Stand system for collaborative robots

Abstract

This technology provides highly versatile positioning techniques for positioning a collaborative robot's mounting frame relative to the workpiece. [Solution] In a collaborative robot mount system, a collaborative robot is mounted on a mount to move to a predetermined location and perform tasks with the user. The collaborative robot mount system has a connecting section for connecting to the predetermined location. The connecting section comprises a mount-side connecting section that is attached to the mount and a predetermined location-side connecting section that is detachably attached to the predetermined location. In this collaborative robot mount system, the mount-side connecting section and the predetermined location-side connecting section are mutually engageable, and the mount is positioned in the predetermined location by the engagement of the two.

Description

Technical Field

[0001] This specification discloses a technology related to a pedestal system for a collaborative robot.

Background Art

[0002] Patent Document 1 discloses a technology for moving a pedestal equipped with a robot to a predetermined location and fixing the pedestal at the predetermined location. In Patent Document 1, a hole is formed in the floor surface of the predetermined location, and the positioning pin attached to the pedestal is inserted into the hole in the floor surface to position the pedestal at the predetermined location.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technology of Patent Document 1 accurately positions the pedestal with respect to the hole in the floor surface. Therefore, in Patent Document 1, in order to accurately position the robot (pedestal) with respect to the work object (for example, a workbench on which a workpiece is mounted, production equipment, etc.) on which the robot works, it is necessary to accurately position the work object with respect to the hole in the floor surface in advance. Therefore, in the technology of Patent Document 1, if the work object is displaced with respect to the hole in the floor surface, the position of the robot with respect to the work object will deviate from the appropriate position. In addition, for a work object arranged in a place where no hole is formed in the floor surface, such as new equipment, etc., the robot cannot be arranged at an appropriate position. Therefore, the positioning technology disclosed in Patent Document 1 has low versatility. This specification aims to provide a highly versatile positioning technology in the positioning between the pedestal equipped with a collaborative robot and the work object.

Means for Solving the Problems

[0005] The first technology disclosed herein is a collaborative robot mount system in which a collaborative robot for moving to a predetermined location and working with a user is mounted on a mount, the collaborative robot mount system having a connecting portion for connecting to the predetermined location, the connecting portion may include a mount-side connecting portion attached to the mount and a predetermined location-side connecting portion detachably attached to the predetermined location. Furthermore, the mount-side connecting portion and the predetermined location-side connecting portion may be engageable with each other, and the mount may be positioned at the predetermined location by the engagement of the two.

[0006] A second technology disclosed herein is a collaborative robot mount system of the first technology, wherein a recess is formed in one of the mount-side connecting portion and the predetermined-location-side connecting portion, and a protrusion is formed in the other of the mount-side connecting portion and the predetermined-location-side connecting portion, and the mount-side connecting portion and the predetermined-location-side connecting portion are connected by the engagement of the recess and the protrusion.

[0007] A third technology disclosed herein is a collaborative robot mount system of the first or second technology, wherein the mount is equipped with solar cells, and the solar cells may supply power as a drive source when the mount moves. [Effects of the Invention]

[0008] According to the first technology, since the connecting parts of the predetermined location and the frame are engaged, the frame (collaborative robot) can be accurately positioned relative to the predetermined location (e.g., manufacturing equipment) even if the location of the predetermined location shifts. Furthermore, since the connecting part on the predetermined location side is detachable from the predetermined location, the frame can be accurately positioned even for predetermined locations that do not have connecting parts, such as existing equipment.

[0009] According to the second technology, the mounting base (collaborative robot) can be connected to a predetermined location simply by engaging the protrusion with the recess. Because the protrusion is inserted into the recess, the mounting base can be easily positioned relative to the predetermined location.

[0010] According to the third technology, the amount of commercial electricity used can be reduced. [Brief explanation of the drawing]

[0011] [Figure 1] A schematic diagram of a mounting system for collaborative robots is shown. [Figure 2] This diagram illustrates the method of connecting the frame-side connecting part to the designated location-side connecting part. [Modes for carrying out the invention]

[0012] Referring to Figure 1, the collaborative robot stand system 10 will be described. The collaborative robot stand system 10 can be moved with the user to fixed equipment such as manufacturing equipment (an example of a predetermined location) in a factory or the like. The collaborative robot stand system 10 can then be used with the collaborative robot 4 to move products (workpieces) or to inspect products. The collaborative robot stand system 10 includes a stand-side connecting part 6 that is attached to a stand 16 and a predetermined location-side connecting part 22 that is attached to fixed equipment such as manufacturing equipment 20.

[0013] The frame 16 is mounted on a mobile platform 15. The mobile platform 15 is equipped with a motor 14 and wheels 12. The mobile platform 15 can move by rotating the wheels 12 when the motor 14 is driven. The frame 16 is equipped with a collaborative robot 4 and a solar cell 2. The solar cell 2 supplies power to the motor 14 and the collaborative robot 4. Specifically, the solar cell 2 supplies power to the motor 14 as a drive source when the frame 16 is moved. The solar cell 2 also supplies power to the collaborative robot 4 as a drive source when the collaborative robot 4 is operated.

[0014] The power generated by the solar cell 2 may be supplied directly to the motor 14 and the collaborative robot 4. Alternatively, a battery (not shown) may be installed in the frame 16, the power generated by the solar cell 2 may be supplied to the battery, and the battery may then supply power to the motor 14 and the collaborative robot 4.

[0015] As described above, a frame-side connecting portion 6 is attached to the frame 16. The frame-side connecting portion 6 is fixed to the frame 16. The frame-side connecting portion 6 may be attached to the frame 16 in a manner that allows it to be detachably attached. In addition, a predetermined-location-side connecting portion 22 is attached to the fixed equipment 20. The predetermined-location-side connecting portion 22 is provided with a fixing portion 24. By fixing the fixing portion 24 to the fixed equipment 20, the predetermined-location-side connecting portion 22 is fixed to the fixed equipment 20. The predetermined-location-side connecting portion 22 is attached to the fixed equipment 20 in a manner that allows it to be detachably attached. The connecting portions 6 and 22 can engage with each other. Details of the connecting portions 6 and 22 will be described later.

[0016] As shown in Figure 2, the frame-side connecting portion 6 is provided with a protrusion 8. The frame-side connecting portion 6 is also provided with a push-type lock button 18. The predetermined location-side connecting portion 22 is provided with a recess 26. The recess 26 is shaped to allow insertion of the protrusion 8.

[0017] When positioning the frame 16 relative to the fixed equipment 20, as shown by the arrows in the figure, the frame 16 is moved toward the fixed equipment 20 and the protrusion 8 is inserted into the recess 26. This connects the frame-side connecting part 6 and the predetermined location-side connecting part 22. After inserting the protrusion 8 into the recess 26, the lock button 18 is pressed to fix the frame-side connecting part 6 and the predetermined location-side connecting part 22. The frame 16 and the fixed equipment 20 are connected with the protrusion 8 and recess 26 engaged. Therefore, the frame 16 is positioned with high precision relative to the fixed equipment 20.

[0018] The advantages of the collaborative robot stand system 10 are summarized below. In the collaborative robot stand system 10, a predetermined location-side connecting part 22 is attached to the fixed equipment 20, and a stand-side connecting part 6 is attached to the stand 16. The stand 16 is positioned relative to the fixed equipment 20 by connecting the predetermined location-side connecting part 22 and the stand-side connecting part 6. In other words, the stand 16 is directly fixed to the fixed equipment 20. For example, in the case where the stand 16 is fixed to the floor or the like, if the position of the fixed equipment 20 changes, it becomes impossible to accurately position the stand 16 relative to the fixed equipment 20. Since the collaborative robot stand system 10 directly fixes the stand 16 to the fixed equipment 20, the stand 16 can be accurately positioned relative to the fixed equipment 20 regardless of the position of the fixed equipment 20.

[0019] In the collaborative robot mount system 10, a fixing part 24 is provided on the predetermined location side connecting part 22, and the predetermined location side connecting part 22 can be detachably attached to the fixed equipment 20. Therefore, with the collaborative robot mount system 10, there is no need to pre-install a connecting part on the equipment, and the mount 16 can be positioned on any existing equipment. Furthermore, if it is desired to change the position of the mount 16 relative to the fixed equipment 20, the mount 16 can be positioned at the desired location by changing the attachment position of the predetermined location side connecting part 22 relative to the fixed equipment 20.

[0020] In the collaborative robot mount system 10, the predetermined location side connecting part 22 and the mount side connecting part 6 can be connected simply by inserting the protrusion 8 into the recess 26, allowing the mount 16 to be easily positioned on the fixed equipment 20. Furthermore, after connecting the predetermined location side connecting part 22 and the mount side connecting part 6, the two can be fixed in place by pressing the lock button 18. Therefore, it is possible to prevent the position of the mount 16 and the fixed equipment 20 from changing while the collaborative robot 4 is in use.

[0021] (Other embodiments) In the above embodiment, an example in which the solar cell supplies power to the collaborative robot in cooperation with the motor has been described. However, the solar cell may supply power only to the motor. In this case, the drive source of the collaborative robot may be an external power source, a battery mounted on the pedestal, or the like. Further, in the technology disclosed in this specification, the solar cell is not an essential component, and the solar cell may be omitted.

[0022] In the above embodiment, an example in which a convex portion is formed on the pedestal side connecting portion and a concave portion is formed on the predetermined location side connecting portion has been described. However, a concave portion may be formed on the pedestal side connecting portion and a convex portion may be formed on the predetermined location side connecting portion. Further, as long as the pedestal side connecting portion and the predetermined location side connecting portion can be engaged, it is not necessary to engage the concave portion and the convex portion. For example, the pedestal side connecting portion may be configured to accommodate the entire predetermined location side connecting portion.

[0023] In the above embodiment, an example in which after engaging the pedestal side connecting portion and the predetermined location side connecting portion, both are fixed with a push-type lock button has been described. However, various fixing means can be used for fixing the pedestal side connecting portion and the predetermined location side connecting portion, such as a form of fixing by turning a knob.

[0024] As described above, the embodiments of the present invention have been described in detail, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples exemplified above. Further, the technical elements described in this specification or the drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Further, the technology exemplified in this specification or the drawings achieves a plurality of purposes simultaneously, and has technical utility by achieving one of those purposes itself.

Explanation of Reference Numerals

[0025] 4: Collaborative robot 6: Pedestal side connecting portion 10: Pedestal system for collaborative robot 16: Pedestal 20: Fixed equipment (designated location) 22: Connection part on the designated location side

Claims

1. A collaborative robot mounting system in which a collaborative robot is mounted on a frame for moving to a designated location and working together with the user, The aforementioned collaborative robot stand system has a connecting part for connecting to the predetermined location, The connecting portion comprises a frame-side connecting portion attached to the frame and a predetermined-location-side connecting portion that is detachably attached to the predetermined location. A collaborative robot frame system in which the frame-side connecting portion and the predetermined-location-side connecting portion are mutually engageable, and the frame is positioned at the predetermined location when the two are engaged.

2. A collaborative robot mounting system according to claim 1, A mounting system for a collaborative robot, wherein a recess is formed in one of the mounting frame side connecting portion and the predetermined location side connecting portion, and a protrusion is formed in the other of the mounting frame side connecting portion and the predetermined location side connecting portion, and the mounting frame side connecting portion and the predetermined location side connecting portion are connected by the engagement of the recess and the protrusion.

3. A collaborative robot mounting system according to claim 1 or 2, Solar cells are installed on the aforementioned mounting frame. The aforementioned solar cell supplies power as a drive source when the mounting frame moves, and is part of a mounting frame system for collaborative robots.

Images