Assembly and method of transporting a robot

Abstract

Assembly and method for transporting a robot. The assembly (1) comprises: - a robot (3) having at least two arms (9) and at least one joint (11) connecting the at least two arms (9) to each other; - two handling devices (5), each detachably attached to a respective arm (9), each handling device (5) comprising a rigid body (21) and at least one attachment member (23) connecting the rigid body (21) to the arm (9); - a gripping member (7) connected to the two rigid bodies (21). Figure for the abstract: 1

Description

Title of the invention: Assembly and method for transporting a robot

[0001] The present invention relates generally to the transport of lightweight robots.

[0002] Lightweight robots are used on construction sites to assist operators. They are used in particular for the construction of boats or submarines. Such a lightweight robot typically comprises at least two arms and at least one joint connecting the at least two arms to each other. Such polyarticulated robots are used for handling tools, for moving loads, for welding or for any other suitable task.

[0003] The lightweight robot is fixed in a given area of ​​the construction site for the entire duration of the operators' intervention in this area. When the operators have finished their intervention, the robot must be transported to another area, in which the operators will carry out another intervention.

[0004] Transporting the robot is a delicate operation. It is lifted and moved using straps. There is a risk that the straps will slip, and that the robot will hit an obstacle during transport.

[0005] In this context, the invention aims to propose a solution for transporting a robot more safely.

[0006] To this end, the invention relates to an assembly comprising:

[0007] - a robot comprising at least two arms and at least one joint linking them less two arms to each other;

[0008] - two handling devices, each removably attached to an arm respective, each handling device comprising a rigid body and at least one attachment member connecting the rigid body to the arm;

[0009] - a gripping member linked to the two rigid bodies.

[0010] The gripping member is connected to the two rigid bodies, themselves fixed on the two arms of the robot. The two rigid bodies are designed to allow easy and secure attachment to the two arms of the robot. They are also designed to cooperate with the gripping member. They therefore constitute a well-adapted interface between the gripping member and the robot.

[0011] The gripping member is also connected to both arms of the robot, which contributes to easy transport of this robot.

[0012] The assembly may furthermore have one or more of the characteristics below, considered individually or in all technically possible combinations.

[0013] - the or each attachment member is a collar or a strap passed around the arm;

[0014] - each rigid body has a through orifice, the gripping member being engaged in the through holes of the two rigid bodies;

[0015] - the gripping member is a rigid bar:

[0016] - the gripping member comprises a central axis and two handles mounted at the two ends of the central axis, at least one of the two handles being removable;

[0017] - each rigid body has a support surface in contact with the cor arm corresponding, said bearing surface being covered with an elastic coating;

[0018] - each rigid body is a plate, the support surface being a slice of the plate ;

[0019] - the plates extend in planes parallel to each other;

[0020] - each rigid body carries at least one pin or at least one magnet.

[0021] According to a second aspect, the invention relates to a method of transporting a robot, the robot comprising at least two arms and at least one joint connecting the at least two arms to each other; the method comprising the following steps:

[0022] - detachably fixing two handling devices, each to a respective arm, each handling device comprising a rigid body and at least one attachment member connecting the rigid body to the arm;

[0023] - mounting a gripping member on the two rigid bodies;

[0024] - lifting the robot by means of the gripping member and transporting the robot.

[0025] Other characteristics and advantages of the invention will emerge from the detailed description given below, for information purposes only and in no way limiting, with reference to the appended figures, among which:

[0026] - [Fig.l] [Fig.l] is a perspective view of the assembly according to the invention;

[0027] - [Fig.2] [Fig.2] is a front view of one of the two handling devices re presented in [Fig.l];

[0028] - [Fig.3] [Fig.3] is a front view of the gripping member of the entire [Fig.l].

[0029] The assembly 1 shown in [Fig.l] comprises a robot 3, two handling devices 5 and a gripping member 7.

[0030] Robot 3 is a lightweight robot of the type used on construction sites to assist operators.

[0031] It is a polyarticulated robot.

[0032] It comprises at least two arms 9 and at least one articulation 11 connecting the at least two arms 9 to each other.

[0033] In the example shown, the robot 3 further comprises a base 13 and a head 15 provided for the attachment of a tool not shown.

[0034] One of the two arms 9 is connected to the base 13 by an articulation 17. The other arm 9 is connected to the head 15 by an articulation 19.

[0035] Alternatively, the robot 1 may comprise more than two arms linked to each other by joints.

[0036] For transport, the robot 1 occupies the position illustrated in [Fig.l]. The two arms 9 are substantially V-shaped, with the joint 11 occupying the tip of the V.

[0037] More precisely, each arm 9 is elongated along a respective central axis C. The central axes C are intersecting and extend in two planes parallel to each other. They form an angle with each other, for example of the order of 30°.

[0038] The two arms 9 are offset relative to each other in a transverse direction T shown in [Fig.l].

[0039] The two handling devices 5 are identical to each other.

[0040] The two handling devices 5 are each fixed in a removable manner to a respective arm 9.

[0041] Each handling device 5 comprises a rigid body 21 and at least one attachment member 23 connecting the rigid body 21 to the corresponding arm 9.

[0042] The rigid body 21 has a bearing surface 25 in contact with the corresponding arm 9.

[0043] The bearing surface 25 is advantageously covered with an elastic coating, typically a natural or synthetic rubber.

[0044] In the example shown, the rigid body 21 has the shape of a plate.

[0045] The bearing surface 25 is a slice of the plate.

[0046] The bearing surface 25 is rectilinear. It is parallel to the central axis C.

[0047] In the example shown, the external surface of the arm 9 is cylindrical, the bearing surface 25 coming to bear against a generatrix of the cylindrical surface.

[0048] The rigid bodies 21 extend in planes parallel to each other and perpendicular to the transverse direction T. Typically, these planes contain the central axes C of the two arms.

[0049] Each handling device 5 comprises, in the example shown, two hooking members 23. As a variant, it comprises a single hooking member or more than two hooking members, depending on the length of the rigid body 21.

[0050] Preferably, the or each attachment member 23 is a collar or a strap passed around the arm.

[0051] The collar or strap is tightened around the arm, so as to removably fix the rigid body 21 to the arm 9.

[0052] For example, the rigid body 21 has two windows 27 along the support surface 25, each attachment member 23 passing through one of the windows 27.

[0053] Furthermore, each rigid body 21 has a through orifice 29, the gripping member 7 being engaged in the through orifices 29 of the two rigid bodies 21.

[0054] The rigid body 5 has two large faces 30 opposite each other. The through-orifice 29 opens out at the level of the two large faces 30.

[0055] The openings 29 of the two rigid bodies 21 are located opposite each other in the transverse direction T.

[0056] To do this, the rigid bodies 21 are placed opposite each other in the transverse direction T

[0057] They are fixed on respective surfaces of the arms 9 facing in opposite directions. In the representation of [Fig.l], one of the rigid bodies 21 is fixed to a surface facing upwards, and the other to a surface facing downwards.

[0058] In other words, the bearing surfaces 25 of the two rigid bodies 21 are turned in opposite directions. In the representation of [Fig.l], one is turned upwards, and the other is turned downwards.

[0059] The gripping member 7 is advantageously a rigid bar.

[0060] The bar is generally transversely oriented.

[0061] The gripping member 7 comprises, as illustrated in [Fig. 3], a central axis 31 and two handles 33 mounted at the two opposite ends of the central axis 31.

[0062] At least one of the two handles 33 is removable.

[0063] Typically, the two handles 33 are removable.

[0064] Each handle 33 comprises a housing (not shown) in which one end of the central axis 31 is received.

[0065] Each handle 33 also carries a trigger 35 allowing the handle to be detached from the central axis 31. The trigger 35 is a pivoting lever mounted on the handle 33.

[0066] An inner end of the trigger 35, not shown, is located inside the housing. An elastic member, not shown, urges the trigger 35 into a position where a pin carried by the inner end of the trigger 35 is engaged in a correspondingly shaped hollow, provided on the end of the axis 31.

[0067] To unlock the handle 33 relative to the central axis 31, the operator presses the other end of the trigger 35, located outside the housing. This causes the trigger 35 to pivot, the pin being thereby extracted from the hollow.

[0068] Each handle 33 has a bearing surface 37 bordered by a rib 39. The bearing surface 37 is located at the transverse end of the handle facing the other handle 33. The rib 39 is located along an edge of the bearing surface 37, opposite the other handle 33.

[0069] The span 37 has an external section complementary to the internal section of the through orifice 29.

[0070] In the example shown, these sections are circular.

[0071] The bearing surface 37 has an external diameter substantially equal to, or slightly smaller than, the internal diameter of the through-orifice 29.

[0072] Each handle 31 also has a gripping area 4L. This area covers the entire surface of the handle, from the rib 39 to the transverse end opposite the bearing surface 37.

[0073] The situation when the gripping member 7 is mounted on the two handling devices 5 is illustrated in [Fig.l].

[0074] In this situation, the two through-holes 29 are aligned transversely, facing each other, as indicated above. The rigid bodies 21 are placed facing each other transversely.

[0075] The central axis 31 is placed between the two rigid bodies 21. It extends transversely, from one rigid body 21 to the other.

[0076] The handles 33 are each engaged in the through-orifice 29 of one of the rigid bodies 21. They are located towards the outside, that is to say on one side of the rigid body 21 opposite the other rigid body 21.

[0077] More precisely, the bearing surface 37 of each handle is engaged inside the through-hole 29.

[0078] The rib 39 bears against the large outer face 30 of the rigid body 21 located opposite the other rigid body 21.

[0079] The gripping zones 41 of each handle are therefore located transversely on either side of the robot, such that they are easily accessible for an operator.

[0080] It should be noted that, in the position shown in [Fig.l], the center of gravity of the robot is located, in the vertical direction, exactly below the central axis 31.

[0081] This makes it easier to transport the robot.

[0082] As seen in [Fig.2], each rigid body carries at least one pin or magnet 43. In the example shown, each rigid body 21 carries two pins or two magnets. The pins or magnets 43 allow the attachment and removal of a cable bundle which would run along the robot's arms.

[0083] A method of transporting the robot 3 will now be described.

[0084] The robot 3 is of the type described above.

[0085] The robot 3 is transported using the two handling devices 5 described above, and using the gripping member 7 described above.

[0086] The method comprises the following steps:

[0087] - Fixing the two handling devices 5, each to a respective arm 9, the rigid body 21 of each handling device 5 being fixed to the arm 9 by means of at least one attachment member 23;

[0088] - Mounting of the gripping member 7 on the rigid bodies 21;

[0089] - Transport of the robot 3 by an operator, the latter grasping the robot 3 by through the gripping member 7.

[0090] Initially, the robot 3 is brought into the position illustrated in [Fig.l], i.e. with the two arms 9 forming a V.

[0091] Each rigid body 21 is fixed to the corresponding arm 9 by placing the support zone 25 against the external surface of the arm 9.

[0092] Then, the or each hooking member 23 is passed around the arm 9, and engaged through the window 27.

[0093] The hooking member 23 is then tightly tightened around the arm 9, the rigid body 21 being thereby rigidly fixed to the arm 9.

[0094] The respective positions of the two arms 9 relative to each other, and the respective positions of the rigid bodies 5 on the two arms 9, are chosen such that the through-orifices 29 are transversely opposite each other.

[0095] The central axis 31 of the gripping member 7 is then placed between the two rigid bodies 21, and more precisely between the two through-holes 29. The handles 33 are then fixed to the central axis 31.

[0096] To do this, the bearing surface 37 of each handle is engaged in the corresponding through-hole 29, from one side of the rigid body 21 opposite the central axis 31.

[0097] The handles 33 are pushed into the through holes 29 until the ribs 39 come to bear against the large outer faces 30 of the rigid bodies, and until the lever 35 comes to lock onto the central axis 31.

[0098] In this position, the gripping member 7 is locked onto the rigid bodies 5, and can no longer be released except by unlocking one of the handles 33 so as to separate it from the central axis 31.

[0099] For transport, the operator grasps the gripping parts 41 of the handles and lifts the robot 3.

[0100] Alternatively, the central axis 31 is attached to a lifting device such as a hoist, the latter moving the robot 3 to its final destination.

[0101] The assembly 1 described above has multiple advantages.

[0102] When the or each attachment member is a collar or strap passed around the arm, the rigid body can be easily attached to the arm. Such an attachment method is inexpensive, compact, and can be easily adapted to any type of robot, regardless of the size of the robot.

[0103] When each rigid body has a through hole, the gripping member being engaged in the through holes of the two rigid bodies, it is particularly easy to assemble the gripping member to the two rigid bodies. This helps to make the assembly compact, inexpensive and easily adaptable to a wide range of robots.

[0104] When the gripping member is a rigid bar, it is particularly easy for an operator to lift the robot, or to hook it to a lifting device.

[0105] When the rigid bar comprises a central axis and two handles mounted at the ex ends of the central axis, at least one of the two handles being removable, it is particularly easy to mount the gripping member on the two rigid bodies.

[0106] When the rigid body has a bearing face in contact with the arm, said bearing surface being covered with an elastic coating, the adhesion of the rigid body to the arm is improved. Adaptation to different robot models is particularly easy.

[0107] When each rigid body is a plate, the support surface being a slice of the plate, the handling devices are compact. The handling devices can remain in place after transport, during the use phase of the robot. It is not necessary to dismantle the handling devices at the end of transport. The presence of the rigid bodies does not hinder the movement of the robot arms.

[0108] When the plates extend in planes parallel to each other, it is particularly easy to position the gripping member.

[0109] When each rigid body carries at least one pin or at least one magnet, the management of the electrical cables running along the arms is made easier.

[0110] The set can have multiple variants.

[0111] The attachment member is not necessarily a collar or a strap. This attachment member could be a screw, a tie rod or any other suitable attachment member.

[0112] The gripping member is not necessarily engaged through through holes of the two rigid bodies. For example, the gripping member could be attached to edges of the two rigid bodies.

[0113] The gripping member is not necessarily a rigid bar but can have any kind of shape. For example, the gripping member is a strap passed through the holes of the rigid bodies.

[0114] The rigid body is not necessarily a plate. It can have any other suitable shape.

[0115] The rigid bodies are not necessarily plates placed in planes parallel to each other. For example, the rigid bodies could be placed in the same plane, with the gripping member forming a bridge between the two rigid bodies.

Claims

Claims

1. Assembly (1) comprising: - a robot (3) comprising at least two arms (9) and at least one articulation (11) connecting the at least two arms (9) to each other; - two handling devices (5), each removably attached to a respective arm (9), each handling device (5) comprising a rigid body (21) and at least one hooking member (23) connecting the rigid body (21) to the arm (9); - a gripping member (7) connected to the two rigid bodies (21).

2. An assembly according to claim 1, wherein the or each attachment member (23) is a collar or strap passed around the arm (9).

3. Assembly according to claim 1 or 2, in which each rigid body (21) has a through orifice (29), the gripping member (7) being engaged in the through orifices (29) of the two rigid bodies (21).

4. An assembly according to claim 3, wherein the gripping member (7) is a rigid bar.

5. An assembly according to claim 4, wherein the gripping member (7) comprises a central axis (31) and two handles (33) mounted at both ends of the central axis (31), at least one of the two handles (33) being removable.

6. Assembly according to any one of the preceding claims, in which each rigid body (21) has a bearing surface (25) in contact with the corresponding arm (9), said bearing surface (25) being covered with an elastic coating.

7. An assembly according to claim 6, wherein each rigid body (21) is a plate, the bearing surface (25) being a slice of the plate.

8. An assembly according to claim 7, wherein the plates extend in planes parallel to each other.

9. Assembly according to any one of the preceding claims, in which each rigid body (21) carries at least one pin or at least one magnet (43).

10. A method of transporting a robot, the robot (3) comprising at least two arms (9) and at least one joint (11) connecting the at least two arms (9) to each other; the method comprising the following steps: - removably attaching two handling devices (5), each to a respective arm (9), each handling device (5) comprising a rigid body (21) and at least one attachment member (23) connecting the rigid body (21) to the arm (9); - mounting a gripping member (7) on the two rigid bodies (21); - lifting the robot (3) by means of the gripping member (7) and transporting the robot (3).

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