Robotic Device

Abstract

The purpose of the present invention is to reduce possibility of damage to a component constituting a robot device during conveyance. A robot device according to one aspect of the present disclosure comprises a robot main body 11 and a conveyance leg part 50 for conveying the robot main body. The robot main body has a robot arm mechanism 30 and a sensor device 40 which detects an external force applied to the robot arm mechanism. The sensor device has: a sensor bottom plate 41 installed on a robot installation base 200; a sensor top plate 43 attached to the bottom surface of a base section 31 of the robot arm mechanism; and a sensor body 45 which detects a displacement between the sensor bottom plate and the sensor top plate. The conveyance leg part is configured so that the base section or the sensor top plate can be fixed to a conveyance base 100 so as not to bring the sensor bottom plate into contact with the conveyance base.

Description

[Technical Field]

[0001] The present invention ,B Regarding bot devices. [Background technology]

[0002] In recent years, highly safe collaborative robots that can work in collaboration with workers have begun to become popular. Many collaborative robots are equipped with a sensor device that detects external forces acting on the collaborative robot in order to detect a collision with a worker or the like. Patent Document 1 discloses a robot in which a sensor device is interposed between the robot and the floor.

[0003] The following problems exist when transporting a collaborative robot with a robot arm mechanism connected to a sensor device. Generally, industrial robots are secured to a transport pallet, truck bed, or the like with fasteners such as bolts, using installation bolt holes drilled in the base of the robot. However, with this transport method, external forces such as vibrations generated during transport are directly applied to the robot. The vibrations during transport can be several tens of times the acceleration of gravity, far greater than the forces applied during normal robot operation. This poses a risk of damaging the sensor device during transport.

[0004] One way to prevent damage to the sensor device during transportation is to increase the rigidity of the sensor device so that it will not be damaged even if an excessive external force is applied. Another possible method is to fix the parts of the sensor device together with fixtures during transportation so that excessive load is not placed on the sensor device body even if an external force is applied.

[0005] If the rigidity of the sensor device body (detection unit) is increased to prevent damage even when an excessive external force is applied, the sensor device body will become less likely to deform. This not only reduces the accuracy of detecting small forces, but also inevitably increases component costs, the size of the sensor device, and its weight. Furthermore, in order to secure the components that make up the sensor device together with fixtures, the fixtures must have high dimensional accuracy and the securing work must be carried out carefully. If the components are secured in a misaligned state, excessive force will be applied to the sensor device. Increasing the dimensional accuracy of the fixtures increases component costs, and careful securing work increases transportation labor. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2018-080941 Summary of the Invention [Problem to be solved by the invention]

[0007] It is desirable to reduce the possibility of damage to components that make up a robotic device during transportation. [Means for solving the problem]

[0008] A robot device according to one aspect of the present disclosure includes a robot body and a transport leg for transporting the robot body. The robot body includes a robot arm mechanism and a sensor device for detecting external forces acting on the robot arm mechanism. The sensor device includes a sensor bottom plate to be installed on a robot installation stand, a sensor top plate attached to the bottom surface of the base of the robot arm mechanism, and a sensor body for detecting displacement between the sensor bottom plate and the sensor top plate. The transport leg is configured to allow the base or the sensor top plate to be fixed to the transport stand so that the sensor bottom plate does not come into contact with the transport stand. [Effects of the Invention]

[0009] According to one aspect of the present disclosure, it is possible to reduce the possibility of damage to components constituting a robot device during transportation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a robot device according to a first embodiment. [Figure 2] FIG. 2 is a perspective view showing a transport leg of the robot device according to the first embodiment. [Figure 3] FIG. 3 is a side view showing the state in which the robot device of FIG. 1 is fixed to a transport table. [Figure 4] FIG. 4 is a side view showing the state in which the robot device of FIG. 1 is fixed to an installation stand. [Figure 5] FIG. 5 is a side view showing a robot device according to the second embodiment. [Figure 6] FIG. 6 is a side view showing a robot device according to the third embodiment. [Figure 7] FIG. 7 is a side view showing a robot device according to the fourth embodiment. [Figure 8] FIG. 8 is a diagram for explaining a method for fixing the robot device of FIG. 7 to the transport table. [Figure 9] FIG. 9 is a side view showing a robot device according to the fifth embodiment. [Figure 10] FIG. 10 is a side view showing a robot device according to a sixth embodiment. [Figure 11] FIG. 11 is a diagram for explaining a method for fixing the robot device of FIG. 10 to the transport table. [Figure 12] FIG. 12 is a side view showing a robot device according to the seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a robot device according to an embodiment of the present invention will be described with reference to the drawings.

[0012] (First embodiment) The robot device according to the first embodiment has a robot body 11 and a control device (not shown) that controls the robot body 11. As shown in FIG. 1, the robot body 11 has a sensor device 40 fixed to a robot installation stand and a robot arm mechanism 30 coupled to the sensor device 40. The robot arm mechanism 30 has a base 31, a first link 33 connected to the base 31 via a rotary joint, a second link 35 connected to the first link 33 via a rotary joint, and a third link 37 connected to the second link 35 via a rotary joint. An end effector is connected to the tip of the third link 37 via a rotary joint. The base 31 has bolt holes 32 formed therein for coupling to a sensor top plate 43 of the sensor device 40 with bolts or the like.

[0013] The sensor device 40 detects an external force acting on the robot arm mechanism 30. Typically, a strain gauge-type force sensor can be used as the sensor device 40. For example, the sensor device 40 includes a sensor bottom plate 41 as a fixed part that is fixed to an installation location with fasteners such as bolts, a sensor top plate 43 that is disposed at a predetermined distance from the sensor bottom plate 41, and a column portion 45 that is disposed between the sensor bottom plate 41 and the sensor top plate 43 and serves as a connecting part that connects the sensor bottom plate 41 and the sensor top plate 43 to each other. The sensor device 40 supports the robot arm mechanism 30. The base 31 is connected to the sensor top plate 43 with fasteners such as bolts. The sensor top plate 43 and the sensor bottom plate 41 are made of a material such as a hard resin or metal that is resistant to deformation under external forces. The column portion 45 is made of a material such as an elastic resin that is easily deformed under external forces. When an external force acts on the robot arm mechanism 30, the sensor top plate 43 is displaced relative to the sensor bottom plate 41, and this displacement deforms the column portion 45. A strain detector (not shown) is attached to the pillar 45 as the sensor body. The strain detector deforms in response to the deformation of the pillar 45, changing its electrical resistance and outputting a voltage corresponding to the electrical resistance to the control device. The control device can determine whether an external force has acted on the robot arm mechanism 30 by comparing the voltage value output from the sensor device 40 with a threshold value.

[0014] When the robot body 11 is transported, it is placed on a transport platform 100 such as a transport pallet or the bed of a truck. The robot device has a pair of transport legs 50 for fixing the robot body 11 to the transport platform 100 so that the robot body 11 does not move on the transport platform 100. One feature of the robot device according to the first embodiment is that the transport legs 50 not only function as members for fixing the robot body 11 to the transport platform 100, but also as members for preventing the sensor device 40 from being damaged by external forces acting on the robot body 11 during transport.

[0015] Specifically, the transport legs 50 are configured to provide a gap between the robot body 11 and the transport platform 100; in other words, the sensor bottom plate 41 of the sensor device 40 is spaced apart from the transport platform 100. This prevents an external force acting on the transport platform 100 from being directly transmitted to the column 45 of the sensor device 40 via the sensor bottom plate 41 of the sensor device 40. The transport legs 50 are also configured to be connectable to the transport platform 100 and a member provided on the robot body 11 closer to the tip than the column 45. This allows an external force acting on the robot arm mechanism 30 to be dissipated to the transport platform 100 via the transport legs 50 before being transmitted to the column 45 via the sensor top plate 43, thereby reducing the load on the column 45. Due to the inertia acting on the robot body 11 during transport, a moment load is generated on the column 45, with the fixed position of the transport legs 50 on the robot body 11 as a fulcrum. In order to reduce this moment load, it is desirable that the transport legs 50 be fixed to a member disposed in a position close to the pillars 45 of the robot body 11 .

[0016] As shown in FIG. 1, the transport leg 50 is integrally formed with the sensor top plate 43 of the sensor device 40. As shown in FIG. 2, the transport leg 50 is configured in a shape similar to a rectangular plate with both ends bent 90 degrees in opposite directions. One end 53 of the transport leg 50 is integral with the sensor top plate 43, and the other end 55 has a bolt hole 56 for inserting a bolt 60. The transport leg 50 is configured so that the height from the one end 53 to the other end 55 is longer than the height from the sensor bottom plate 41 of the sensor device 40 to the sensor top plate 43. The height of the transport leg 50 corresponds to the length of the leg body 51 connecting the one end 53 and the other end 55. As a result, as shown in FIG. 3, simply by fixing the other end 55 of the transport leg 50 to the transport platform 100, a gap can be formed between the sensor bottom plate 41 of the sensor device 40 and the transport platform 100, allowing the sensor bottom plate 41 to be spaced apart from the transport platform 100. As shown in Fig. 4, when the robot body 11 is used, it is installed on a robot installation stand 200 whose floor height is higher than the surrounding area. Of course, if the floor height is constant, a spacer may be interposed between the floor surface and the robot body 11. This allows the robot body 11 to be used in the same manner as before, without the transport legs 50 coming into contact with the floor surface.

[0017] The robot device according to the first embodiment configured as described above provides the following advantages. When the robot body 11 is directly installed on the transport platform 100, external forces of various magnitudes and directions are applied to the sensor bottom plate 41 fixed to the transport platform 100 and the sensor top plate 43 supporting the robot arm mechanism 30 due to vibrations and inertia acting on the robot body 11 during transport. Moreover, the direction of the external force acting on the sensor bottom plate 41 and the direction of the external force acting on the sensor top plate 43 do not necessarily coincide. In this case, excessive force is applied to the pillars 45 connecting the sensor bottom plate 41 and the sensor top plate 43.

[0018] In the robot device according to the first embodiment, the transport base 100 and the sensor top plate 43 are fixed by the transport legs 50 so that the robot body 11 is slightly suspended relative to the transport base 100. In other words, the robot arm mechanism 30 is supported solely by the transport legs 50. This allows the sensor device 40 to be suspended from the robot arm mechanism 30, i.e., the sensor bottom plate 41 is free and not fixed to any location, preventing excessive force from being applied to the pillars 45. Of course, an external force acting on the robot body 11 generates a moment load on the pillars 45, with the fixed position of the transport legs 50 on the robot body 11 as the fulcrum. However, this moment load is much smaller than the load that would be generated if the sensor bottom plate 41 and the sensor top plate 43 were connected to the transport base 100 and the robot arm mechanism 30 as described above. This reduces the load on the pillars 45 of the sensor device 40 during transportation.

[0019] (Second embodiment) In the first embodiment, the transport legs 50 were formed integrally with the sensor top plate 43 of the sensor device 40, but they may be formed integrally with the robot arm mechanism 30. As shown in FIG. 5 , in the second embodiment, the transport legs 50 that support the robot body 12 on the transport table 100 are formed integrally with the base 31 of the robot arm mechanism 30. The robot device according to the second embodiment configured in this manner can reduce the load on the pillars 45 of the sensor device 40 during transport, similar to the robot device according to the first embodiment.

[0020] In general, the base 31 of the robot arm mechanism 30 is larger than the sensor top plate 43 of the sensor device 40. From the viewpoint of design freedom, a configuration in which the transport legs 50 are integrally formed with the base 31 of the robot arm mechanism 30 is advantageous over a configuration in which the transport legs 50 are integrally formed with the sensor top plate 43 of the sensor device 40. On the other hand, the transport legs 50 of the robot device according to the first embodiment are connected to a position closer to the pillars 45 of the sensor device 40 than the transport legs 50 of the robot device according to the second embodiment. A moment load is generated on the pillars 45 of the sensor device 40 according to the distance from the position where the transport legs 50 are fixed. Therefore, from the viewpoint of further reducing the load on the pillars 45 of the sensor device 40, the robot device according to the first embodiment is advantageous over the robot device according to the second embodiment.

[0021] (Third embodiment) In the first and second embodiments, the transport leg is formed integrally with the robot body, but it may be detachable from the robot body. As shown in FIG. 6, in a robot device according to the third embodiment, the transport leg 50 is detachable from the robot body 13. Bolt holes are formed in the horizontal direction on one end 53 of the transport leg 50 and on the sensor top plate 43. The transport leg 50 is fastened to the sensor top plate 43 by bolts 61 inserted horizontally. The "horizontal direction" corresponds to the direction parallel to the transport surface (surface) of the transport platform 100.

[0022] In the robot devices according to the first and second embodiments, the transport legs 50 were formed integrally with the robot bodies 11 and 12, which increased the footprint of the robot device. In the robot device according to the third embodiment, the transport legs 50 are detachable from the robot body 13. Therefore, the transport legs 50 need only be attached to the robot body 13 when transporting the robot body 13. When the robot device is in use, the transport legs 50 can be detached from the robot body 13. This reduces the installation footprint of the robot device compared to when the transport legs 50 are formed integrally with the robot body 13, and also allows the robot device to be installed on floors with a fixed floor height. The robot device according to the third embodiment reduces the load on the pillars 45 of the sensor device 40 during transportation and improves the installation flexibility of the robot device compared to the robot devices according to the first and second embodiments.

[0023] (Fourth embodiment) In the third embodiment, the transport leg 50 and the sensor top plate 43 are fastened to each other by a bolt 61 inserted horizontally, but the direction in which the bolt is inserted is not limited to the above. As shown in FIG. 7, the transport leg 50 and the sensor top plate 43 of the robot device according to the fourth embodiment are fastened to each other by a bolt 63 inserted along the vertical direction. Bolt holes are formed in one end side 53 of the transport leg 50 and the sensor top plate 43 along the vertical direction. The "vertical direction" corresponds to the direction perpendicular to the transport surface (surface) of the transport platform 100.

[0024] The robot device according to the fourth embodiment achieves the same effects as the robot device according to the third embodiment. Furthermore, in the third embodiment, the bolts were inserted horizontally, so in order to secure the robot body 13 to the transport platform 100, it is necessary to lift the robot body 13 using a crane or the like. With the robot body 13 lifted, the transport legs 50 are attached, and the robot body 13 with the attached transport legs 50 is lowered onto the transport platform 100 and secured to the transport platform 100. In the fourth embodiment, the bolts 63 are inserted vertically, so in order to secure the robot body 14 to the transport platform 100, as shown in FIG. 8 , it is sufficient to secure the robot body 14 to the transport platform 100 by fixing the transport legs 50 to the transport platform 100 with the robot body 11 placed on the transport platform 100, and then inserting and tightening the bolts 63 vertically into the transport legs 50 secured to the transport platform 100 and the robot body 14. Since the transport leg 50 is fixed to the transport platform 100, when the transport leg 50 and the robot body 14 are fastened together with the bolt 63, the axial force of the bolt 63 moves the robot body 11 toward the transport leg 50, i.e., upward in the vertical direction, and the robot body 14 can be moved away from the transport platform 100.

[0025] Thus, in terms of ease of installation of the robot body 14 on the transport platform 100, the robot device according to the fourth embodiment is superior to the robot device according to the third embodiment because the work of fixing the robot body 14 to the transport platform 100 does not require a large machine such as a crane, and only requires the work of fastening the bolts 60 and 63. On the other hand, in the configuration of the third embodiment, the bolt holes only need to be drilled in the horizontal direction. For example, by making the thickness of the sensor top plate 43 thicker than the bolt holes, the bolt holes can be drilled on the side of the sensor top plate 43. In the configuration of the fourth embodiment, the bolt holes must be drilled in the vertical direction. For example, the width and length of the sensor top plate 43 must be wider than the base 31 of the robot arm mechanism 30. Therefore, in terms of the area occupied by the robot body, the robot device according to the third embodiment is superior to the robot device according to the fourth embodiment.

[0026] (Fifth embodiment) In the fourth embodiment, the transport legs 50 were configured to be directly attached to and detached from the sensor top plate 43. Therefore, the sensor top plate 43 had to be enlarged to accommodate the transport legs 50, resulting in a larger footprint for the robot body 14. To address this issue, a separate member may be interposed between the transport legs 50 and the sensor top plate 43. As shown in FIG. 9 , the robot device according to the fifth embodiment further includes a transport auxiliary member 70 that is detachably attached to the sensor top plate 43. The transport auxiliary member 70 is fixed to the sensor top plate 43 by a bolt 65 inserted horizontally. The transport legs 50 are fixed to the transport auxiliary member 70 by a bolt 67 inserted vertically. The robot device according to the fifth embodiment reduces the load on the column 45 of the sensor device 40 during transportation. Furthermore, compared to the robot device according to the fourth embodiment, the sensor top plate 43 does not need to be enlarged, thereby reducing the footprint of the robot body 15. However, since the number of attachment parts increases, the robot device according to the fourth embodiment is superior to the robot device according to the fifth embodiment in terms of the number of work steps.

[0027] (Sixth embodiment) In the first to fifth embodiments, the height of the transport leg 50 from the position where it is attached to the transport platform 100 to the position where it is attached to the robot body is made longer than the height from the sensor bottom plate 41 of the sensor device 40 to the position where the transport leg 50 is attached to the robot body, and the sensor bottom plate 41 can be separated from the transport platform 100 by the height of the transport leg 50. However, the bolt for fixing the transport leg 50 to the transport platform 100 may also function as a jack (starting device).

[0028] As shown in FIG. 10 , the transport leg 50 of the robot device according to the sixth embodiment is configured so that the height from one end 53 to the other end 55 is slightly shorter than the height from the sensor bottom plate 41 to the sensor top plate 43 of the sensor device 40. As shown in FIG. 11 , even when the robot body 16 to which the transport leg 50 is attached is placed on the transport platform 100, the transport leg 50 does not come into contact with the transport platform 100. By inserting and tightening a bolt 69 into the transport leg 50 attached to the robot body 11 and the transport platform 100, the tip of the bolt 69 abuts against the transport platform 100. When the bolt 69 is further tightened, the axial force of the bolt 69 lifts the robot body 16 together with the transport leg 50 vertically upward, allowing the robot body 16 to be separated from the transport platform 100. The robot body 16 separated from the transport platform 100 is fixed to the transport platform 100 by a fixing member such as a belt. Of course, the robot body 16 can be fixed to the transport platform 100 by drilling shallow bolt holes in the transport platform 100 and screwing the tips of the bolts 69 into the bolt holes drilled in the transport platform 100. The robot device according to the sixth embodiment reduces the load on the pillars 45 of the sensor device 40 during transportation, and similar to the robot device according to the fourth embodiment, the work of fixing the robot body 11 to the transport platform 100 does not require a crane or other large machine, and only requires the work of fastening the bolts, making it easy to install the robot body 16 on the transport platform 100.

[0029] (Seventh embodiment) The robot body of the robot device according to the first to sixth embodiments has a configuration in which the robot arm mechanism 30 is connected to the sensor device 40. However, the transport leg 50, which is one of the features of the robot device according to the first to sixth embodiments, can be applied to devices other than the robot body having the above configuration.

[0030] In order to protect the internal components of the robot arm mechanism 30 from external forces acting during transport, one end 53 of the transport leg 50 is fixed to a member provided on the robot arm mechanism 30 closer to the tip of the component to be protected in the robot arm mechanism 30, and the other end 55 is fixed to the transport table 100, and further, the dimensions and shape are determined so that the robot arm mechanism 30 can be spaced apart from the transport table 100.

[0031] As shown in FIG. 12 , the robot device according to the seventh embodiment has a torque sensor 80. The torque sensor 80 is mounted on a motor unit 90 that drives a joint J1 that connects the base 31 and the first link 33. The motor unit 90 is fixed to the frame 311 of the base 31, and an output shaft 91 of the motor unit 90 is fixed to the frame 331 of the first link 33. One end 53 of the transport leg 50 is fixed to the first link 33, and the other end 55 is fixed to the transport platform 100. The transport leg 50 is configured so that the height from the one end 53 to the other end 55 is longer than the height from the bottom surface of the base 31 of the robot arm mechanism 30 to the mounting position of the transport leg 50. The transport leg 50 configured in this manner separates the base 31 of the robot arm mechanism 30 from the transport platform 100.

[0032] According to the robot device of the seventh embodiment configured as described above, the transport leg 50 supports the robot arm mechanism 30 at a position closer to the tip than the torque sensor 80. This prevents an external force acting on the transport platform 100 from being transmitted directly to the torque sensor 80 via the base 31 of the robot arm mechanism 30, and also prevents an external force acting on the robot arm mechanism 30 from being transmitted to the torque sensor 80 via the first link 33, thereby reducing the load on the torque sensor 80.

[0033] In this embodiment, the transport legs 50 are a pair, but the number of transport legs 50 is not limited to two. Furthermore, as long as the transport legs 50 and the robot body can be fastened together, and as long as the transport legs 50 and the transport platform 100 can be fastened together, the fastening means is not limited to bolts. For example, depending on the embodiment, the fastening means may be screws, belts, etc.

[0034] Furthermore, one end 53 of the transport leg 50 is attached to the sensor top plate 43 of the sensor device 40 or the base 31 of the robot arm mechanism 30, and the other end 55 is attached to the transport platform 100. However, as long as the transport leg 50 can separate the sensor bottom plate 41 from the transport platform 100, the attachment position of the other end 55 is not limited to this. For example, the other end 55 of the transport leg 50 may be attached not to the surface of the transport platform 100, but to a member fixed to the transport platform 100, for example, the loading platform of a truck.

[0035] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0036] 11...robot body, 30...robot arm mechanism, 31...base, 33...first link, 35...second link, 37...third link, 50...transport leg, 100...transport platform.

Claims

1. a robot body having a robot arm mechanism and a sensor device for detecting an external force acting on the robot arm mechanism; a transport leg for fixing the robot body to a transport table; The sensor device includes a sensor bottom plate to be installed on a robot installation stand, a sensor top plate attached to a bottom surface of a base of the robot arm mechanism, and a sensor main body that detects a displacement between the sensor bottom plate and the sensor top plate; the transport leg is configured to be able to connect the base or the sensor top plate to the transport platform so that the sensor bottom plate is floated relative to the transport platform; The robot device, wherein the robot body and the transport platform are connected only via the transport legs.

2. The robot device according to claim 1 , wherein the transport leg is configured to be detachable from the base or the sensor top plate.

3. 3. The robot device according to claim 2, wherein the transportation leg is attached to the base or the sensor top plate by a first bolt inserted in a direction parallel to the transportation platform.

4. 4. The robot device according to claim 3, wherein the transport leg has a height slightly shorter than a height from the sensor bottom plate to the base or a height from the sensor bottom plate to the sensor top plate, and a second bolt inserted perpendicular to the transport table is tightened so that its tip abuts against the transport table, thereby separating the robot body from the transport table and forming a gap between the sensor bottom plate and the transport table.

5. 3. The robot device according to claim 2, wherein the transport leg has a height greater than a height from the sensor bottom plate to the base or a height from the sensor bottom plate to the sensor top plate, and a first bolt inserted perpendicular to the transport table is tightened to attach the transport leg to the base or the sensor top plate, and the axial force of the first bolt separates the robot body from the transport table, forming a gap between the sensor bottom plate and the transport table.

6. 6. The robot device according to claim 2, further comprising an auxiliary member that is detachably attached to the base or the sensor top plate and that assists in mounting the transport leg to the base or the sensor top plate.

7. 2. The robot device according to claim 1, wherein the transport legs are integrally formed with the base or the sensor top plate.

8. a robot arm mechanism incorporating a component to be protected; a transport leg for fixing the robot arm mechanism to a transport platform; the transport leg is configured to be connectable to the transport platform and another member located closer to a tip end of the robot arm mechanism than the member to be protected, such that a bottom of the robot arm mechanism is floated relative to the transport platform; The robot device, wherein the robot arm mechanism and the transport platform are connected only via the transport legs.

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