Robot cell arrangement and robot cell

Abstract

Robot cell arrangement comprising: a transport and storage container that defines a storage space; and a robot cell contained in the storage space, the robot cell comprising: a robot support and transport frame having a support floor; a housing mounted on the robot support and transport frame and defining a control chamber; a control unit contained in the control chamber; an electrical panel contained in the control chamber; a robot base mounted on and projecting upwardly from the robot support and transport frame; a robot mounted on the robot base and operatively connected to the control unit; and at least one connection port that is connected to the robot carrier and Transport frame or mounted on the housing and communicating with the robot, control unit and / or electrical panel.

Description

TECHNICAL FIELD OF THE INVENTION

[0001] The technical field relates to a robot cell assembly in a storage and transport configuration and to a robot cell. It also relates to methods for storing, transporting, and moving a robot cell. BACKGROUND

[0002] Automated robot cells, such as palletizing / grouping robot cells, are typically designed to perform specific tasks, and it can be difficult and time-consuming to adapt the robot cells to changes in warehouse layouts or product types. Furthermore, robot cells can be expensive to acquire, and it can take several months for on-site specialists to design, manufacture, retrofit, and commission.

[0003] Therefore, industrial companies may be reluctant to invest in a new robot cell for some routine tasks that can be easily performed by a robot, but which are not performed regularly, on production lines with a lower throughput, or on production lines for new product testing.

[0004] In view of the above, there is a need for a less expensive, easier to install and / or faster to modify robot cell that would be able to overcome or at least minimize some of the problems of the prior art discussed above. BRIEF SUMMARY OF THE INVENTION

[0005] It is therefore an object of the present invention to address the above-mentioned problems.

[0006] According to a general aspect, a robot cell assembly is provided comprising: a transport and storage container defining a storage space; and a robot cell contained within the storage space. The robot cell comprises: a robot support and transport frame having a support floor; a housing mounted to the robot support and transport frame and defining a control chamber; a control unit contained within the control chamber; an electrical panel contained within the control chamber; a robot base mounted to and projecting upwardly from the robot support and transport frame; a robot mounted to the robot base and operatively connected to the control unit; and at least one connection port mounted to the robot support and transport frame or to the housing and in communication with at least one of the robot, the control unit, and the electrical panel.

[0007] In one embodiment, the robot comprises a robot arm with a shoulder joint, and the shoulder joint is at least one of the highest components of the robot within the storage space. The shoulder joint can be at least one of the highest components of the robot cell within the storage space.

[0008] In one embodiment, the support floor of the robot support and transport frame defines an upper surface, and the robot support and transport frame further includes peripheral walls for spacing the support floor from a floor supporting the robot support and transport frame, wherein forklift tines are insertable into a space defined between the support floor and the floor, and wherein the housing and the robot base project upwardly from the upper surface of the support floor. The robot support and transport frame can define forklift fork receiving channels in which the forklift tines can be received.

[0009] In one embodiment, the at least one connection port of the robot cell comprises a plurality of connection ports, and the robot support and transport frame comprises at least one connection protection housing defining a connection protection channel. The robot cell further comprises at least one electrical, hydraulic, optical, and / or pneumatic connector extending at least partially within the connection protection channel, wherein at least one of the at least one electrical, hydraulic, optical, and pneumatic connector is connected to a respective one of the connection ports. The at least one connection protection housing can extend beneath the support floor of the robot support and transport frame.The robot support and transport frame may comprise a connection port housing defining a connection port chamber, wherein the connection ports are at least partially contained within and accessible from the connection port chamber.

[0010] In one embodiment, the robot support and transport frame includes a conveyor mount engageable with a conveyor to prevent relative displacement between the conveyor and the robot cell.

[0011] In one embodiment, the robot support and transport frame comprises ground anchors.

[0012] In one embodiment, the robot cell further comprises an HMI carrier mounted to the housing and / or the robot support and transport frame. The robot cell may further comprise a human-machine interface (HMI) mounted to the HMI carrier.

[0013] According to a further general aspect, a robot cell is provided comprising: a robot support and transport frame having a support floor; a housing mounted on the robot support and transport frame and defining a control chamber; a control unit contained in the control chamber; an electrical panel contained in the control chamber; a robot base mounted on and projecting upwardly from the robot support and transport frame; a robot mounted on the robot base and operatively connected to the control unit; and at least one connection port mounted on the robot support and transport frame or on the housing and in communication with at least one of the robot, the control unit, and the electrical panel, respectively.

[0014] In one embodiment, the support floor of the robot support and transport frame defines an upper surface, and the robot support and transport frame further includes peripheral walls for spacing the support floor from a floor supporting the robot support and transport frame, wherein forklift tines are insertable into a space defined between the support floor and the floor, and wherein the housing and the robot base project upwardly from the upper surface of the support floor. The robot support and transport frame can define forklift fork receiving channels in which the forklift tines can be received.

[0015] In one embodiment, the at least one connection port of the robot cell comprises a plurality of connection ports, and the robot support and transport frame comprises at least one connection protection housing defining a connection protection channel. The robot cell further comprises at least one electrical, hydraulic, optical, and / or pneumatic connector extending at least partially within the connection protection channel, wherein at least one of the at least one electrical, hydraulic, optical, and pneumatic connector is connected to a respective one of the connection ports. The at least one connection protection housing can extend beneath the support floor of the robot support and transport frame.

[0016] In one embodiment, the robot support and transport frame comprises a connection port housing defining a connection port chamber, wherein the connection ports are at least partially contained within and accessible from the connection port chamber.

[0017] In one embodiment, the robot support and transport frame includes a conveyor mount engageable with a conveyor to prevent relative displacement between the conveyor and the robot cell.

[0018] In one embodiment, the robot support and transport frame comprises ground anchors.

[0019] In one embodiment, the robot cell further comprises an HMI carrier mounted to the housing and / or the robot support and transport frame. The robot cell may further comprise a human-machine interface (HMI) mounted to the HMI carrier.

[0020] According to another general aspect, a method for storing and transporting the robot cell as described above is provided. The method comprises: folding a robot arm of the robot into a compact storage configuration, wherein a shoulder joint of the robot arm is at least one of the tallest components of the robot; inserting the robot cell with the robot in the compact storage configuration into a storage space defined in the transport and storage container; and closing the transport and storage container.

[0021] According to yet another general aspect, a method is provided for moving the robot cell as described from a first position to a second position, comprising: at the first position, lifting the robot support and transport frame to which the housing and the robot base are mounted, wherein the robot is attached to the robot base, the HMI support and the at least one connection port are mounted to the housing and / or the robot support and transport frame, the control unit and the electrical panel are contained in the control chamber of the housing, connectors extend between the at least one connection port and the robot, the control unit and / or the electrical panel, the robot is operatively connected to the control unit and / or the electrical panel, and the at least one connection port is ready to be connected to the robot,the control unit and / or the electrical panel; moving the raised robot support and transport frame to the second position; and setting down the raised robot support and transport frame at the second position.

[0022] In one embodiment, prior to raising the robot support and transport frame, disengaging a conveyor engaged with the robot support and transport frame; and / or disengaging the robot support and transport frame from the floor.

[0023] In one embodiment, lifting comprises inserting forklift tines into a space defined between the support floor and a floor and lifting the forklift tines to lift the robot support and transport frame. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a rear perspective view of a robot cell with a conveyor and two pallets according to one embodiment; Fig. 2 is a side elevation view of the robot cell of Fig. 1; Fig. 3 is a perspective rear view of the robot cell of Fig. 1 without the conveyor and the two pallets, wherein a first side door of a housing of the robot cell is configured in an open configuration; Fig. 4 is a perspective front view of the Fig. 3, with one end effector removed; Fig. 5 is a bottom plan view of the Fig. 4 shown robot cell; Fig. 6 is an enlarged top perspective view of a portion of a robot support and transport frame of the robot cell of Fig. 1, wherein a connection terminal housing cover is removed to expose a connection terminal chamber; Fig. 7 is a perspective top view of a housing of the robot cell of Fig. 1, wherein a rear door is configured in an open configuration; Fig. 8 is a side elevation view of the Fig. 7, with the first side door removed; Fig. 9 is a side elevation view of the Fig. 7, wherein a second side door is configured in an open configuration; Fig. 10 is a rear elevation view of the robot cell of Fig. 3, which is configured in a first transport and storage configuration; Fig. 11 is a front elevation view of the robot cell of Fig. 10, wherein a conveyor attachment has been detached from the robot support and transport frame and lies on an upper wall thereof; Fig. 12 is a side elevation view of the robot cell of Fig. 10, which is contained in a transport and storage container; Fig. 13 is a rear elevation view of the robot cell of Fig. 10; Fig. 14 is a front elevation view of the robot cell of Fig. 10; Fig. 15 is a plan view of the robot cell of Fig. 10; Fig. 16 is a rear elevation view of the robot cell of Fig. 3, which is configured in a second transport and storage configuration; Fig. 17 is a first side elevation view of the robot cell of Fig. 16; Fig. 18 is a second side elevation view of the robot cell of Fig. 16, which is contained in a transport and storage container; Fig. 19 is a front elevation view of the robot cell of Fig. 16; Fig. 20 is a plan view of the robot cell of Fig. 16; Fig. 21 is a rear elevation view of the robot cell shown in Fig. 10, which comprises a conveyor section mounted on a front portion of the support and transport frame of the robot cell; and Fig. 22 is a side elevation view of the Fig. 21 shown robot cell.

[0024] It is noted that in the accompanying drawings, like features are identified by like reference numerals. DETAILED DESCRIPTION

[0025] Furthermore, although the embodiments of the robot cell assembly, a robot cell, and corresponding parts thereof consist of certain geometric configurations as explained and illustrated herein, not all of these components and geometries are essential and should therefore not be construed in a limiting sense. It is understood, as will also be apparent to one skilled in the art, that other suitable components and interactions therebetween, as well as other suitable geometric configurations, may be used for the robot cell assembly and the robot cell, as briefly explained herein and as will be readily apparent to one skilled in the art. Furthermore, it is understood that positional descriptors such as "above," "below," "left," "right," and the like, unless otherwise indicated, are understood in the context of the figures and should not be considered limiting.

[0026] In the following description, like reference numerals refer to similar elements. Furthermore, for simplicity and clarity, namely to avoid unduly burdening the figures with multiple reference numerals, not all figures contain references to all components and features, and references to some components and features are found in only one figure, and components and features of the present disclosure illustrated in other figures can be readily derived therefrom. The embodiments, geometric configurations, materials, and / or dimensions shown in the figures are optional and are for illustrative purposes only.

[0027] With reference to Fig. 1 shows an embodiment of a robot cell 30 according to one embodiment. The robot cell 30 includes a robot support and transport frame 32, a housing 34 mounted to the robot support and transport frame 32 and defining a control chamber 56, a robot base 36 mounted to the robot support and transport frame 32, and a robot 38 mounted to and extending from the robot base 36. The housing 34 and the robot base 36 project upwardly from the robot support and transport frame 32.

[0028] In the Fig. 1 and Fig. In the non-limiting embodiment shown in Figure 2, the robot cell 30 is shown in combination with a conveyor section 40 mounted to the front of the robot cell 30 and two pallets 42, one on each side of the robot cell 30.

[0029] In this non-limiting embodiment, the robot cell 30 is a clustering / palletizing robot, with the robot 38 configured to pick up items from a pick-up location, such as the conveyor section 40, and transfer the picked items to a clustering station, such as the two pallets 42 shown. The items can be deposited directly onto the pallets 42 or into boxes located on the pallets 42. It should be understood that the pick-up location may be different from the conveyor section 40 shown, and the clustering section may also be different from the pallets 42 and may be any other suitable support surface to facilitate transport or further material handling, such as a chute, a cardboard sheet, a plastic sheet, a metal sheet, or combinations thereof.

[0030] It will also be understood that the robot 38 of the robot cell 30 may be used to perform tasks other than grouping items, such as packing boxes, sorting items, or any alternative material handling.

[0031] Furthermore, in the non-limiting embodiment shown, robot 38 is a collaborative robot. However, it should be understood that robot 38 may be of a different type, shape, or configuration.

[0032] It is also understood that the robot cell 30 can be used with a wide variety of conveyor configurations or other feeding means, which may vary greatly from the Fig. 1 and Fig. 2 may differ.

[0033] In one embodiment, the robot support and transport frame 32 directly or indirectly supports all other components of the robot cell 30. As described in more detail below, the robot cell 30 may be movable from one location to another by moving the robot support and transport frame 32 as a single unit.

[0034] In the illustrated embodiment, the robot support and transport frame 32 has a substantially rectangular shape. It includes a support floor 44 (which, in the illustrated non-limiting embodiment, is a top wall of the frame 32) that is substantially planar and peripheral walls 46 extending downwardly from the support floor 44. The support floor 44 of the robot support and transport frame 32 defines an upper surface 48. The housing 34 and the robot base 36 project upwardly from the upper surface 48 of the support floor 44. The peripheral walls 46 extend downwardly from the support floor 44 to space the support floor 44 from a floor on which the robot cell 30 is supported. In one embodiment, forklift tines are insertable as a single unit into a space 50 defined between the support floor 44 and the floor to facilitate transport and relocation of the robot cell 30.

[0035] In the non-limiting embodiment shown, the peripheral wall 46 defines two spaced fork insertion recesses 52 that provide access to forklift fork receiving channels 54 ( Fig. 5) defined by the robot support and transport frame 32. The forklift tines (not shown) of a forklift are insertable and receivable into the forklift fork receiving channels 54 through the fork insertion recesses 52 defined in the peripheral walls 46. In the embodiment shown, the fork insertion recesses 52 are defined in a rearward one of the peripheral walls 46. However, it should be understood that they may be defined anywhere along the peripheral walls 46. Further, the robot cell 30 may be free of fork insertion recesses 52. In an alternative embodiment (not shown), the robot cell 30 may include other means for transporting the robot cell 30 as a single unit, such as wheels, skid plates, and the like. In some implementations, they are mounted to the robot support and transport frame 32.

[0036] It is understood that the shape and configuration of the robot support and transport frame 32 may differ from that shown in the figures.

[0037] The control chamber 56, defined within the housing 34, is configured to house a control unit 58 and an electrical panel 60 ( Fig. 9) of the robot cell 30. The control unit 58 may comprise a controller and / or a computer. As described in more detail below, the robot 38 is operatively connected to the control unit 58.

[0038] In the embodiment shown, the housing has three pivoting and removable door panels 62a, 62b, 62c to provide access to the control unit 58 and the electrical panel 60 located within the control chamber 56.

[0039] It is understood that the shape and configuration of the housing 34 may differ from that shown in the figures.

[0040] In the Fig. 1 and Fig. 3, a first side door panel 62a is configured in an open configuration, while in Fig. 2 is configured in a closed configuration. In Fig. 8, the first side door panel 62a is removed. In Fig. 7, a rear door panel 62b is configured in the open configuration, while in the Fig. 1 to Fig. 3 is configured in the closed configuration. In Fig. 9, a second side door panel 62c is configured in a closed configuration, while in Fig. 4 is configured in the closed configuration.

[0041] The robot cell 30 also includes an HMI (human-machine interface) carrier 64 mounted on and projecting upwardly from the housing 34 and / or the robot support and transport frame 32. It should be understood that the shape and configuration of the HMI carrier 64 are shown in the figures.

[0042] The robot cell 30 may further include a human-machine interface (HMI) 66 mounted on the HMI support 64. In the embodiment shown in the figures, the HMI 66 is embodied by a touchscreen. However, it is understood that it may include more than one screen, a keyboard, a joystick, a mouse, and the like.

[0043] With reference to Fig. 6, it is shown that the robot cell 30 also includes a plurality of connection ports 68 mounted on the robot support and transport frame 32. However, it is understood that in an alternative embodiment (not shown), the connection ports 68 may be mounted on the housing 34. In the non-limiting embodiment shown, the robot support and transport frame 32 includes a connection port housing 70 defining a connection port chamber 72, with the connection ports 68 at least partially contained within and accessible from the connection port chamber 72. In Fig. 6, a connection terminal housing cover 74 of the connection terminal housing 70 has been removed to show the connection terminals 68. Referring again to the Fig. 3 and Fig. 4, the lid 74 is shown in a closed configuration, defining a portion of the support floor 44 of the robot support and transport frame 32 and preventing access to the connection ports 68. Therefore, the robot cell 30 can be shipped and transported with most or all of the cables pre-installed and connected by a robot cell manufacturer. Therefore, the requirement for specialized labor for on-site cable installation and commissioning can be avoided.

[0044] It should be understood that in an alternative embodiment (not shown), the robot cell 30 may include only one or at least one connection port 68 mounted on the robot support and transport frame 32. In some non-limiting embodiments, the robot cell 30 also includes only one connection port 68, which is an electrical port.

[0045] With reference to Fig. 5, the robot support and transport frame 32 also includes a connector protection housing 76 defining a connector protection channel (not shown). In the illustrated embodiment, the connector protection housing 76 extends below, and particularly below, the support floor 44 of the robot support and transport frame 32 between the front and rear peripheral walls 46. The connector protection channel is configured to contain and protect a variety of connectors, such as electrical, hydraulic, optical, and pneumatic connectors. The connectors extend at least partially within the connector protection channel, and at least one of the connectors is connected to a respective one of the connection ports 68 at one end thereof. At the other end thereof, the connector may be operatively connected to the robot 38, the HMI 66, the control unit 58, and / or the electrical panel 60.

[0046] For example, and without limitation, the connectors may include electrical wires and cables, optical cables, and pneumatic or hydraulic hoses to supply electricity, light signals, air, and / or fluid to the robot cell 30, such as the robot 38, the HMI 66, the control unit 58, and the electrical panel 60. Likewise, the connection ports 68 may be an electrical port (including Ethernet / USB / serial ports and the like), a pneumatic port, and / or a hydraulic port to which an electrical supply, a light source, a pneumatic supply, and / or a hydraulic supply may be operatively connected to power the connectors.

[0047] As in the Fig. 3 and Fig. As shown in Figure 5, the robot support and transport frame 32 also includes ground anchors 78 for securing the robot cell 30 to a selected location on the ground via the robot support and transport frame 32. It should be understood that the shape, configuration, and number of ground anchors 78 may vary from the illustrated embodiment.

[0048] With reference to the Fig. 1, Fig. 2 and Fig. 4 shows that the robot support and transport frame may also include a conveyor mount 80 that can be engaged with the conveyor section 40 to prevent relative displacement between the conveyor and the robot cell 30 and to facilitate configuration and installation. It is understood that the shape, configuration, and number of the conveyor mount 80 may vary from the illustrated embodiment.

[0049] Once the conveyor section 40 is detached from the conveyor mount 80, the floor anchors 78 are detached from the floor, and the electrical supply, light source, pneumatic supply, and / or hydraulic supply are detached from the connecting ports 68, the entire robot cell 30 can be transported from a first location to a second location. For example, a forklift can insert its forks through the fork insertion recesses 52 into the forklift fork receiving channels 54, lift the robot cell 30, and move it as a single unit to the second location spaced from the first location.

[0050] Likewise, the robot cell 30 can be placed in a transport and storage container 90 ( Fig. 12 and Fig. 18) that defines a storage space 92. In one embodiment, the transport and storage container 90 has a width and a height, each of which is shorter than about 10 ft, and in a particular embodiment, shorter than about 8 ft. In one embodiment, a length of the transport and storage container 90 is also shorter than about 10 ft, and in a particular embodiment, shorter than about 8 ft. The robot cell 30 may be configured in a compact storage configuration (also referred to as a transport and storage configuration), wherein it is entirely contained within the storage space.

[0051] With further reference to Fig. 3 and Fig. 4, the robot 38 in the non-limiting embodiment shown comprises an arm having a plurality of arm segments 86 connected by joints 84. In the Fig. 4, an end effector 85 ( Fig. 1 to Fig. 3), which can be releasably attached to a distal arm segment 86d, is removed, i.e., the last arm segment, considering that the one mounted on the robot base 36 is a proximal / first arm segment. A first of the joints 84, starting from the robot base 36, is the shoulder joint 84a. The configuration of the robot 38 can be modified by pivoting the arm segments 86 about the joints 84. Therefore, the overall dimensions or a volume (along the x, y, and z axes) of the robot 38 can be modified. For transport and storage, the volume of the robot 38 can be minimized, at least reduced along at least one of the three axes. In one embodiment, a height of the robot 38 is minimized by folding the robot arm around the joints 84 in such a way that the shoulder joint 84a is among the tallest components of the robot 38.

[0052] The Fig. 10 to Fig. 15 show that the robot 38 is configured in a first compact storage configuration and the Fig. 16 to Fig. 22 are configured in a second compact storage configuration for storage and transport.

[0053] In both compact storage configurations, the shoulder joint 84a is located at substantially the same height as the highest components of the robot 38 as a subsequent one of the arm segments 86 and an elbow joint 84b.

[0054] In the first compact storage configuration, all joints 84 and the arm segments 86 extending therebetween are substantially at the same height, which is the top of the robot 38 in this configuration. In the first compact storage configuration, the shoulder joint 84a, the elbow joint 84b, and the arm segment 86a extending therebetween are substantially at the same height, which is the top of the robot 38 in this configuration.

[0055] Furthermore, in some implementations, when contained within the storage space 92 of the transport and storage container 90, the tallest component(s) of the robot 38, including the shoulder joint 84a, is / are the tallest component(s) of the robot cell 30.

[0056] To store and transport the robot cell 30, the robot arm of the robot 38 can be folded into one of the compact storage configurations, with the shoulder joint 84a of the robot arm being at least one of the highest components of the robot 38. Then, the robot cell 30, with the robot 38 in the compact storage configuration, can be inserted into the storage space 92 defined in the transport and storage container 90, and the transport and storage container 90 can be closed.

[0057] Thus, when stored in the transport and storage container 90 for storage and transport, the robot cell 30 is in an assembled and almost ready-to-use configuration.__In the assembled configuration: • the housing 34 and the robot base 36 are mounted on the robot support and transport frame 32, • the robot 38 is attached to the robot base 36 and configured in a compact storage configuration, • the HMI carrier 64 is mounted on the housing 34 and / or the robot support and transport frame 32 and / or the robot base 36, • the control unit 58 and the electrical panel 60 are contained in the control chamber 56 of the housing 34, the robot 38 is operatively connected to the control unit 58 and / or the electrical panel 60, and • the connection ports 68 are mounted on the robot support and transport frame 32 or on the housing 34 and are ready to communicate with the robot 38, the control unit 58 and / or the electrical panel 60.

[0058] For example, the connection between the connection ports 68 and the robot 38, the control unit 58, and / or the electrical panel 60 can be provided by connectors, which can be electrical wires and cables, optical cables, and pneumatic or hydraulic hoses. In one embodiment, the connectors are connected to the connection ports 68 when the robot cell 30 is contained in the storage space 92 of the transport and storage container 90.

[0059] The compact storage configuration of the robot 38 may be the first or the second compact storage configuration shown in the Fig. 10 to Fig. 15 or the Fig. 16 to Fig. 20, or any alternative thereof.

[0060] In some embodiments, the robot cell 30 contained within the storage space 92 of the transport and storage container 90 may further include the HMI 66 mounted on the HMI carrier 64 and operatively connected to the control unit 58 and / or the electrical panel 60. Further, it should be understood that the HMI 66, when detached from the HMI carrier 64, may be contained within the storage space 92 simultaneously with the robot cell 30 in the compact storage configuration for storage and transport.

[0061] In some embodiments, the robot cell 30 contained within the storage space 92 may further include the connector protection housing 76 that defines the connector protection channel and contains / surrounds at least a portion of the connectors.

[0062] In some embodiments, the conveyor mount 80 and / or the floor anchors 78 are already provided on the robot support and transport frame 32 when the robot cell 30 is contained in the storage space 92.

[0063] In some embodiments, the end effector 85 may be mounted on the distal arm segment 86d when the robot cell 30 is contained and stored in the storage space 92. In another embodiment, the end effector 85 may be detached from the distal arm segment 86d when the robot cell 30 is contained and stored in the storage space 92. Furthermore, one or more end effectors 85 may be contained in the storage space 92 simultaneously with the robot cell 30 in the compact storage configuration for storage and transport.

[0064] As in Fig. 21 and Fig.As shown in Figure 22, one conveyor section 40 may be contained and stored in the storage space 92 simultaneously with the robot cell 30 in the first compact storage configuration for storage and transport. It should be understood that more than one conveyor section 40 may be contained and stored in the storage space simultaneously.

[0065] Thus, once the robot cell 30 is close to the selected location, it can be removed as a single unit from the transport and storage container 90 and moved to the selected location by moving the robot support and transport frame 32, for example, using a forklift.

[0066] Once in the selected location, the robot support and transport frame 32 may be anchored to the ground using the ground anchors 78 and / or a conveyor section 40 may be attached to the robot support and transport frame 32 via the conveyor mount 80.

[0067] The arm of robot 38 can be deployed from the compact storage configuration into an operating configuration. If necessary, an end effector can be mounted on a distal one of the arm segments 86.

[0068] An electrical supply, a light source (for optical communication), a pneumatic supply, and / or a hydraulic supply may be connected to the connection ports 68 to supply the robot 38, the control unit 58, and / or the electrical panel 60 via the connectors.

[0069] If necessary, the HMI can be mounted on the HMI carrier 64 and connected to the control unit 58 and / or the electrical panel 60, limiting the involvement of specialized personnel for installation and commissioning. This reduces delays and potential complications during on-site installation.

[0070] To move the robot cell 30 from a first location to a second location, the robot support and transport frame 32 can be raised. The robot support and transport frame 32 comprises: the housing 34 and the robot base 36 mounted thereon, the robot 38 attached to the robot base 36, the HMI carrier 64 and the connection ports 68 mounted on the housing 34 and / or the robot support and transport frame 32, the control unit 58 and the electrical panel 60 contained in the control chamber 56 of the housing 34, connectors extending between the connection ports 68 and the robot 38, the control unit 58 and / or the electrical panel 60, wherein the robot 38 is operatively connected to the control unit 58 and / or the electrical panel 60 and the connection ports 68 are ready to be in communication with the robot 38, the control unit 58 and / or the electrical panel 60.The raised robot support and transport frame 32 can then be moved to the second location and set down there.

[0071] In one embodiment, prior to lifting the robot support and transport frame 32, the conveyor 40 engaging the robot support and transport frame 32 may be released and / or the robot support and transport frame 32 may be released from the floor.

[0072] Lifting of the robot support and transport frame 32 may be performed by inserting forklift tines into a space defined between the support floor 44 of the robot support and transport frame 32 and the floor and raising the forklift tines to lift the robot support and transport frame 32.

[0073] Thus, the robot cell 30, which in the assembled configuration is storable / movable as a single unit, can be quickly installed or moved and ready to perform repetitive tasks.

[0074] Therefore, the robot cell 30 described above is relatively versatile compared to conventional industrial cells, which are designed and manufactured for a specific use. The need for specialized labor for installation and commissioning is still reduced compared to the installation and commissioning of conventional industrial robot cells. The need for specialized labor for modification / adaptation is also limited, thereby reducing the associated costs. The robot cell assembly can be transported as a single unit in a relatively small container.

[0075] In the above description, an embodiment is an example or implementation of the inventions. The various appearances of "one embodiment" or "some embodiments" do not necessarily all refer to the same embodiments.

[0076] Although various features of the invention may be described in the context of a single embodiment, the features may also be provided separately or in any suitable combination. Conversely, although the invention may be described herein in the context of separate embodiments for clarity, it may also be implemented in a single embodiment.

[0077] Reference in the specification to "some embodiments," "an embodiment," or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least some embodiments of the inventions, but not necessarily in all embodiments.

[0078] It is to be understood that the phraseology and terminology used herein is not to be interpreted as limiting and is for descriptive purposes only. The meanings of technical and scientific terms used herein are generally understood as one of ordinary skill in the art to which the invention belongs, unless otherwise defined.

[0079] The principles and uses of the teachings of the present invention may be better understood by reference to the accompanying description, figures, and examples.

[0080] It is to be understood that the details set forth herein are not intended to limit any application of the invention. Furthermore, it is to be understood that the invention may be embodied or practiced in various ways, and that the invention may be implemented in forms other than those set forth in the above description.

[0081] It is understood that the terms “including,” “comprising,” “consisting,” and grammatical variations thereof do not preclude the addition of one or more components, features, steps, or integers or groups thereof, and that the terms should be construed to specify components, features, steps, or integers.

[0082] If the description or claims refer to "an additional" element, this does not preclude the presence of more than one of the additional elements. It is understood that if the claims or description refer to "a" element, such a reference should not be construed to imply that only one of those elements is present.

[0083] It is understood that where the description indicates that a component, feature, structure, or property "may be included," "could be included," "may be included," or "might be included," that particular component, feature, structure, or property need not be included.

[0084] It is understood that the methods described herein may be performed in the order described or in any suitable order.

[0085] Several alternative embodiments and examples have been described and illustrated herein. The above-described embodiments of the invention are intended to be exemplary only. One of ordinary skill in the art would recognize the features of each embodiment and the possible combinations and variations of the components. One of ordinary skill in the art would further recognize that each of the embodiments could be provided in any combination with the other embodiments disclosed herein. It is understood that the invention may be embodied in other specific forms without departing from its central characteristics. The present examples and embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, and the invention is not to be limited to the details given herein.Accordingly, while the specific embodiments have been illustrated and described, numerous modifications are contemplated. The scope of the invention, therefore, is to be limited only by the scope of the appended claims.

Claims

[1] Robot cell arrangement comprising: a transport and storage container that defines a storage space; and a robot cell contained in the storage space, the robot cell comprising: a robot support and transport frame having a support floor; a housing mounted on the robot support and transport frame and defining a control chamber; a control unit contained in the control chamber; an electrical panel contained in the control chamber; a robot base mounted on and projecting upwardly from the robot support and transport frame; a robot mounted on the robot base and operatively connected to the control unit; and at least one connection port that is connected to the robot carrier and Transport frame or mounted on the housing and communicating with the robot, control unit and / or electrical panel. [2] The robot cell assembly of claim 1, wherein the robot comprises a robot arm having a shoulder joint, and the shoulder joint is at least one of the highest components of the robot within the storage space. [3] Robot cell assembly according to claim 2, wherein the shoulder joint is at least one of the highest components of the robot cell within the storage space. [4] A robot cell assembly according to any one of claims 1 to 3, wherein the support floor of the robot support and transport frame defines an upper surface, and the robot support and transport frame further includes peripheral walls for spacing the support floor from a floor supporting the robot support and transport frame, wherein forklift tines are insertable into a space defined between the support floor and the floor, and wherein the housing and the robot base project upwardly from the upper surface of the support floor. [5] Robot cell assembly according to claim 4, wherein the robot support and transport frame defines forklift fork receiving channels in which the forklift tines can be received. [6] A robot cell assembly according to any one of claims 1 to 5, wherein the at least one connection port of the robot cell comprises a plurality of connection ports, and the robot support and transport frame comprises at least one connection protection housing defining a connection protection channel, and the robot cell further comprises at least one electrical, hydraulic, optical and / or pneumatic connector extending at least partially within the connection protection channel, wherein at least one of the at least one electrical, hydraulic, optical and pneumatic connector is connected to a respective one of the connection ports. [7] Robot cell assembly according to claim 6, wherein the at least one connection protection housing extends below the support floor of the robot support and transport frame. [8] A robot cell assembly according to any one of claims 6 and 7, wherein the robot support and transport frame comprises a connection terminal housing defining a connection terminal chamber, the connection terminals being at least partially contained within and accessible from the connection terminal chamber. [9] A robot cell assembly according to any one of claims 1 to 8, wherein the robot support and transport frame includes a conveyor mount engageable with a conveyor to prevent relative displacement between the conveyor and the robot cell. [10] Robot cell assembly according to one of claims 1 to 9, wherein the robot support and transport frame comprises ground anchors. [11] Robot cell assembly according to one of claims 1 to 10, wherein the robot cell further comprises an HMI carrier mounted to the housing and / or the robot support and transport frame. [12] The robot cell assembly of claim 11, wherein the robot cell further comprises a human-machine interface (HMI) mounted on the HMI carrier. [13] Robot cell comprising: a robot support and transport frame having a support floor; a housing mounted on the robot support and transport frame and a control chamber is defined; a control unit contained in the control chamber; an electrical panel contained in the control chamber; a robot base mounted on and projecting upwardly from the robot support and transport frame; a robot mounted on the robot base and operatively connected to the control unit; and at least one connection port that is connected to the robot carrier and Transport frame or mounted on the housing and each with the robot, the control unit and / or the electrical panel is in communication connection, The robot cell is moved by moving the robot carrier and Transport frame can be moved as a single unit from one location to another. [14] The robot cell of claim 13, wherein the support floor of the robot support and transport frame defines an upper surface, and the robot support and transport frame further comprises peripheral walls for spacing the support floor from a floor supporting the robot support and transport frame, wherein forklift tines are insertable into a space defined between the support floor and the floor, and wherein the housing and the robot base project upwardly from the upper surface of the support floor. [15] Robot cell according to claim 14, wherein the robot support and transport frame defines forklift fork receiving channels in which the forklift tines are receivable. [16] A robot cell according to any one of claims 13 to 15, wherein the at least one connection port of the robot cell comprises a plurality of connection ports, and the robot support and transport frame comprises at least one connection protection housing defining a connection protection channel, and the robot cell further comprises at least one electrical, hydraulic, optical and / or pneumatic connector extending at least partially within the connection protection channel, wherein at least one of the at least one electrical, hydraulic, optical and pneumatic connector is connected to a respective connection port of the connection ports. [17] Robot cell according to claim 16, wherein the at least one connection protection housing extends below the support floor of the robot support and transport frame. [18] A robot cell according to any one of claims 16 and 17, wherein the robot support and transport frame comprises a connection terminal housing defining a connection terminal chamber, the connection terminals being at least partially contained within and accessible from the connection terminal chamber. [19] A robot cell according to any one of claims 13 to 18, wherein the robot support and transport frame comprises a conveyor mount engageable with a conveyor to prevent relative displacement between the conveyor and the robot cell. [20] Robot cell according to one of claims 13 to 19, wherein the robot support and transport frame comprises ground anchors. [21] Robot cell according to one of claims 13 to 20, wherein the robot cell further comprises an HMI carrier mounted to the housing and / or the robot support and transport frame. [22] The robot cell of claim 21, wherein the robot cell further comprises a human-machine interface (HMI) mounted on the HMI carrier.

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