Robotic cell frame

Abstract

This utility model relates to industrial robotic cell designs. The robotic cell frame consists of two double rectangular frames—lower and upper—attached to vertical posts via detachable joints. Each double frame is a welded structure made of square steel tubing, consisting of two frames installed parallel to each other and connected by crossbars, also made of square steel tubing. Each vertical post is manufactured from sheet steel using a bending process, resulting in an open rectangular profile whose internal dimensions are larger than the external dimensions of the crossbars connecting the two single frames into a single double frame, allowing for the crossbars of the double frames to be installed within the vertical posts.Both ends of the vertical posts also feature tabs, which secure the posts to the frames along their flat surfaces. These tabs provide platforms with holes for fasteners such as bolts. The edges formed by bending the tabs on the posts serve as stops for the double frames to rest on during frame assembly. This ensures rigidity and load-bearing capacity. 7 fig.

Description

[0001] The utility model relates to designs of robotic cells intended for the automatic performance of mechanical operations in a closed space.

[0002] The prior art discloses a technical solution disclosed in patent publication US 2017361472 A1, published on 21.12.2017.

[0003] A known robotic cell includes a base frame with an outer casing and a work surface with a through-hole. A multi-axis demonstration robot is attached to a stand inside the base and can be selectively raised through the through-hole to a demonstration position above the work surface or to a storage position below the work surface and concealed within the outer casing of the base frame. A protective screen is located outside the work surface and the base frame and periodically rises and lowers to surround the work surface and the robot, respectively, during demonstrations and lowers around the base frame when not in use. The base may include one or more drawers for storing cell control units or a robot controller. When not in use, the cell is transportable and compact, taking up minimal space.

[0004] The main drawback of the existing technical solution is its limited applicability—the robotic cell is intended for demonstration purposes only and is not suitable for real-world production. Furthermore, the design has two complex vertical movement mechanisms (robot and protective screen), which reduces its reliability during intensive use. Furthermore, since the protective screen does not retract into the housing during transport, this increases the risk of damage to the protective screen and reduces the rigidity of the entire robotic cell structure.

[0005] Also known is the technical solution disclosed in the publication of patent RU 231164 U1, published on 01 / 14 / 2025, selected as a prototype.

[0006] The universal robotic cell for training consists of a pedestal with a work table and wheels, a robot manipulator, a protective fence, a cell control panel, and a robot controller.

[0007] The robotic manipulator is fixed to the frame of the cabinet and has a transition flange at the distal end for the possibility of attaching educational equipment, the work table is made in three sections with the possibility of transformation into the unfolded position, increasing the surface area of ​​the work table, and the protective fence is made with the possibility of transformation when the work table is unfolded.

[0008] In the prototype design, the protective fence is located along the perimeter of the cell, is made in the form of a frame welded to the frame of the cabinet, and includes transparent inserts.

[0009] A drawback of the prototype is the lack of a mechanism for retracting the protective fence and robotic arm into a compact transport position. The fence only partially transforms, while the robotic arm remains permanently mounted to the pedestal, increasing the cell's dimensions and negatively impacting storage and transport of the robotic cell. Furthermore, transforming the worktable into an unfolded position requires the use of additional retractable supports to ensure rigidity and stability, complicating the robotic cell's preparation for operation.

[0010] The claimed utility model solves the technical problem that known robotic cells do not simultaneously provide high frame rigidity and simplicity of its design while maintaining compactness and transportability.

[0011] The analog (US 2017361472 A1) has a frame consisting of a basic frame with an external housing. However, the presence of two complex vertical movement mechanisms reduces the overall rigidity of the structure and its reliability under intensive use. Furthermore, the protective screen does not retract into the housing during transport, increasing the risk of damage and preventing the frame from functioning as a single, rigid system.

[0012] In the prototype (RU 231164 U1), the cabinet frame is welded from a metal profile, and the robotic arm is permanently mounted. When transforming the worktable, additional extendable supports are required, which complicates setup.

[0013] Also, in known designs, in particular those using both single and double frames made of aluminum profiles, the connections weaken over time due to vibrations.

[0014] The technical result of the claimed utility model is to ensure rigidity, load-bearing capacity and simplicity of the frame of the robotic cell.

[0015] The specified technical result is achieved by the fact that the frame of the robotic cell consists of two double rectangular frames - lower and upper, connected to vertical posts by means of detachable connections, for example, bolted ones.

[0016] Each double frame is a welded structure made of square steel tubes, consisting of two single frames installed parallel to each other and connected to each other using crossbars, also made of square steel tubes.

[0017] Each vertical post is made from sheet steel using a bending process, resulting in an open rectangular profile with internal dimensions larger than the external dimensions of the crossbars connecting two single frames into a double frame. This allows the crossbars of the double frames to be installed within the vertical posts. At both ends of the vertical posts, the sheet is bent to form tabs that secure the posts to the frames along their flat surfaces. These tabs form flat surfaces with holes designed to accommodate fasteners such as bolts.

[0018] Furthermore, the edges formed by bending the petals on the uprights serve as stops on which the double frames are placed during frame assembly. This creates seating surfaces on the upper and lower double frames, designed for precise positioning of the upright petals. The fact that the double frames rest on the edges formed on the vertical uprights ensures the necessary rigidity and load-bearing capacity of the frame.

[0019] The bolts connecting the petals of the racks to the frames serve solely to fix them in a given position and do not perform the function of their positioning, which allows maintaining the relative position of the double frames and vertical racks even when the bolted connections are loosened, since the positioning accuracy is ensured mainly due to the contact of the double frames with the petals and edges of the racks, and the rigidity of the frame structure is ensured by installing the crossbars of the double frames inside the vertical racks.

[0020] The distance between the single frames that form the upper double frame is generally 10-20cm, which allows for the installation of the robot cell ceiling and ceiling lights, as well as the wiring of electrical communications.

[0021] The distance between the single frames that form the lower double frame is usually 30-40 cm, which allows for the installation of the structural elements of the ventilation system: aspiration tray, pipes, transitions and collector.

[0022] In addition, the internal cavity of the vertical rack profile can serve as a closed cable channel designed for laying communication lines.

[0023] In similar designs, any loosening of fasteners leads to displacement of the supporting frame elements, which reduces its rigidity and reduces the positioning accuracy of the tools used. However, unlike known similar designs, the proposed technical solution increases the rigidity, reliability, and stability of the frame geometry under vibration loads.

[0024] Furthermore, the production of racks from sheet material instead of rolled tubular steel allows for a reduction in the weight of each rack by approximately 22 kg, in particular due to the absence of one corner in the profile and the use of a sheet of metal of a thinner thickness compared to the thickness of a square steel pipe (within the available range), while maintaining the required rigidity of the rack.

[0025] Also, since the bolted connection of the vertical posts with the double frames through the bent petals is hidden, then, unlike through fastening when using pipes, this completely eliminates the presence of protruding fasteners in the structure, while increasing the reliability of fixing the frame of the robotic cell in conditions of increased vibration.

[0026] Thus, the declared frame design ensures its high rigidity and stability, simplifies assembly and maintenance, and also reduces weight and dimensions.

[0027] The claimed design is explained using images:

[0028] Fig. 1 shows the frame structure of the robotic cell;

[0029] Fig. 2 shows the double frame structure;

[0030] Fig. 3 shows the structure of the vertical post;

[0031] Fig. 4, 5, 6 and 7 show the attachment points of the vertical posts to the double frames from different angles.

[0032] The robotic cell frame (Fig. 1) includes two double frames: a lower frame (1) and an upper frame (2), to which vertical posts (3) are attached by means of detachable connections, for example, bolted ones.

[0033] Each double frame (Fig. 2) is a welded structure made from square steel tubes, consisting of two frames (4) and (5) installed parallel to each other and connected to each other using crossbars (6) installed at their corners.

[0034] Each vertical post (3) (Fig. 3) is made from sheet steel by bending, resulting in an open rectangular profile, the internal dimensions of which are larger than the external dimensions of the profile of the crossbars (6) (Figs. 4 and 5), connecting two single frames (4) and (5) into one double frame, which makes it possible to install the crossbars (6) inside the vertical posts (3).

[0035] At both ends of the vertical posts (3) there are petals (7) (Fig. 4, 5, 6, 7) that ensure the attachment of the posts (3) to the frames (4) and (5) along their flat mounting surfaces, wherein the petals (7) are flat platforms with holes intended for the installation of fastening elements in them, for example, bolts intended for attaching the vertical posts (3) to the frames (4) and (5).

[0036] The edges (8) obtained by bending the petals (7) on the vertical posts (3) (Fig. 6 and 7) perform the function of stops on which the double frames are placed during the assembly of the frame.

[0037] The robotic cell frame is assembled in the following sequence: vertical posts (3) are installed on the crossbars (6) of the lower double frame (1), with the lower edges (8) of the posts (3) resting on the double frame (1). After all 4 posts are installed, the upper double frame (2) is installed on top using a crane, resting on the upper edges (8) of the posts (3). Then, all frame elements are leveled and the fastening bolts in the petals (7) of the posts (3) are tightened.

[0038] Thus, the accuracy of positioning of the frame structure elements is ensured by the stop of the double frames on the edges (8) and the connection of the petals (7) to the frames (4) and (5), and the rigidity of the frame is ensured by installing the jumpers (6) inside the profile of the vertical posts (3).

Claims

A robotic cell frame comprising two welded frames made from square steel tubes attached to vertical posts by means of detachable joints, characterized in that each welded frame is double and consists of two single frames installed parallel to each other and welded to each other by means of crossbars, which are also made from square tubes, wherein each vertical post is made from sheet steel and has an open rectangular profile, the internal dimensions of which are larger than the external dimensions of the crossbar profile, in addition, flat petals are formed at both ends of the vertical posts by bending, ensuring the attachment of the vertical posts to the frames, wherein the petals have openings intended for the installation of fasteners, and the edges obtained as a result of bending the petals serve to support the double frames.

Images