Robotic device

Abstract

An aspect of the present disclosure is a robot device that reduces the likelihood of damage to components that make up the robot device during transport. The robot device of an aspect of the present disclosure has a robot body (11) and a transport foot (50) for transporting the robot body. The robot body has a robot arm mechanism (30) and a sensor device (40) that detects an external force applied to the robot arm mechanism. The sensor device has a sensor base plate (41) for placement on a robot setting table (200), a sensor top plate (43) mounted to a bottom surface of a base (31) of the robot arm mechanism, and a sensor body (45) that detects displacement between the sensor base plate and the sensor top plate. The transport foot is configured to fix the base or the sensor top plate relative to a transport table (100) in a manner such that the sensor base plate does not contact the transport table.

Description

Technical Field

[0001] This invention relates to a handling foot component and a robotic device. Background Technology

[0002] In recent years, highly safe collaborative robots capable of working alongside human operators have become increasingly common. To detect potential collisions with workers, many collaborative robots are equipped with sensor devices that detect external forces acting on them. Patent Document 1 discloses a robot with sensor devices positioned between the robot and the ground.

[0003] When handling collaborative robots with robotic arm mechanisms connected to sensor devices, the following problems exist. Generally, industrial robots are fixed to pallets or truck racks using bolts or other fasteners through bolt holes in their base. However, in this handling method, external forces such as vibrations generated during handling directly act on the robot. These vibrations are tens of times greater than the acceleration due to gravity, far exceeding the forces required for the robot to function properly. Therefore, the sensor devices may be damaged during handling.

[0004] As a method to prevent damage to the sensor device during handling, one approach is to increase its rigidity so that it will not be damaged even under excessive external force. Alternatively, one could consider securing the components of the sensor device together with fasteners during handling to prevent excessive load from being applied to the main body of the sensor device even under external force.

[0005] If the rigidity of the sensor body (detection unit) is increased to prevent damage even under excessive external force, the sensor body will become difficult to deform. This not only reduces the detection accuracy for smaller forces but also inevitably increases component costs, leading to a larger and heavier sensor. Furthermore, securing the components of the sensor with fasteners requires high dimensional accuracy of the fasteners and careful fastening operations. If components are fastened while misaligned, excessive force will be applied to the sensor. Increasing the dimensional accuracy of the fasteners increases component costs, and careful fastening operations increase handling time.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2018-080941 Summary of the Invention

[0009] The problem the invention aims to solve

[0010] The aim is to reduce the likelihood of damage to components that make up the robotic device during handling.

[0011] means for solving problems

[0012] One aspect of the disclosed robotic device includes a robot body and a transport leg for transporting the robot body. The robot body has a robot arm mechanism and a sensor device for detecting external forces applied to the robot arm mechanism. The sensor device has a sensor base plate for mounting on a robot platform, a sensor top plate mounted on the bottom surface of the base of the robot arm mechanism, and a sensor body for detecting displacement between the sensor base plate and the sensor top plate. The transport leg is configured to fix the base or sensor top plate relative to the transport platform in a manner where the sensor base plate does not contact the transport platform.

[0013] Invention Effects

[0014] According to one aspect of this disclosure, it is possible to reduce the likelihood of damage to components constituting a robotic device during handling. Attached Figure Description

[0015] Figure 1 This is a perspective view showing the robot device according to the first embodiment.

[0016] Figure 2 This is a perspective view showing the carrying legs of the robot device according to the first embodiment.

[0017] Figure 3 It shows that Figure 1 A side view of the robot device fixed on the transport platform.

[0018] Figure 4 It shows that Figure 1 The side view of the robot device fixed on the setting platform.

[0019] Figure 5 This is a side view showing the robot device according to the second embodiment.

[0020] Figure 6 This is a side view showing the robot device according to the third embodiment.

[0021] Figure 7 This is a side view showing the robot device according to the fourth embodiment.

[0022] Figure 8 It is used to explain Figure 7 A diagram illustrating the method of fixing the robotic device to the transport table.

[0023] Figure 9 This is a side view showing the robot device according to the fifth embodiment.

[0024] Figure 10 This is a side view showing the robot device according to the sixth embodiment.

[0025] Figure 11 It is used to explain Figure 10 A diagram illustrating the method of fixing the robotic device to the transport table.

[0026] Figure 12 This is a side view showing the robot device according to the seventh embodiment.

[0027] Explanation of reference numerals in the attached figures

[0028] 11: Robot body

[0029] 30: Robot arm mechanism

[0030] 31: Base

[0031] 33: First link,

[0032] 35: Second link,

[0033] 37: Third link,

[0034] 50: Carrying with feet

[0035] 100: Moving platform. Detailed Implementation

[0036] The following is a reference to the appendix. Figure 1 The robot device according to an embodiment of the present invention will be described below.

[0037] (First Implementation)

[0038] The robot device of the first embodiment includes a robot body 11 and a control device (not shown) for controlling the robot body 11. Figure 1 As shown, the robot body 11 has a sensor device 40 fixed to a robot mounting platform and a robot arm mechanism 30 connected to the sensor device 40. The robot arm mechanism 30 has a base 31, a first link 33 connected to the base 31 via a rotary joint, a second link 35 connected to the first link 33 via a rotary joint, and a third link 37 connected to the second link 35 via a rotary joint. An end effector is connected to the front end of the third link 37 via a rotary joint. Bolt holes 32 are formed in the base 31 for connecting to the sensor top plate 43 of the sensor device 40 by means of bolts or the like.

[0039] The sensor device 40 detects the external force acting on the robot arm mechanism 30. Typically, a strain gauge force sensor can be used as the sensor device 40. For example, the sensor device 40 has: a sensor base plate 41, which serves as a fixing part fixed to a mounting location by fasteners such as bolts; a sensor top plate 43, which is disposed at a predetermined interval relative to the sensor base plate 41; and a column portion 45, which is disposed between the sensor base plate 41 and the sensor top plate 43, serving as a connecting part that connects the sensor base plate 41 and the sensor top plate 43 to each other. The sensor device 40 supports the robot arm mechanism 30. The base 31 is connected to the sensor top plate 43 by fasteners such as bolts. The sensor top plate 43 and the sensor base plate 41 are formed of a hard resin or metal material that is difficult to deform with respect to external forces. The column portion 45 is formed of an elastic resin or other material that is easy to deform with respect to external forces. When an external force is applied to the robot arm mechanism 30, the sensor top plate 43 is displaced relative to the sensor base plate 41, and the column portion 45 is deformed by this displacement. A strain detector (not shown) is mounted on the column 45 as the sensor body. The strain detector deforms along with the column 45, changing its resistance and outputting a voltage corresponding to the resistance to the control device. The control device can determine whether to apply an external force to the robot arm mechanism 30 by comparing the voltage value output from the sensor device 40 with a threshold.

[0040] When transporting the robot body 11, the robot body 11 is placed on a transport platform 100, such as a pallet or truck shelf. The robot device has a pair of transport legs 50 for securing the robot body 11 to the transport platform 100 so that the robot body 11 remains stationary on the transport platform 100. A feature of the robot device of the first embodiment is that the transport legs 50 not only function as members that fix the robot body 11 relative to the transport platform 100, but also function as members that prevent damage to the sensor device 40 caused by external forces acting on the robot body 11 during transport.

[0041] Specifically, the transport leg 50 is configured to create a gap between the robot body 11 and the transport table 100; in other words, the sensor base plate 41 of the sensor device 40 is separated from the transport table 100. This prevents external forces acting on the transport table 100 from being directly transmitted to the column portion 45 of the sensor device 40 via the sensor base plate 41. Furthermore, the transport leg 50 is configured to connect the transport table 100 to a component located on the robot body 11 further forward than the column portion 45. Therefore, since external forces acting on the robot arm mechanism 30 can be released to the transport table 100 via the transport leg 50 before being transmitted to the column portion 45 via the sensor top plate 43, the load on the column portion 45 can be suppressed. Due to the inertia applied to the robot body 11 during transport, a torque load is generated in the column portion 45 with the fixed position of the transport leg 50 in the robot body 11 as the fulcrum. In order to reduce the torque load, it is desirable to fix the handling foot 50 to a component located near the column 45 in the robot body 11.

[0042] like Figure 1 As shown, the carrying foot 50 is integrally formed on the sensor top plate 43 of the sensor device 40. Figure 2 As shown, the transport leg 50 is configured such that the two ends of a rectangular plate are bent at 90 degrees in opposite directions. One end 53 is integral with the sensor top plate 43, and a bolt hole 56 for inserting a bolt 60 is formed on the other end 55. The height of the transport leg 50 from one end 53 to the other end 55 is longer than the height from the sensor base plate 41 to the sensor top plate 43 of the sensor device 40. The height of the transport leg 50 corresponds to the length of the leg body 51 connecting one end 53 and the other end 55. Thus, as Figure 3 As shown, by fixing only the other end 55 of the transport leg 50 to the transport table 100, a gap can be formed between the sensor base plate 41 of the sensor device 40 and the transport table 100, thereby allowing the sensor base plate 41 to be separated from the transport table 100. Figure 4 As shown, when using the robot body 11, the robot body 11 is mounted on a robot mounting platform 200 whose ground height is higher than the surrounding area. Of course, in places where the ground height is constant, there can be a spacer between the ground and the robot body 11. Thus, the robot body 11 can be used in the same way as before, without the need for the handling legs 50 to contact the ground.

[0043] The robot device according to the first embodiment configured as described above will have the following effects. When the robot body 11 is directly mounted on the transport table 100, due to vibrations or inertia acting on the robot body 11 during transport, external forces of various directions and magnitudes will be applied to the sensor base plate 41 fixed to the transport table 100 and the sensor top plate 43 supporting the robot arm mechanism 30. Moreover, the direction of the external force applied to the sensor base plate 41 and the direction of the external force applied to the sensor top plate 43 may not be the same. In this case, excessive force will be applied to the column portion 45 connecting the sensor base plate 41 and the sensor top plate 43.

[0044] In the robot device of the first embodiment, the transport platform 100 and the sensor top plate 43 are fixed by the transport foot 50, so that the robot body 11 is slightly floated relative to the transport platform 100. That is, it is configured such that only the transport foot 50 supports the robot arm mechanism 30. As a result, since the sensor device 40 can be suspended from the robot arm mechanism 30, in other words, the sensor base plate 41 can be in a free state without being fixed anywhere, excessive force can be suppressed on the column 45. Of course, due to the external force acting on the robot body 11, a torque load is generated on the column 45 with the fixed position of the transport foot 50 in the robot body 11 as the fulcrum. However, this torque load is very small compared to the load generated when the sensor base plate 41 and sensor top plate 43 are connected to the transport platform 100 and the robot arm mechanism 30 as described above. Therefore, the load on the column 45 of the sensor device 40 during transport can be reduced.

[0045] (Second Implementation)

[0046] In the first embodiment, the carrying foot 50 is integrally formed with the sensor top plate 43 of the sensor device 40, but it can also be integrally formed with the robot arm mechanism 30. Figure 5 As shown, in the second embodiment, the transport legs 50 supporting the robot body 12 on the transport platform 100 are integrally formed on the base 31 of the robot arm mechanism 30. According to the robot device of the second embodiment configured in this way, similarly to the robot device of the first embodiment, the load applied to the column portion 45 of the sensor device 40 during transport can be reduced.

[0047] Generally, the base 31 of the robot arm mechanism 30 is larger than the sensor top plate 43 of the sensor device 40. From the viewpoint of design freedom, the structure in which the transport leg 50 is integrally formed in the base 31 of the robot arm mechanism 30 is advantageous compared to the structure in which the transport leg 50 is integrally formed in the sensor top plate 43 of the sensor device 40. On the other hand, the transport leg 50 of the robot device of the first embodiment is connected to a position closer to the column 45 of the sensor device 40 compared to the transport leg 50 of the robot device of the second embodiment. A torque load corresponding to the distance from the fixed position of the transport leg 50 is generated at the column 45 of the sensor device 40. Therefore, from the viewpoint of further reducing the load applied to the column 45 of the sensor device 40, the robot device of the first embodiment is advantageous compared to the robot device of the second embodiment.

[0048] (Third implementation method)

[0049] In the first and second embodiments, the handling legs are integrally formed with the robot body, but they can also be freely attached to and detached from the robot body. For example... Figure 6 As shown, in the robot device of the third embodiment, the transport leg 50 is detachable from the robot body 13. Bolt holes are formed in the horizontal direction on one end side 53 of the transport leg 50 and the sensor top plate 43. The transport leg 50 is fastened to the sensor top plate 43 by means of bolts 61 inserted in the horizontal direction. "Horizontal direction" corresponds to the direction parallel to the transport surface (surface) of the transport table 100.

[0050] In the robot devices of the first and second embodiments, since the transport legs 50 are integrally formed with the robot bodies 11 and 12, the transport legs 50 increase the area occupied by the robot device. In the robot device of the third embodiment, since the transport legs 50 can be freely attached to and detached from the robot body 13, the transport legs 50 only need to be attached to the robot body 13 when transporting the robot body 13. When using the robot device, the transport legs 50 can be detached from the robot body 13. Therefore, compared with the case where the transport legs 50 are integrally formed with the robot body 13, the installation area of ​​the robot device can be reduced, and it can also be installed on the ground at a certain ground height. According to the robot device of the third embodiment, the load applied to the column portion 45 of the sensor device 40 during transport can be reduced, and compared with the robot devices of the first and second embodiments, the degree of freedom of the robot device can be increased.

[0051] (Fourth Implementation)

[0052] In the third embodiment, the transport foot 50 and the sensor top plate 43 are fastened together by bolts 61 inserted in a horizontal direction, but the direction of the bolt insertion is not limited to that described above. Figure 7 As shown, in the fourth embodiment of the robot device, the transport leg 50 and the sensor top plate 43 are fastened together by bolts 63 inserted along the vertical direction. Bolt holes are formed on one end side 53 of the transport leg 50 and the sensor top plate 43 along the vertical direction. "Vertical direction" corresponds to the direction orthogonal to the transport surface (surface) of the transport table 100.

[0053] The robot device according to the fourth embodiment achieves the same effect as the robot device of the third embodiment. Further, in the third embodiment, since the bolt is inserted horizontally, a crane or similar device is needed to lift the robot body 13 to fix it onto the transport table 100. With the robot body 13 lifted, the transport legs 50 are installed, and then the robot body 13 with the transport legs 50 installed is lowered onto the transport table 100, and the transport legs 50 are fixed to the transport table 100. In the fourth embodiment, since the bolt 63 is inserted vertically, to fix the robot body 14 onto the transport table 100, such as... Figure 8 As shown, with the robot body 11 placed on the transport table 100, the transport legs 50 are fixed to the transport table 100, and bolts 63 are inserted into and tightened along the vertical direction between the transport legs 50 and the robot body 14 fixed to the transport table 100. Since the transport legs 50 are fixed to the transport table 100, if the bolts 63 are tightened between the transport legs 50 and the robot body 14, the axial force of the bolts 63 will cause the robot body 11 to move towards the transport legs 50, that is, upward in the vertical direction, thereby allowing the robot body 14 to separate from the transport table 100.

[0054] Thus, from the viewpoint of ease of installation of the robot body 14 onto the transport table 100, since the operation of fixing the robot body 14 onto the transport table 100 does not require large equipment such as cranes, but only the tightening of bolts 60 and 63, the robot device of the fourth embodiment has an advantage over the robot device of the third embodiment. On the other hand, in the structure of the third embodiment, since bolt holes can be opened along the horizontal direction, bolt holes can be opened on its side, for example, by making the thickness of the sensor top plate 43 greater than the bolt holes. In the structure of the fourth embodiment, since bolt holes must be opened along the vertical direction, for example, the width or length of the sensor top plate 43 must be greater than the base 31 of the robot arm mechanism 30. Therefore, from the viewpoint of the area occupied by the robot body, the robot device of the third embodiment has an advantage over the robot device of the fourth embodiment.

[0055] (Fifth Implementation)

[0056] In the fourth embodiment, since the transport leg 50 is directly mounted and detached from the sensor top plate 43, the sensor top plate 43 must be enlarged to accommodate the transport leg 50, resulting in a larger footprint for the robot body 14. To address this issue, other components can be placed between the transport leg 50 and the sensor top plate 43. For example... Figure 9 As shown, the robot device of the fifth embodiment also includes a transport auxiliary member 70 that can be detached from the sensor top plate 43. The transport auxiliary member 70 is fixed to the sensor top plate 43 by means of bolts 65 inserted in the horizontal direction. The transport legs 50 are fixed to the transport auxiliary member 70 by means of bolts 67 inserted in the vertical direction. According to the robot device of the fifth embodiment, the load on the column portion 45 of the sensor device 40 during transport can be reduced, and compared with the robot device of the fourth embodiment, it is not necessary to increase the size of the sensor top plate 43, thereby reducing the area occupied by the robot body 15. However, since the number of mounting parts is increased, from the viewpoint of working hours, the robot device of the fourth embodiment has an advantage over the robot device of the fifth embodiment.

[0057] (Sixth Implementation Method)

[0058] In the first to fifth embodiments, the height of the transport leg 50 from its position on the transport table 100 to its position on the robot body is longer than the height from the sensor base plate 41 of the sensor device 40 to the position where the transport leg 50 is installed in the robot body. This height of the transport leg 50 allows the sensor base plate 41 to be separated from the transport table 100. However, the bolts used to fix the transport leg 50 to the transport table 100 can also function as a jack (starter).

[0059] like Figure 10 As shown, in the sixth embodiment, the handling leg 50 of the robot device is configured such that the height from one end 53 to the other end 55 is slightly shorter than the height from the sensor base plate 41 to the sensor top plate 43 of the sensor device 40. For example... Figure 11As shown, even when the robot body 16 with the transport legs 50 mounted is placed on the transport table 100, the transport legs 50 can be prevented from contacting the transport table 100. By inserting and tightening the bolt 69 into the transport legs 50 mounted on the robot body 11 and the transport table 100, the front end of the bolt 69 abuts against the transport table 100. If the bolt 69 is tightened further, the axial force of the bolt 69 lifts the robot body 16 and the transport legs 50 together vertically upward, thereby separating the robot body 16 from the transport table 100. The robot body 16 separated from the transport table 100 is fixed to the transport table 100 by a fastening member such as a belt. Of course, by making shallow bolt holes in the transport table 100 and threading the front end of the bolt 69 into the bolt holes in the transport table 100, the robot body 16 can be fixed to the transport table 100. According to the robot device of the sixth embodiment, the load on the column portion 45 of the sensor device 40 during the handling process can be reduced. Also, similar to the robot device of the fourth embodiment, large equipment such as cranes is not required in the operation of fixing the robot body 11 to the handling table 100. Only the bolt tightening operation is required. Therefore, it can be said that it is easy to set the robot body 16 on the handling table 100.

[0060] (Seventh Implementation)

[0061] The robot body of the robot device in the first to sixth embodiments is a structure in which a robot arm mechanism 30 is connected to the sensor device 40. However, a feature of the robot device in the first to sixth embodiments, namely the handling foot 50, can also be applied to robot bodies other than those with the above-described structure.

[0062] In order to protect the internal components of the robot arm mechanism 30 from the external forces acting during the handling process, one end 53 of the handling foot 50 is fixed to a component on the robot arm mechanism 30 that is located further forward than the component to be protected in the robot arm mechanism 30, and the other end 55 is fixed to the handling table 100. Furthermore, the size and shape of the handling foot 50 determine that the robot arm mechanism 30 can be separated from the handling table 100.

[0063] like Figure 12As shown, the robot device of the seventh embodiment includes a torque sensor 80. The torque sensor 80 is mounted on a motor unit 90 that drives the joint J1 connecting the base 31 and the first link 33. The motor unit 90 is fixed to the frame 311 of the base 31, and the output shaft 91 of the motor unit 90 is fixed to the frame 331 of the first link 33. One end 53 of the transport leg 50 is fixed to the first link 33, and the other end 55 is fixed to the transport table 100. The transport leg 50 is configured such that the height from one end 53 to the other end 55 is longer than the height from the bottom surface of the base 31 of the robot arm mechanism 30 to the mounting position of the transport leg 50. With the transport leg 50 configured in this way, the base 31 of the robot arm mechanism 30 is separated from the transport table 100.

[0064] According to the robot device of the seventh embodiment configured as described above, since the robot arm mechanism 30 supported by the transport foot 50 is located further forward than the torque sensor 80, the external force acting on the transport table 100 can be suppressed from being directly transmitted to the torque sensor 80 via the base 31 of the robot arm mechanism 30, and the external force acting on the robot arm mechanism 30 can be suppressed from being transmitted to the torque sensor 80 via the first link 33, thereby reducing the load applied to the torque sensor 80.

[0065] In this embodiment, there is a pair of transport legs 50, but the number of transport legs 50 is not limited to two. Furthermore, the device is not limited to bolts, as long as the transport legs 50 and the robot body can be fastened together, and as long as the transport legs 50 and the transport table 100 can be fastened together. For example, according to the embodiment, the fastening device can be a screw, or a strap, etc.

[0066] Additionally, one end 53 of the transport leg 50 is mounted to the sensor top plate 43 of the sensor device 40 or the base 31 of the robot arm mechanism 30, while the other end 55 is mounted to the transport table 100. However, the mounting position of the other end 55 is not limited to this, as long as the sensor base plate 41 can be separated from the transport table 100 by means of the transport leg 50. For example, the other end 55 of the transport leg 50 may not be mounted on the surface of the transport table 100, but may be mounted, for example, on a component fixed to the transport table 100 relative to the truck rack.

[0067] While some embodiments of the invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, with various omissions, substitutions, and modifications possible without departing from the spirit of the invention. These embodiments or variations thereof are included in the scope of the invention as described in the claims and its equivalents, just as they are included in the scope or spirit of the invention.

Claims

1. A robotic device, wherein, have: The robot body includes a robot arm mechanism and a sensor device for detecting external forces applied to the robot arm mechanism, and The transport legs are used to fix the robot body to the transport platform; The sensor device has a sensor base plate for mounting on the robot mounting platform, a sensor top plate mounted on the bottom surface of the base of the robot arm mechanism, and a sensor body for detecting the displacement between the sensor base plate and the sensor top plate. The transport legs are configured to connect the base to the transport platform in such a way that the sensor base plate floats relative to the transport platform, or to connect the sensor top plate to the transport platform. The robot body is connected to the transport platform only via the transport legs.

2. The robot device according to claim 1, wherein, The transport foot is configured to be detachable from the base or the sensor top plate.

3. The robot device according to claim 2, wherein, The transport foot is mounted to the base or the sensor top plate by means of a first bolt inserted in a direction parallel to the transport platform.

4. The robot device according to claim 3, wherein, The transport foot has a height slightly shorter than the height from the sensor base plate to the base or from the sensor base plate to the sensor top plate. The robot body is separated from the transport table by a second bolt inserted in a direction orthogonal to the transport table, thereby creating a gap between the sensor base plate and the transport table.

5. The robot device according to claim 2, wherein, The transport foot has a height greater than the height from the sensor base plate to the base or from the sensor base plate to the sensor top plate. The transport foot is mounted on the base or the sensor top plate by being tightened by a first bolt inserted in a direction orthogonal to the transport platform, and the robot body is separated from the transport platform by the axial force of the first bolt, forming a gap between the sensor base plate and the transport platform.

6. The robot device according to any one of claims 2 to 5, wherein, It also includes auxiliary components that are detachable from the base or the sensor top plate and assist in the installation of the transport feet onto the base or the sensor top plate.

7. The robot device according to claim 1, wherein, The carrying foot is integrally formed on the base or the sensor top plate.

8. A robotic device, wherein, have: The robotic arm mechanism has built-in components for protecting the object, and The transport legs are used to fix the robot arm mechanism to the transport table; The transport legs are configured to allow the transport platform to be connected to other components near the front end of the robot arm mechanism, with the bottom of the robot arm mechanism floating relative to the transport platform. The robotic arm mechanism is connected to the transport platform only via the transport legs.

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