RING FOR A ROBOT COVER

Description

technical field

[0001] The invention relates to a hoop for securing a protective cover to the base of a robot, particularly an articulated robot. The hoop consists of several segments which, placed end to end and connected together by means of linkages, form the hoop. Previous technique

[0002] It is common practice to protect industrial robots with a cover. This cover is attached to the robot's arm on one side and to the bottom of the robot at its base on the other, allowing it to move with the robot without hindering its operation. To achieve this, robots are equipped with a rotating frame attached to their base.

[0003] The hoops are circular in shape and generally consist of two or three arc-shaped segments joined together to form a circle. See, for example, document JP H05 253887 A. The hoop is made from a bent steel strip. To protect it, the hoop is either painted or made of stainless steel. The hoop is equipped with mounting brackets for attaching it to the robot. Hoops are available in different sizes depending on the size of the robot's base and / or the available space around it. The position of the mounting brackets is specific to each robot.

[0004] State-of-the-art hoops have several disadvantages, partly due to their curved shape: a. In its disassembled state, the hoop requires a significant amount of space due to the curved shape of its components, which is a disadvantage for both delivery and storage. b. They can only be manufactured from a bendable metal, which effectively limits the material choice to steel. Consequently, they are quite heavy and increasingly expensive to manufacture. c. Finally, the position of the mounting tabs on the hoop varies from one robot to another. If a hoop is to be used by two different robots, it may be necessary to provide two sets of attachment points, or to create a second set of attachment points later. The position of the attachment points must be very precise to ensure tension-free assembly of the hoop. In practice, hoops are custom-made for each type of robot.

[0005] The objective of the invention is to remedy these drawbacks. Description of the invention

[0006] This objective is achieved with the hoop of the invention in which the segments are formed by straight spacers and the connecting means are formed by connecting pieces. The hoop has N spacers and N connecting pieces, where N is greater than or equal to 3.

[0007] In particular, the spacers can be made of straight profiles and the connecting pieces of separate angle pieces from the straight profiles, allowing two successive straight profiles to be connected by forming an angle α equal to 180 ° ⋅ N − 2 N , so that the arch has the shape of a regular polygon.

[0008] Each spacer may have two ends, each equipped with first connecting means. Similarly, each connecting piece may be equipped with second connecting means that complement the first connecting means. In this case, the first connecting means are preferably designed as bores, and the second connecting means are designed as screws to be screwed into the bores of the spacers. The bores are preferably located in front faces at the ends of the spacers, and the screws bear against end walls of the connecting pieces parallel to the front faces of the spacers.

[0009] It is preferable to provide reinforcement elements to strengthen the connection by the connecting pieces, each reinforcement element preferably being fixed to two successive spacers.

[0010] In order to allow elements to be anchored to the hoop, in particular the reinforcing elements, it is preferable to equip at least one spacer, preferably each spacer, with at least one groove extending in the direction of its length, preferably along its entire length.

[0011] To mount the hoop onto the robot, mounting means can be provided. These means can consist of mounting brackets attached to the hoop, preferably reversibly. The mounting brackets can be anchored in one or more longitudinal grooves machined into one or more spacers.

[0012] Securing devices may be provided to attach the cover to the frame. In this case, the frame serves not only to keep the bottom of the cover away from the robot but also to secure it. These securing devices may include, for example, turnbuckles, snap fasteners, hook-and-loop fasteners, magnets, zippers, hooks, elastic bands, cords, screws / nuts, cable ties, or similar devices, or a combination thereof. At least some of these securing devices may be mounted on a support, which is itself attached to the frame, preferably by anchoring it in a longitudinal groove in a spacer.

[0013] Anti-tear or anti-sag devices may be provided. These may be attached to the hoop in one or more longitudinal grooves made in one or more spacers. The anti-tear or anti-sag devices may consist of one or more anti-tear or anti-sag plates and / or an anti-tear or anti-sag mesh.

[0014] In one embodiment, the crossbars are made of straight profiles, and each crossbar has an integrated connecting piece to form a single unit. The other options mentioned previously, with an arch made of crossbars and corner pieces separate from the crossbars, also apply to this embodiment. Brief description of the drawings

[0015] The invention is described in more detail below with the aid of the figures which show: [ Fig. 1] (a) a perspective view of the hoop mounted on a robot, (b) an enlargement showing the hoop mounted on the robot; ] Fig. 2 ] perspective views of the arch in a basic configuration (a) viewed from above and (b) viewed from below; [ Fig. 3 ] a perspective view of a segment; [ Fig. 4 ] perspective views of a corner room (a) seen from the inside, (b) seen from the outside and (c) seen from the outside with a mask; [ Fig. 5 ] a perspective view of a mounting bracket; ] Fig. 6 (a) a perspective view of the arch of the figure 2 fitted with tear-resistant or pocket-resistant plates, and (b) a top view of the tear-resistant or pocket-resistant plates; [ Fig. 7 ] (a) an enlarged perspective view of a corner of an arch fitted with a reinforcement and (b) a perspective view of the reinforcement; ] Fig. 8] (a) a perspective view of a prior art hoop and perspective views of a robot equipped with (b) this prior art hoop and (c) a hoop according to the invention; [ Fig. 9 ] different examples of implementation. Detailed description

[0016] The hoop (1) of the invention is intended to secure a protective cover to the bottom of a robot, particularly an articulated robot (R). The hoop (1) is attached to the base (R1) of the robot so that the base is located entirely, or at least largely, inside the cover. If the base is rotatable, the hoop follows the rotational movement of the base.

[0017] There figure 8a shows a prior art hoop (9). It consists of two semicircular segments (91) joined together by overlapping their ends to form the circular hoop. In the example of the robot presented at the figure 8bThree mounting brackets (92) are required to mount this hoop onto the robot. For this, attachment points (93) must be provided at specific locations on the semicircular segments (91). The attachment points (93) must be precisely positioned to avoid stress after the hoop is mounted on the robot. This hoop cannot be used on a robot with attachment points other than the robot shown in the diagram. figure 8b This means that the hoops are partially custom-made for each robot. Furthermore, in its disassembled state, the hoop (9) occupies a significant space, corresponding to the area of ​​a semicircle. When a semicircular segment is damaged, half of the hoop must be replaced and remade to measure.

[0018] The hoop of the invention (1) consists of three main components: spacers (10); corner pieces (20); and mounting brackets (40).

[0019] The struts (10) are preferably straight so that the resulting arch forms a polygon. There are as many struts as corner pieces (N struts and N corner pieces). In an arch, the corner pieces and struts are preferably all identical so as to form a regular polygon. However, to adapt the arch to the specific requirements of the robot's environment, it is possible to use different corner pieces and / or struts, thus deviating from a regular polygon. The corner pieces are chosen according to the desired number of sides. The more open the angles, the greater the number of angles, and the closer the arch approaches circular strength. Similarly, for the same perimeter, the more open the angles, the shorter the struts. Generally, angles are chosen between 90°, corresponding to a regular four-sided polygon, and 30°, corresponding to a regular twelve-sided polygon.Examples of achievements are presented at the . figure 9 The hoop of the invention may also have only three sides, or more than twelve. The shape and dimensions of the hoop (1) depend on the available space and the dimensions of the base (R1) of the robot (R). In the example presented in more detail in figures 1 to 7 And 8c The hoop consists of eight crossbars (10) and eight 135° corner pieces. If the hoop of the invention is to replace an existing hoop, its dimensions can be chosen so that its perimeter corresponds to that of the circular hoop it replaces. Thus, the existing cover can be directly reused.

[0020] The spacers (10) can be made, for example, of tubes, in particular round, square or hexagonal, of profiles in particular flat, L, T or U, etc. In the example presented here, the spacers (10) are made of a hollow profile with a square cross-section having a central bore (11) and a groove (12) on each face.

[0021] The corner pieces (20) used as examples here consist of a U-shaped element bent at 135° at its base (21), and whose two ends are each closed by an end wall (22). Each end wall (22) has a bore for the passage of a screw (23). The two side walls, the base of the U-shaped profile, and the end walls form a cavity open on the side opposite the base. The screws (23) are inserted into the cavity through this opening.

[0022] The hoop is formed by connecting the spacers (10) to each other via the corner pieces (20). For this purpose, screws (23), preferably self-tapping, are screwed from the cavity of the corner pieces (20) into the central bore (11) of the spacers (10) through the bores made in the end walls (22). The diameter of the bore is sized to receive and retain the screws (23). After screwing, the screw heads are located in the cavity of the corner piece, bearing against the inner face of the end walls (22). The screws (23) on the one hand and the central bores (11) on the other constitute the means of connection. When the hoop is formed and the screws are securely tightened, the access opening to the cavity of the corner piece can be closed with a cover (24).Square cross braces are preferably oriented so that they have two faces parallel to the plane of the arch (upper face and lower face), one face oriented towards the center of the arch (inner face) and one face oriented towards the outside of the arch (outer face).

[0023] Depending on the requirements, and especially if the hoop is large, it may be preferable to reinforce the corners with corner braces (30). These are attached to the struts (10), preferably in the groove (12) facing the center of the hoop, that is, the one made in the inner face of the strut. These corner braces (30) also help maintain the orientation of the struts, even if forces exerted on them tend to rotate them.

[0024] The means for mounting the hoop on the robot preferably consist of mounting brackets (40). These mounting brackets are similar to those of traditional hoops. At most, their attachment end (41) for attaching them to the hoop is adapted. This is clearly visible on the figures 8b and 8cEach figure shows the same robot equipped respectively with a traditional hoop (9) and a hoop according to the invention (1). Attachment means are provided in the attachment ends (41) for attaching the legs to the hoop. These attachment means are, for example, in the form of one or more bores (42) for the passage of a screw. The mounting legs (40) are preferably attached reversibly to the hoop, in particular by anchoring in one of the grooves (12). This can be the groove on the upper face of a spacer, or one of the three other grooves as required. This anchoring in a groove requires no custom machining. Furthermore, if the hoop or the mounting legs were to become deformed, it would be easy to eliminate any resulting stresses by moving the attachment means (42) of the mounting legs within their respective grooves.The second end (43) of the mounting lugs is provided with fastening means (44) for attaching the hoop to the robot. These fastening means may be in the form of a fixing slot for screw fastening (45), as shown here.

[0025] To prevent the cover, when not taut (arm extended, arm folded, etc.), from falling into the gap between the hoop (1) and the robot base (R1), forming a pocket and risking getting caught or torn, it is best to close this gap. This can be done by stretching an anti-tear or anti-pocket net, or by using one or more metal plates (50). The simplest plates are flat and anchored in the grooves on the upper faces of the spacers. They can also be fitted with a folded edge to anchor them in the grooves on the inner or outer faces. Again, anchoring in a groove requires no special work. In the example of the figure 6 , the hoop is provided with three mounting lugs (40) and three plates (50) forming an annular plate closing the spaces between the mounting lugs.

[0026] Securing means are provided for securing the cover, particularly the bottom of the cover, to the frame. These securing means include, for example, tourniquets, snap fasteners, Velcro®-type hook-and-loop fasteners, zippers, buttons, mushroom-shaped buttons, etc. These securing means can be attached directly to the frame. Alternatively, they can be attached to a bracket (60) which is itself fixed to the frame. The securing means, or the bracket (60), are preferably anchored in one of the grooves, in particular in one of the grooves on the outer faces of the crossbars.

[0027] The grooves (12), as well as the cavities of the corner pieces (20), can be closed with covers to prevent dust, or other dirt, from settling there.

[0028] By choosing straight spacers, you can select a material that won't bend. In particular, you can choose aluminum, which is significantly lighter than steel and doesn't require anti-corrosion treatment. Furthermore, when the roll cage is disassembled and stored, straight spacers take up less space than the curved segments of the previous generation. This means lower shipping costs, especially if you choose aluminum over steel. In addition, it requires less storage space.

[0029] With the same set of corner pieces, it's possible to create hoops of different sizes by changing the size of the spacers. Similarly, with spacers of the same size, it's possible to create hoops of different sizes by changing the angle of the corner pieces. With a relatively small stock of standard parts, it's therefore possible to produce a large number of different hoops. This significantly reduces manufacturing costs.

[0030] If the hoop according to the invention is to replace an existing hoop, it is easy to adapt the new hoop by cutting the spacers to the dimensions required to maintain the same perimeter as the old hoop.

[0031] The modular roll bar of the invention allows, if necessary, for only a part of the roll bar to be changed.

[0032] By choosing profiled spacers with grooves, it is possible to adapt the same hoop to all robots requiring the same hoop perimeter. Only the mounting brackets, which are specific to each robot, need to be custom-made, as with prior art. Due to the greater freedom of attachment provided by the grooves, the precision of the fasteners on the mounting brackets is less critical than with prior art hoops. Moreover, if the hoop or brackets become deformed, it is possible to reduce or even eliminate any stress by repositioning the fasteners within the grooves. If one of the spacers or corner pieces becomes too damaged, it can easily be replaced with a standard part for that type of hoop. In addition, the end user has the option of attaching other objects to the hoop, particularly to its edge, especially in the outer grooves.

[0033] The modular roll bar of the invention, in particular the one shown in the figures, uses common parts, which further helps to reduce the price of the roll bar.

[0034] Similarly, a person skilled in the art understands that it would be possible to use other means of connection than corner pieces. For example, it would be possible to forgo corner pieces and cut both ends of the brace at an angle of α / 2 (i.e., 67.5° for an octagonal arch) relative to the outer face of the brace, and then join the braces directly by their bevels, connecting them by screwing them together or by inserting a connecting piece. Another solution would be to cut both ends at an angle α (i.e., 135° for an octagonal arch) relative to the outer face of the brace and then butt one bevel of one end onto the inner end of the next brace, and then connect them by screwing or by inserting connecting pieces. The beveled ends form connecting pieces which are therefore integrated into the spacers so as to form a single piece.The screws and connecting parts constitute the means of connection. List of reference signs

[0035] RRobot, in particular articulated robot R1 Robot base R2 Base 1 Hoop of the invention 10 Spacers 11 Central bore (1st < connecting means) 12 Grooves 20 Corner pieces (connecting means) 21 Base of the U-shaped element 22 End walls 23 Screws (2nd < connecting means) 24 Covers 30 Corner reinforcements 40 Mounting tabs (mounting means) 41 Attachment end 42 Bore (attachment means) 43 2nd < end (fixing end) 44 Fixing means 45 Fixing screws 50 Anti-tear or anti-pocket plates 60 Bars 9 Hoop of the prior art 91 Segments 92 Mounting tabs 93 Attachment points N Number of spacers and parts angle, N ≥ 3

Claims

1. Hoop (1) for securing a protective cover to the base (R1) of a robot (R), the hoop being constituted by a plurality of segments which, when placed end to end and connected together by connection means, form the hoop, characterized in that the segments consist of straight struts (10) and the connection means consist of connection pieces (20), the hoop having N struts (10) and N connection pieces (20), where N is greater than or equal to 3.

2. Hoop (1) according to claim 1, characterized in that the struts consist of straight profiles (10) and the connection pieces of angle pieces (20) distinct from the straight profiles and allowing two successive straight profiles to be connected to form an angle α equal to 180 ° ⋅ N − 2 N , such that the hoop has the shape of a regular polygon.

3. Hoop (1) according to one of the preceding claims, characterized in that each strut (10) has two ends, each of which is provided with first connection means (11), and in that each connection piece (20) is provided with second connection means (23) complementary to the first connection means (11).

4. Hoop (1) according to the preceding claim, characterized in that the first connection means are designed in the form of a bore (11) and the second connection means are designed in the form of screws (23) to be screwed into the bores of the struts, the bores being preferably located in end faces at the ends of the struts (10), and the screws bearing against end walls (22) of the connection pieces parallel to the end faces of the struts (10).

5. Hoop (1) according to one of the preceding claims, characterized in that reinforcing elements (30) are provided for reinforcing the connection provided by the connection pieces (20), each reinforcing element (30) being preferably fastened to two successive struts.

6. Hoop (1) according to one of the preceding claims, characterized in that at least one strut (10), preferably each strut (10), is provided with at least one groove (12) extending in its longitudinal direction, preferably over its entire length.

7. Hoop (1) according to one of the preceding claims, characterized in that mounting means (40) are provided for mounting the hoop on the robot (R).

8. Hoop (1) according to the preceding claim, characterized in that the mounting means consist of mounting tabs (40) attached to the hoop, preferably in a reversible manner, particularly preferably in one or more longitudinal grooves (12) formed in one or more struts (10).

9. Hoop (1) according to one of the preceding claims, characterized in that securing means are provided for securing the cover to the hoop.

10. Hoop (1) according to the preceding claim, characterized in that the securing means consist of turn fasteners, snap fasteners, hook-and-loop strips, magnets, zippers, hooks, elastic bands, cords, screws / nuts, clamps.

11. Hoop (1) according to claim 9 or 10, characterized in that at least part of the securing means is arranged on a support, itself fastened to the hoop, preferably in a longitudinal groove (12) formed in a strut.

12. Hoop (1) according to one of the preceding claims, characterized in that means for preventing tearing or for preventing pocket formation are provided, which are fastened to the hoop preferably in one or more longitudinal grooves (12) formed in one or more struts, the means for preventing tearing or pocket formation consisting of one or more metal sheets (50) and / or a net.

13. Hoop (1) according to claim 1, characterized in that the struts consist of straight profiles, and in that each strut is provided with an integrated connection piece (20) so as to form a one-piece part.