DOCKING STATION FOR INDUSTRIAL ROBOT

Abstract

Docking station for an industrial robot (IR) equipped with a base, said docking station being intended to cooperate with a mobile robot (MR) equipped with a vertically movable transport platform and intended to support the industrial robot (IR), said docking station extending along a longitudinal direction (X) and comprising a support platform (6) supported by a chassis (2), said chassis (2) being configured to receive the mobile robot (MR) and said support platform (6) having an open housing at one longitudinal end so as to have a U-shape, allowing the mobile robot (MR) to be placed under the support platform (6) while allowing the industrial robot (IR) to move above the support platform (6) and the industrial robot (IR) to rest on the support platform (6) when the transport platform is removed,said docking station comprising means for detecting the industrial robot and means for positioning the industrial robot on the support platform (6). [Fig.2],

Description

Title of the invention: DOCKING STATION FOR INDUSTRIAL ROBOT TECHNICAL FIELD AND PRIOR ART

[0001] The present invention relates to a docking station for an industrial robot and to a method of placing an industrial robot on a docking robot.

[0002] In a typical industrial site, it is customary to distribute, between the various stations of a production line, fixed robots each carrying out a very specific sequence of tasks. Thus, the robots are configured individually and are maintained in this state, for as long as necessary to carry out their productive mission, and thus avoid as much as possible the tedious and complex tasks of initialization and reprogramming of the robots necessary after each shutdown or each change of station.

[0003] Robots have a fixed location on the site. For example, robots have a base on which an arm is articulated. The base is fixed to the ground. It is then not possible to easily and quickly move the robots to change their task.

[0004] While this approach may be suitable for medium to large industrial sites, the lack of adaptability and the necessary investments prove problematic in many other configurations, particularly for smaller sites or those requiring frequent redeployment.

[0005] Indeed, for each event or change requiring the movement and / or replacement of one or more robots, it is necessary on the one hand to plan and carry out heavy handling tasks, and on the other hand to initialize and configure each robot again, individually, according to specific programs.

[0006] Furthermore, when the regular use of the same robot on several stations of the production line could be envisaged, in order to reduce costs in particular, this possibility is quickly ruled out, because it is considered too complex and risky.

[0007] There are mobile robots that have a motor device that allows them to move around the industrial site autonomously. The motor device includes, for example, an electric motor and an electric battery to power the electric motor.

[0008] This solution is interesting, however it presents a high cost since each robot has its own motor device. Statement of the invention

[0009] It is therefore an object of the present invention to provide a solution allowing easy movement and placement to other work areas within a site.

[0010] The aim stated above is achieved by a docking station for at least one industrial robot comprising a chassis and a support plate for the industrial robot, the chassis and the support plate being configured to allow the robot to be placed on and removed from the support by a shared mobile robot.

[0011] Thanks to the invention, it is possible to modify the location of the industrial robot on the industrial site by means of a simple conventional handling robot used to move loads, of the autonomous guided vehicle or AGV (Automated Guided Vehicle) type, this mobile robot being used for other tasks.

[0012] Thus, no motor devices are immobilized with the industrial robot.

[0013] Furthermore, the docking station being of relatively simple and light structure, it can be easily moved within the site according to needs.

[0014] Very advantageously, the docking station includes means for supplying electricity to the industrial robot which can automatically connect to the industrial robot when it is put in place.

[0015] In a preferred embodiment, the support plate comprises means for guiding the industrial robot during its installation.

[0016] The chassis advantageously includes means for guiding the robot.

[0017] Very advantageously, the docking station comprises means of communication with the mobile robot, for example to inform it when the position of the robot on the docking station is that expected in order to allow the mobile robot to lower the industrial robot onto the support plate of the docking station.

[0018] The present invention then relates to a docking station for an industrial robot provided with a base, said docking station being intended to cooperate with a mobile robot provided with a vertically movable transport tray and intended to support the industrial robot, said docking station extending in a longitudinal direction and comprising a support tray supported by a chassis, said chassis being configured to receive the mobile robot and said support tray comprising a housing open at one longitudinal end so as to have a U-shape, allowing the mobile robot to be placed under the support tray while allowing the industrial robot to move above the support tray and the industrial robot to rest on the support tray when the transport tray is removed,said docking station comprising means for detecting the industrial robot and means for positioning the industrial robot on the support plate cooperating with means carried by the industrial robot.

[0019] For example, the detection means of the industrial robot comprise end-of-travel sensors positioned on a bottom of the U of the support plate and configured to cooperate with the base of the industrial platform and means carried by the platform to detect that the base is actually resting on the support platform.

[0020] Preferably, the docking station comprises means for pressing the base of the industrial tray onto the support tray. The pressing means may comprise pneumatic cylinders to ensure activation / deactivation of the pressing means.

[0021] In a preferred example, the docking station comprises means for supplying electricity to the industrial robot comprising means for electrical connection to the industrial robot and means for moving said electrical connection means, so as to ensure the connection of the connection means of the docking station to connection means of the industrial robot, said movement means advantageously comprising at least one pneumatic cylinder.

[0022] The docking station advantageously comprises a control unit connected to the detection means so as to be informed of the presence of the industrial robot and to send a message to the mobile robot, so that it lowers the transport platform, so that the industrial robot rests on the support platform.

[0023] Preferably, the control unit is configured to control the pneumatic cylinder of the plating means and the movement means of the electrical connection means of the docking station.

[0024] Advantageously, the docking station comprises lateral guide means mounted on the support plate and configured to cooperate with the industrial robot when the industrial robot is placed in the docking station.

[0025] According to an additional characteristic, the electrical connection means are configured to allow the loading of computer programs into a control unit of the industrial robot.

[0026] Another subject of the present application is a method of placing an industrial robot in a docking station according to the invention, comprising the steps in which: - The industrial robot is loaded onto a mobile robot, - The mobile robot is positioned opposite the open end of the support plate aligned with the longitudinal axis, - The mobile robot positions the transport tray in the high position, - The mobile robot moves towards the docking station until the detection means detect the presence of the industrial robot, - The mobile robot positions the transport platform in the lower position, with the industrial robot resting on the support platform.

[0027] The control unit of the docking station advantageously controls the electrical connection of the industrial robot and the loading of the computer program. Brief description of the drawings

[0028] The present application will be better understood with the aid of the description which follows and the attached drawings in which: - [Fig.l] is a perspective view of an example of a docking station according to the invention, - [Fig.2] is a perspective view of the docking station of [Fig.l] on which an industrial robot is mounted, the mobile robot still being in position in the docking station, - [Fig.3] is a perspective view of the docking station and the industrial robot of [Fig.2] from another point of view, - [Fig.4] is a top perspective view of the docking station and the industrial robot being set up, - [Fig.5] is a schematic representation of an example of a mobile robot according to the invention,

[0029] - the figures

[0030] [Fig.6A] [Fig.6B] [Fig.6C] [Fig.6D] [Fig.6E] [are schematic representations of the docking station, the industrial robot and the mobile robot at different stages of setting up the industrial robot. DETAILED EMBODIMENTS

[0031] In Figures 1 to 4, we can see an example of a docking station S for an industrial robot RL

[0032] The docking station S comprises a frame 2 intended to rest on the ground and to be fixed thereto. In the example, the frame 2 comprises at its lower part flanges 4 for fixing to the ground intended to be crossed for example by anchoring screws.

[0033] The docking station also includes a support plate 6 intended to support the industrial robot RI.

[0034] The docking station S is configured to allow the robot to be placed on the support plate 6 by means of a mobile robot RM ([Fig.5]).

[0035] The chassis 2 has an open end 7 to allow the mobile robot RM to be placed under the support plate 6.

[0036] In the example shown, the chassis 2 has four feet 9. In the example shown, the feet are connected two by two by upper crosspieces 11.1, except for the two feet arranged on either side of the open end 7. The feet are also connected two by two by lower crosspieces 11.2 except for the two feet arranged on either side of the open end 7. Alternatively, each foot is fixed to the board without being mechanically connected to each other.

[0037] In this example, the docking station extends longitudinally in a direction X, the open end being at a longitudinal end of the chassis 2.

[0038] In [Fig.5], we can see a schematic representation of a mobile robot RM adapted to the transport of industrial robots RI.

[0039] The mobile robot RM is of the autonomous guided vehicle or AGV (Automated Guided Vehicle in English terminology). It comprises a body 10, wheels 12, a motor device (not visible) inside the body comprising an electric motor driving the wheels and one or more electric batteries to power the electric motor. Alternatively, the wheels are replaced by tracks.

[0040] The mobile robot RM comprises guidance means to be able to move autonomously on the industrial site. In an advantageous example, the mobile robot comprises a sensor C1 using a laser beam for detection, analysis and tracking, of the LiDAR (Light Detection And Ranging) type, which implements a calculation method that makes it possible to determine the distance between the sensor and the targeted obstacle. The sensor performs detection of the environment in all directions. The sensor allows the mobile robot to locate itself in space. Thus the mobile robot is capable of identifying obstacles and moving relative to them so as to avoid them.

[0041] The RM mobile robot also includes a means of localization within the industrial site.

[0042] The mobile robot RM comprises on its upper part a transport tray 14 intended to support a robot. The transport tray is mounted on a mechanism ensuring the vertical movement of the transport tray 14.

[0043] The dimensions of the docking station S, in particular the internal dimensions of the chassis 2, are such that they allow the mobile robot RM to penetrate into the chassis 2 under the support plate 6. In particular, the distance between the feet 9 on either side of the open end is sufficient for the mobile robot RM to be able to pass between the feet 9.

[0044] The robot comprises a base 16 and an articulated effector 18, one end of which comprises, for example, a tool. The robot also comprises a control unit 21 ensuring the control of the effector according to the task to be carried out, for example screwing, drilling, bending, etc.

[0045] The effector comprises several electric motors (not visible) to ensure its movement at the level of the different joints.

[0046] The industrial robot RI is intended to rest on the transport platform 14 of the mobile robot RM by its base 16.

[0047] In the example shown, the chassis 2 comprises side plates 20 and a bottom plate 22 at the closed longitudinal end to guide the movement of the robot inside the chassis. Indeed, the plates 20 and 22 form reflection surfaces for the sensor C1 of the mobile robot, allowing the latter to know its position relative to the chassis.

[0048] The support plate 6 has a U shape; it comprises a bottom 24 and two branches 26. The bottom of the U 24 is positioned opposite the open end of the chassis 2, so that the mobile robot RM loaded with the industrial robot RI can enter the docking station.

[0049] The distance D between the edges 26.1 facing the branches 26 is less than the width L of the base of the robot so that the lateral edges of the base rest on the branches of the U.

[0050] The width of the transport tray 14 is less than the distance D between the two branches of the U to allow the passage of the transport tray 14, as will be explained below.

[0051] Advantageously, the support plate comprises means 28 for guiding the base on the support plate 6. The guiding means 28 comprise two lateral guides 28.1 fixed on the support plate parallel to each other. The distance between the two guides 28.1 is slightly greater than the width L of the base allowing the base to move longitudinally along the direction X between the guides and above the plate. The height of the guides 28.1 is sufficient to ensure lateral guidance of the base of the industrial robot while the latter is in a raised position.

[0052] Advantageously, the longitudinal end of each guide on the side of the open end of the docking station has an inclined face to facilitate the insertion of the base between the guides.

[0053] Very advantageously, the docking station comprises means for positioning the industrial robot on the support plate cooperating with means carried by the industrial robot to ensure the correct positioning of the industrial robot on the support plate. In this example, the support plate 6 comprises two conical bores 36 each arranged on a branch of the U, one of the bores being on the side of the bottom of the U and the other being on the side of the open end; and the base of the industrial robot comprises two centering pins (not visible) projecting in the direction of the support plate 6 also of conical shape and arranged so as to penetrate into the bores 36. The conical shape ensures self-centering of the base 16 on the support plate 6. More than two pins, each cooperating with a bore, are conceivable.

[0054] Alternatively, the pins are carried by the support plate and the bores are made in the lower face of the base.

[0055] The docking station comprises a control unit UC.

[0056] The docking station also includes means 40 for detecting the presence of the industrial robot. In this example, the detection means include two end-of-travel sensors arranged on the bottom of the U and intended to come into contact with the front face of the base. When contact is detected, this means that the industrial robot is in the desired position relative to the support plate. In this position, each centering pin is aligned with a centering bore 36. In this example, stops 42 are fixed to the front face of the base 16 and come into contact with sensors. The position sensors can be mechanical, magnetic, piezoelectric contacts, etc., please check.

[0057] The longitudinal stops 42 are advantageously adjustable in position in the X direction to allow precise alignment between each pin and its bore 36.

[0058] Very advantageously, the docking station S comprises mechanical stop means for the industrial robot in order to avoid damage to the sensors in the event of a guidance error of the mobile robot.

[0059] When the end-of-travel sensors detect the robot, a signal is sent to the control unit of the docking station to inform it that the industrial robot is in the desired position. Particularly advantageously, the control unit sends the information to the mobile robot so that it initiates the lowering phase of the industrial robot RI, so that it rests on the support plate. Very advantageously, the control unit of the docking station comprises means of communication with the mobile robot, for example by radio wave. This communication can be done via a communication network of the industrial site.

[0060] The docking station advantageously includes safety sensors arranged on the platform detecting when the base of the industrial robot is actually resting on the platform. When these sensors detect the presence of the industrial robot, the air valves can allow the circulation of air for the pneumatic control.

[0061] In the case of a collaborative industrial robot, also referred to as cobots, means, for example a radar, are implemented to check the absence of a person before allowing the industrial robot to be lowered and locked onto the docking station, which makes it possible to avoid any risk of pinching.

[0062] Advantageously, the docking station S comprises means for pressing the base onto the support plate to prevent any movement of the industrial robot during its operation. In this example, the pressing means comprise two fingers 44 mounted in rotation around a vertical axis Z and in translation around the vertical axis Z on the support plate 6 and intended to press on the upper face of the base 16, when it is in place. In the example shown, the movement of the fingers 44 is ensured by pneumatic cylinders controlled by the control unit of the docking station. The lowering of the fingers is notably controlled by the sending of the signal by the presence sensors. In the example shown in [Fig.4], the base 16 has recesses 48 at the areas intended to be in contact with the fingers. Preferably, the fingers 44 move a quarter turn between the pressed position and the unpressed position, which frees up space for the installation of the industrial robot. Rotations greater than a quarter turn are possible. The use of pneumatic cylinders for pressing allows safe and durable pressing, and avoids any risk of leakage which potentially exists with hydraulic pistons. Under certain conditions, hydraulic pistons are possible.Alternatively, electric actuators are also possible.

[0063] In the example shown and preferably, the docking station comprises electrical power supply means 30 for the industrial robot. The electrical power supply means 30 comprise electrical connection means 32 arranged on the bottom of the U of the support plate so as to cooperate with electrical connection means 34 carried by the industrial robot RI when the latter is in place on the support plate.

[0064] Preferably and in the example shown, the electrical connection means 32, 34 are of the male-female type. In the example shown, the connection means 32 comprise pins.

[0065] Very advantageously, the electrical connection means 32 are axially movable so that, after the industrial robot has been finally placed on the support plate, the connection between the connection means 32 and 34 takes place. The connection means 32 are preferably moved by a pneumatic cylinder controlled by the control unit UC of the docking station.

[0066] Alternatively, when the industrial robot is in place on the docking station, a manual connection to a power supply is made.

[0067] Very advantageously, the electrical connection means also make it possible to transfer computer programs to the robot control unit so that it is able to carry out the task(s) assigned to it on the docking station.

[0068] The installation of the industrial robot on the docking station will now be described using Figures 6A to 6E.

[0069] An order is sent to the mobile robot RM to bring the industrial robot to the docking station S. The industrial robot RI is loaded onto the mobile robot RM. It is possible to envisage the industrial robot being on a storage station similar to the docking station or on another docking station on which the task assigned to it has been completed. The industrial robot rests by its base on the transport tray 14 which is in the transport position. The industrial robot is supported by the transport tray so that the pins do not interact with the robot body

[0070] The mobile robot RM moves towards the docking station loaded with the industrial robot. It is positioned opposite the open end of the docking station S.

[0071] In a following step, the mobile robot RM lifts the transport tray 14 to the high position. This position is chosen so that the pins pass above the support tray. Alternatively, the transport of the industrial robot is carried out in the high position.

[0072] In a subsequent step, the mobile robot RM moves towards the docking station S along the X direction and enters the docking station between the lateral guides 28.1, the insertion of the base 16 between the lateral guides 28.1 being facilitated by the inclined edges. The mobile robot RM passes under the support plate 6, while the industrial robot RI is above the support plate 6, the lifting mechanism of the mobile robot RM passes vertically through the support plate 6. During this movement along the X direction, the industrial robot is guided by the cooperation of the base 16 and the lateral guides 28.1.

[0073] In a subsequent step, the longitudinal stops come into contact with the presence sensors, which then send a signal to the control unit of the docking station. In this position, each of the two centering pins is substantially aligned with a centering bore.

[0074] In a following step, the control unit of the docking station sends an instruction to the mobile robot RM to lower the industrial robot RI so that the base 16 rests on the support plate 6. The pins then penetrate into the bores 36 and, due to their conical shape, ensure self-centering of the robot on the support plate.

[0075] The sensors for detecting the presence of the robot on the platform detect the robot and send a signal to the control unit, the pneumatic controls can be activated.

[0076] During a following step, the control unit UC of the docking station controls the pneumatic cylinders so that the fingers 44 press the base 16 onto the support plate 6.

[0077] In a next step, the mobile robot RM moves backward and out of the docking station.

[0078] In a next step, the control unit UC of the docking station controls the jack of the electrical connection means to move the pins 32 towards the female part 34 carried by the base. The power supply to the industrial robot is then provided. Advantageously, the control unit UC loads the computer program of the task or tasks to be carried out by the industrial robot RI into the control unit of the industrial robot via the connection means. Alternatively, the information program is loaded via an FTP server (File Transfer Protocol in English terminology) which allows the transfer of information programs computer systems via the Internet or a local computer network.

[0079] The industrial robot is ready to perform the required task(s) on the docking station.

[0080] Removing the industrial robot from the docking station is done in a similar manner. The The mobile robot positions itself under the support platform, places the transport platform in the upper position, which lifts the industrial robot and the mobile robot leaves the docking station loaded with the industrial robot. The plating means will have been previously deactivated and the electrical connection will have been interrupted.

[0081] An automatic change of the tool(s) of the industrial robot may be provided if the latter has not been adapted before being placed on the docking station.

[0082] In the example shown, the docking station is configured to accommodate an industrial robot. Alternatively, the docking station may comprise a support tray with several notches arranged next to each other so as to receive industrial robots next to each other.

[0083] Thanks to the invention, it is possible to achieve high automation in the movement of industrial robots on the industrial site, the mobile robot and the docking station being able to manage the installation of the industrial robot and its commissioning alone.

Claims

Claims

1. Docking station for an industrial robot (RI) provided with a base, said docking station being intended to cooperate with a mobile robot (RM) provided with a vertically movable transport tray and intended to support the industrial robot (RI), said docking station extending in a longitudinal direction (X) and comprising a support tray (6) supported by a chassis (2), said chassis (2) being configured to receive the mobile robot (RM) and said support tray (6) comprising a housing open at one longitudinal end so as to have a U-shape, allowing the mobile robot (RM) to be placed under the support tray (6) while allowing the industrial robot (RI) to move above the support tray (6) and the industrial robot (RI) to rest on the support tray (6) when the transport tray (14) is removed,said docking station comprising means for detecting the industrial robot and means for positioning the industrial robot on the support plate (6) configured to cooperate with means carried by the industrial robot, said station also comprising a control unit (UC) connected to the detection means (40) so as to be informed of the presence of the industrial robot and to send a message to the mobile robot (RM) so that it lowers the transport plate, so that the industrial robot rests on the support plate.,

2. Docking station according to claim 1, in which the detection means (40) of the industrial robot comprise end-of-travel sensors positioned on a bottom of the U of the support plate (6) and configured to cooperate with the base (16) of the industrial robot and in which the detection means (40) also comprise means carried by the support plate to detect that the base is actually resting on the support plate.

3. Docking station according to claim 1 or 2, comprising means for plating the base (16) of the industrial tray onto the support tray (6).

4. Docking station according to the preceding claim, in which the plating means comprise pneumatic cylinders to ensure activation / deactivation of the plating means.

5. Docking station according to any one of claims 1 to 4, comprising means for supplying electricity to the industrial robot comprising electrical connection means (32) to the industrial robot and means for moving said electrical connection means (32) so as to ensure the connection of the connection means (32) of the docking station to connection means (34) of the industrial robot, said movement means advantageously comprising at least one pneumatic cylinder.

6. Docking station according to any one of claims 1 to 5, in which the control unit (UC) is configured to control the pneumatic cylinder of the plating means and the means of moving the electrical connection means (32) of the docking station.

7. 7 Docking station according to any one of the preceding claims, comprising lateral guide means (28) mounted on the support plate (6) and configured to cooperate with the industrial robot when placing the industrial robot in the docking station.

8. 8. Docking station according to the preceding claim in combination with claim 5, wherein the electrical connection means (32) are also configured to allow the loading of computer programs into a control unit of the industrial robot.

9. 9. Method for placing an industrial robot in a docking station according to any one of the preceding claims, comprising the steps in which: - The industrial robot (RI) is loaded onto a mobile robot (RM), - The mobile robot (RM) positions itself opposite the open end of the support plate (6) aligned with the longitudinal axis (X), - The mobile robot (RM) positions the transport plate in the high position, - The mobile robot (RM) moves towards the docking station until the detection means (40) detect the presence of the industrial robot (RI), - sending a message to the mobile robot (RM) so that it lowers the transport plate, - The mobile robot (RM) positions the transport plate in the low position, the industrial robot resting on the support plate.

10. 10. Method of placing according to the preceding claim in a docking station according to claim 6, in which the unit of Docking station control controls the electrical connection of the industrial robot and the loading of the computer program.

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