grinding, assembly and handling of objects or others.

BACKGROUND OF THE INVENTION

Work cells are known comprising a support structure, a work plane on which the objects to be worked are attached, or simply disposed in bulk, and an automatic operating device having a robotized anthropomorphic arm that moves a tool to perform works said objects.

The robotized anthropomorphic arm is attached directly on the work plane, limiting its useful area, or to a part of the support structure facing above the work plane, at a certain height from the latter.

Some work cells also have a panelling disposed perimetrically in contact with the work plane with the aim of interdicting the work zone when the automatic operating device is in operation.

Additional components of the cell, such as the tool feeding systems, are external to the support structure and not integral with the latter.

One of the disadvantages of the current work cells is that they are not always able to guarantee high precision in the works on the objects because the dynamics of the robotized anthropomorphic arm, due to its attachment position, causes unwanted vibrations and inaccurate movements. The vibrations also depend on the structure of the cell itself and on the arrangement of the additional components which, if they have a high weight, can cause an increase in the vibrations themselves.

Another disadvantage of the current work cells is that the perimeter panelling reduces the area of action of the robotized anthropomorphic arm. In fact, when an object is in a zone adjacent to the edges of the work plane, the robotized anthropomorphic arm could hit the perimeter panelling.

A further disadvantage of the current work cells is that they are not compact and therefore are difficult to transport and relocate in a short time and with limited movements. Some known examples of work cells, or machines, capable of performing work on, or an assembly of, one or more objects are described in US 2007/235433 Al, US 6 772 932 Bl, CN 204 522 064 U, DE 89 03 723 Ul, US 2020/054175 Al, CN 111 283 325 A and US 7 238 916 B2. There is therefore a need to perfect a work cell that can overcome at least one of the disadvantages of the state of the art.

To do this, it is necessary to solve the technical problem of making the structure compact and at the same time reducing the vibrations caused on the objects during working. One purpose of the present invention is to realize a work cell that allows to automatically perform a wide range of works automatically with high precision on objects of any shape and size.

Another purpose of the present invention is to realize a work cell that is easily transportable and relocatable. Another purpose of the present invention is to realize a work cell in which the entire area of the work plane can be reached by the robotized anthropomorphic arm without the latter limiting the area useful for positioning the objects.

Another purpose of the present invention is to realize a work cell that is simple, economical and easy to use. The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claim. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.

In accordance with the above purposes, and to resolve the technical problem disclosed above in a new and original way, also achieving considerable advantages compared to the state of the prior art, a work cell according to the present invention for performing mechanical works on, or the handling of, objects comprises a base, a work plane disposed on said base, and an automatic operating device.

In accordance with one aspect of the present invention, said work cell comprises a vertical support column associated with said base and external with respect to said work plane, said automatic operating device being attached to said support column at the top, at a certain height from said work plane.

In doing so, the work plane is completely free and usable for the positioning of objects and the automatic operating device has the possibility of moving within a wider operating perimeter.

In accordance with another aspect of the present invention, said automatic operating device is attached to a horizontal surface of said support column.

In accordance with another aspect of the present invention, it comprises means for feeding said automatic operating device which are associated with said support column.

In accordance with another aspect of the present invention, it comprises a robotized anthropomorphic arm terminally provided with a welding tool. Furthermore, said feed means comprise a source of energy and optionally a source of filler material.

In accordance with another aspect of the present invention, it comprises a frame attached to said base and provided both with vertical support elements and also with perimeter panels, which are hinged to said support elements and in cooperation with said work plane.

In accordance with another aspect of the present invention, each of said panels has a vertical portion and a lower edge which projects from said vertical portion toward said work plane defining as a whole an additional perimeter area in substantial continuity with said work plane.

In accordance with another aspect of the present invention, each of said lower edges is inclined by a certain angle with respect to the vertical portion of the corresponding panel in the direction of said work plane.

In accordance with another aspect of the present invention, said base has an upper frame, a lower frame and vertical corner uprights, said lower frame being attached to said vertical uprights defining with them an interspace configured to receive movement members for moving said work cell.

In accordance with another aspect of the present invention, said base also comprises an intermediate wall disposed orthogonally between said frames, said lower frame comprising transverse reinforcement elements which connect respective opposite sides of said lower frame to each other. In accordance with another aspect of the present invention, said base comprises a collection tank disposed below, and fluidically connected to, said work plane and provided with at least one suction pipe union connected, or better connectable, to suction means.

DESCRIPTION OF THE DRAWINGS

These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

- fig. 1 is an axonometric front view of a work cell according to an embodiment of the present invention;

- fig. la is an enlargement of a detail of fig. 1;

- fig. 2 is an axonometric rear view of the work cell of fig. 1;

- fig. 3 is a cross-sectional view of the work cell of fig. 1 ;

- fig. 3a is an enlarged detail of fig. 3;

- fig. 4 is an axonometric front view of a work cell according to another embodiment of the present invention;

- fig. 5 is a top view of fig. 4;

- fig. 6 is a cross-sectional view of the work cell of fig. 5;

- fig. 6a is an enlarged detail of fig. 6.

We must clarify that in the present description the phraseology and terminology used, as well as the figures in the attached drawings also as described, have the sole function of better illustrating and explaining the present invention, their function being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims.

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.

DESCRIPTION OF EMBODIMENTS

With reference to figs. 1-6, embodiments of a work cell 10 according to the present invention comprise a base 12, a work plane 13 attached to the base 12 and a perimeter frame 11 attached to the base 12.

The work cell 10 comprises a vertical support column 14 associated with the base 12 and external with respect to the work plane 13. The support column 14 is preferably disposed in a centreline position of the work plane 13.

The work cell 10 comprises an automatic operating device 15 attached to the support column 14 at the top. In particular, the support column 14 has an end 16 with a horizontal surface on which the automatic operating device 15 is attached by means of anchoring members, see fig. 3. The attachment on a horizontal surface increases the stability of the automatic operating device 15 during work and reduces the bending and cutting stresses acting on the anchoring members.

The work plane is at a height H with respect to the ground or rest surface on which the work cell 10 is placed (fig. 3).

The support column 14 has an extension that exceeds in height the work plane 13 by a height Q (fig. 3) which, for example, can be about Im or even more depending on the size of the automatic operating device 15, for example depending on the length of the automatic operator arm. This height Q, substantially defines how much the support column 14 protrudes with respect to the work plane 13, allows the automatic operating device 15 to reach any zone of the work plane 13 itself. This would be prevented if the automatic operating device 15 were attached at the same height H as the work plane 13.

Advantageously, according to embodiments, a ratio between the height Q and the height H (Q:H) is between 0.5 and 2, in particular between 0.5 and 1.5, even more in particular between 0.5 and 1.25. Possible examples are 0.5, 0.66, 0.75, 1, 1.25, 1.33, 1.5, 1.66, 1.75 and 2. Advantageously, providing for the Q:H ratio in these ranges is favourable for an optimal compromise between operator ergonomics with respect to the work cell 10, lowering the centre of gravity of the overall assembly and the ability of the automatic operating device 15 to effectively reach the necessary zones of the work plane 13.

The work plane 13 may have a height H, for example, of less than Im and preferably between about 650mm and 800mm. This height H is particularly suitable for promoting an ergonomic interaction of the operator with the work cell 10 and for lowering the centre of gravity of the overall assembly.

Favourably, moreover, the reciprocal arrangement between the work plane 13 and the support column 14, i.e. the automatic operating device 15, can be expressed in terms of the aforementioned Q:H ratio and has a synergistic effect with regard to the vibrations that the Applicant has experienced being particularly reduced with respect to the work cells of the state of the art.

The work plane 13 has a substantially rectangular plan shape with measurements that can be for example 2000mm x 1000mm, or 3000m x 1500m. The work plane 13 may comprise, or consist of, at least one workbench 17 preferably of the suction type, i.e. provided with holes 26 for the evacuation of scraps or working dusts. The workbench 17 can be monobloc or it can be of a modular type, that is, made up of several distinct and separate portions.

Optionally, the work cell 10 also comprises a bulkhead 18 positioned orthogonally to the work plane 13 to physically divide it into two independent work zones. The bulkhead 18 can be attached or movable.

The base 12 comprises a skeleton 19 provided with an upper frame 20, a lower frame 21 and vertical comer uprights 22 that connect the frames 20, 21 together and rest on an installation surface of the work cell 10, figures 1, 3 and 6. The base 12 also comprises perimeter walls 40 attached to the frames 20, 21.

The lower frame 21 is attached to the vertical uprights 22 so that between said frame 21 and the installation surface of the work cell 10 there is an interspace I (identified with a dashed box in figs. 1, 2 and 4) through which, for example, the forks of a forklift, ropes, chains can be inserted, to easily and quickly move the entire work cell 10 in case it must be relocated.

The lower frame 21 may also comprise transverse reinforcement elements 28 which connect the two opposite sides of the lower frame 21 to each other.

The base 12 also comprises an intermediate wall 23 disposed orthogonally to the two frames 20, 21 between their sides of greater extension. The intermediate wall 23 has lightenings which are substantially configured by two openings 24.

The intermediate wall 23 and the transverse reinforcement elements 28 contribute to stiffening the base 12. This has a dual function: a) to limit the vibrations and b) to make the work cell 10 transportable without deformations occurring to the structure. One or more support panels 29 for supporting objects may be applied on the lower frame 21.

The base 12 also comprises a collection tank 25 attached to the upper frame 20 and in fluidic communication with the work plane 13 by means of the holes 26 present thereon. The collection tank 25 is disposed below the work plane 13 and receives, by gravity or more preferably by forced suction, the scraps or working dusts.

The collection tank 25 can be provided with at least one suction pipe union 27 connected to suction means of known type. The pipe unions 27 are disposed on a rear side of the work cell 10. Preferably, for each work zone the collection tank 25 has a corresponding pipe union 27. This allows the suction of one or the other work zone to be selectively activated rather than acting with a greater suction force if necessary. The collection tank 25 may have a bottom wall 41 inclined in the direction of the pipe unions 27 to further facilitate the evacuation of the scraps or working dusts, see fig. 3a.

The perimeter walls 40, the support panels 29 and at the top the collection tank 25 define a compartment inside the base 12 for the containment of objects or further components, manuals, tools, spare parts, etc. Drawers 42 can be allocated in said compartment.

With particular reference to figures 4 and 6, the frame 11 comprises vertical support elements 30 disposed at an angle with respect to the work plane 13 and which are attached to the base 12, and an upper “U” -shaped framing 31 that joins the support elements 30 together. In an embodiment variant, the framing 31 can also have a closed rectangular shape.

The framing 31 is defined by individual tubular elements joined with coupling by means of interlocking, screws, bolts or other means.

The framing 31 occupies a larger plan area than that of the work plane 13, see fig. 5. The support elements 30 are spaced from the work plane 13 by means of corresponding spacer elements 32 which also contribute to stiffening the frame 11.

The frame 11 further comprises a plurality of perimeter panels 33, hinged to the support elements 30 and rotatable between an open position and a closed position. The frame 11 thus assumes a substantially box-like shape that is open upwards. The panels 33 comprise a pair of side-by-side front panels 33a, a pair of side- by-side rear panels 33b and a pair of opposed side panels 33c. The front panels 33a are opposed to the rear panels 33b. The rear panels 33b are shaped around the support column 14. According to a variant, the rear panels 33b can be hinged to the support column 14 instead of to the frame 11.

One or more of the panels 33, preferably the front ones 33a, are windowed, to allow a direct control of the work in progress. The front panels 33a are independently openable and closable to allow access to the corresponding work zones. This opening mode also applies to the rear panels 33b.

The panels 33 have a vertical portion 33a’-33c’ and a substantially horizontal lower edge 33a”-33c” configured to cooperate in substantial continuity with the work plane 13 when the panels 33 are in the closed position. In the closed position, the lower edges 33a”-33c” cause an additional area A in substantial perimeter continuity with the work plane 13 which is therefore more extensive. The presence of the additional area A allows the automatic operating device 15 to operate also on objects that are close to the edges of the work plane 13 without bumping against the panels 33. Each lower edge 33a”-33c” is slightly inclined by some degree, for example by an angle a of approximately between 3° and 10°, in particular between 3° and 5°, with respect to the vertical portion 33a’-33c” of the corresponding panel 33, see for example fig. 6a. This allows any scrap or working dust to be conveyed toward the work plane 13 from which they will then be evacuated. The lower edges 33a”-33c” are solid body, for example they can be constituted by a press-folded sheet, and preferably have a limited degree of roughness to favour the sliding by gravity of the scraps or working dusts.

The vertical portions and the lower edges are generically identified below with reference 33’ and 33”, respectively. The automatic operating device 15 is configured to move a tool 34 to perform mechanical works on the objects disposed on the work plane 13, or to manipulate the latter.

In the example provided herein, the automatic operating device 15 comprises a robotized anthropomorphic arm 35 of a collaborative type, i.e. a so-called co-robot of a type known per se, controlled by a control unit 36. The control unit 36 can be positioned in the compartment inside the base 12, fig. 1.

It should be noted that the automatic operating devices 15 that can be installed in the work cell 10 of the present invention can, for example, have the following sizes: greater than or equal to 10 kg in weight, for example 10 kg, 16 kg, 20 kg, more or other.

The tool 34 may be a sander, a drill, a grinder, a welding machine, and others. Alternatively, the tool 34 can be a pneumatic gripper suitable for stably and safely gripping even small-sized and oblong-shaped objects.

In the embodiment of figs. 1-6, the tool 34 is a welding machine.

Optionally, the work cell 10 may comprise a tool magazine 37 attached to the work plane 13 and configured to support further tools 38 not involved in the work, figs. 1-2 and la. Said tool magazine 37 can be any case, receptacle, container, and the like that are configured and suitable for the deposit, storage, arrangement, and retrieval of at least one tool 34, 38 by the automatic operating device 15 or by an operator.

The location of the tool(s) 34, 38 deposited and stored in the tool magazine 37 is known to the control unit 36 and may be recorded in a memory unit configured to communicate with the control unit 36.

The work cell 10 also comprises feed means 39, commanded by the control unit 36 and configured to provide one or more tools 34 involved in a work, with the utilities they need for correct operation.

By way of example, said utilities can be electricity, compressed air, water, oil or any other fluid under pressure and not, sand, welding filler material and others.

The feed means 39 are attached, directly or indirectly, to the support column 14. Therefore, the work cell 10 is a compact assembly because all its components are constrained to the base 12.

In one embodiment, the work cell 10 comprises a base 43 attached, cantilevered, to the support column 14 and on which the feed means 39 are disposed. Said base 43 may be tiltable with respect to the support column 14.

It is clear that modifications and/or additions of parts may be made to the work cell 10 as described heretofore, without departing from the field and scope of the present invention, as defined by the claims. It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve other equivalent forms of a work cell, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection defined by the claims.

Claims

1. Work cell (10) comprising a base (12) on which a work plane (13) is disposed and an automatic operating device (15), characterized in that it comprises a vertical support column (14) associated with said base (12), external with respect to said work plane (13), to which said automatic operating device (15) is attached at the top, at a certain height (Q) from said work plane (13).

2. Work cell (10) as in claim 1, characterized in that said automatic operating device (15) is attached to a horizontal surface of said support column (14).

3. Work cell (10) as in claim 1 or 2, characterized in that it comprises means (39) for feeding said automatic operating device (15) which are associated with said support column (14).

4. Work cell (10) as in claim 3, characterized in that it comprises a robotized anthropomorphic arm (35) terminally provided with a welding tool (34), and in that said feed means (39) comprise a source of energy and optionally a source of filler material.

5. Work cell (10) as in any claim hereinbefore, characterized in that it comprises a frame (11) attached to said base (12) and provided both with vertical support elements (30) and also with perimeter panels (33), which are hinged to said support elements (30) and in cooperation with said work plane (13).

6. Work cell (10) as in claim 5, characterized in that each of said panels (33) has a vertical portion (33’) and a lower edge (33”) which projects from said vertical portion (33’) toward said work plane (13) defining as a whole an additional perimeter area (A) in substantial continuity with said work plane (13).

7. Work cell (10) as in claim 6, characterized in that each of said lower edges (33”) is inclined by a certain angle (or) with respect to the vertical portion (33’) of the corresponding panel (33) in the direction of said work plane (13).

8. Work cell (10) as in any claim hereinbefore, characterized in that said base (12) has an upper frame (20), a lower frame (21) and vertical corner uprights (22), said lower frame (21) being attached to said vertical uprights (22) defining with them an interspace configured to receive movement members for moving said work cell (10).

9. Work cell (10) as in claim 8, characterized in that said base (12) also comprises an intermediate wall (23) disposed orthogonally between said frames (20, 21), said lower frame (21) comprising transverse reinforcement elements (28) which connect respective opposite sides of said lower frame (21) to each other.

10. Work cell (10) as in any claim hereinbefore, characterized in that said base (12) comprises a collection tank (25) disposed below, and fluidically connected to, said work plane (13) and provided with at least one suction pipe union (27) connectable to suction means.