SUPPORT RAIL FOR A ROBOT PLATFORM THAT IS DISPLACEABLE IN A TRANSLATORY MANNER, AND DISPLACEMENT SYSTEM AND ROBOT SYSTEM HAVING SUCH A SUPPORT RAIL

Abstract

A support rail for a robotic platform having a support structure of concrete, a lower metallic connection flange and an upper connection flange or a guide rail disposed on an external side of the support structure. The lower connection flange, on the one hand, and the upper connection flange or the guide rail, respectively, on the other hand, are connected by a rigid metallic exoskeleton structure provided on the external side of the support structure and surrounding at least partially or completely the support structure.

Claims

1. Support rail for a robot platform that is displaceable in a translatory manner, the support rail having the following features: a. the support rail is configured in the manner of an elongate construction element that is aligned in a main direction of extent, having at least one metallic guide rail for guiding the robot platform, said metallic guide rail being provided on the external side and extending in the main direction of extent; b. the support rail in a downward pointing part-portion has at least one lower metallic connection flange for fastening the support rail to a sub-base such as a shed floor or to a gantry base; c. the support rail in an upward pointing part-portion, on an external side, has at least one upper metallic connection flange for attaching the metallic guide rail and/or directly the at least one metallic guide rail; d. the support rail has a support structure of concrete; and e. the support rail has a metallic external structure that surrounds the support structure and is formed by a metallic hollow section having a wall thickness of at maximum 8 mm, the lower metallic connection flange and the upper connection flange or the guide rail, respectively, being provided as part of said metallic hollow section or being provided on the external side thereof; and f. the support rail has a metallic internal structure which is embedded in the concrete of the support structure.

2. Support rail according to claim 1, having the following additional features: a. the metallic hollow section has a wall thickness of at maximum 6 mm, preferably of at maximum 4 mm.

3. Support rail according to claim 1, having the following additional features: a. the lower metallic connection flange and/or the upper metallic connection flange and/or the at least one metallic guide rail is fastened to the external side of the hollow section by means of a welded connection.

4. Support rail for a robot platform that is displaceable in a translatory manner, the support rail having the following features: a. the support rail is configured in the manner of an elongate construction element that is aligned in a main direction of extent, having at least one metallic guide rail for guiding the robot platform, said metallic guide rail being provided on the external side and extending in the main direction of extent; b. the support rail in a downward pointing part-portion has at least one lower metallic connection flange for fastening the support rail to a sub-base such as a shed floor or to a gantry base; c. the support rail in an upward pointing part-portion, on an external side, has at least one upper metallic connection flange for attaching the metallic guide rail and/or directly the at least one metallic guide rail; d. the support rail has a support structure of concrete, the lower metallic connection flange and the upper connection flange or the guide rail, respectively, being disposed on the external side of said support structure; and e. the lower connection flange, on the one hand, and the upper connection flange or the guide rail, respectively, on the other hand, are connected by a rigid metallic exoskeleton structure that is provided on the external side of the support structure and surrounds at least partially and preferably completely the support structure.

5. Support rail according to claim 4, having the following additional feature: a. the exoskeleton structure has encircling annular portions by way of which the at least one lower connection flange, on the one hand, and the at least one upper connection flange or the at least one guide rail, respectively, on the other hand, are interconnected so as to surround the support structure in an annular manner; and b. the support rail has two upper connection flanges and two lower connection flanges which are interconnected in an annular manner by way of structural elements.

6. Support rail according to claim 4, having the following additional features: a. the exoskeleton structure has at least one structural element which is welded to the at least one lower connection flange, on the one hand, and to the at least one upper connection flange or to the at least one guide rail, respectively, on the other hand.

7. Support rail according to claim 4, having the following additional features: a. the support rail has a metallic internal structure which is embedded in the concrete of the support structure.

8. Support rail according to claim 1, having the following additional features: a. the metallic internal structure extends across at least 60% of the length, in particular across at least 80% of the length, of the support structure; and/or b. the metallic internal structure is connected directly to the hollow section, preferably by way of a welded connection.

9. Support rail according to claim 1, having the following additional features: a. the metallic internal structure has at least one longitudinal segment that is aligned in the main direction of extent, and a plurality of transverse segments which in the transverse direction rise above the longitudinal segment; and/or b. the metallic internal structure has a plurality of longitudinal segments that are aligned in the main direction of extent and are interconnected by way of transverse segments.

10. Support rail according to claim 1, having the following additional feature: a. at least one of the connection flanges or the guide rail, by way of casting the concrete to the respective component or by partially insert casting the respective component, bears directly on the support structure of concrete so as to be flush with the latter.

11. Support rail according to claim 1, having the following additional features: a. the at least one lower metallic connection flange is formed by at least one floor plate which for attaching to the sub-base has bores, wherein preferably a plurality of mutually spaced apart floor plates are provided; or b. the at least one lower metallic connection flange has at least one threaded bore for attaching a floor plate, wherein preferably a plurality of threaded bores for attaching a plurality of floor plates are provided.

12. Support rail according to claim 1, having at least one of the following additional features: a. the support structure is produced from cement concrete or from polymer concrete; and/or b. the support structure is produced from textile concrete; and/or c. the support rail in the main direction of extent has a length of at least 3 m, preferably between 4 m and 8 m.

13. Displacement system for a robot, having the following features: a. the displacement system has at least one support rail having at least one guide rail provided thereon; b. the displacement system has at least one robot platform on which a robot is disposed according to the intended use; and c. the support rail is configured according to claim 1.

14. Method for the production of a support rail for a robot platform that is displaceable in a translatory manner, according to claim 4, having the following features: a. a metal structure which comprises an exoskeleton and at least one lower metallic connection flange and at least one upper metallic connection flange or a guide rail, respectively, is established, where said at least two parts are preferably welded to the exoskeleton; and b. the metal structure is placed into a formwork such that an external side of the exoskeleton at least in portions bears on the framework in a planar manner; and c. the formwork is subsequently cast with concrete such that the support structure is formed on account thereof, wherein the exoskeleton, the at least one connection flange or the guide rail at least in portions is disposed outside a surface of the support structure.

15. Method for the production of a support rail for a robot platform that is displaceable in a translatory manner, according to claim 1, having the following features: a. a metallic hollow section having a wall thickness of at maximum 8 mm is provided as the external delimitation of the support structure; b. a metallic internal structure is placed into the hollow section; and c. the hollow section is subsequently cast with concrete such that the support structure is formed on account thereof, the latter being externally delimited by the walls of the hollow section and embedded in the internal structure.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Further advantages and aspects of the invention are derived from the claims and from the description hereunder of preferred exemplary embodiments of the invention which are explained hereunder by means of the figures.

[0037] FIG. 1 shows a robot system according to the invention in an overall illustration.

[0038] FIGS. 2 and 3 show a support rail according to the above-mentioned second variant of the invention.

[0039] FIG. 4 shows an alternative to the design embodiment according to FIGS. 2 and 3.

[0040] FIGS. 5A-5E highlight a method for the production of the support rail according to FIGS. 2 and 3.

[0041] FIGS. 6 and 7 show a support rail according to the above-mentioned first variant of the invention.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0042] FIG. 1 shows a robot system 100 according to the invention, which can be used in particular in the course of production.

[0043] The robot system 100 has a displacement system 110 comprising a horizontally aligned support rail 10 and a platform 120 which on this support rail 10 is displaceable in the main direction of extent A of the support rail 10. The support rail 10 on the lower side thereof has connection flanges 30 in the form of floor plates 31 which are provided with bores 32 so as to be securely fastened to a sub-base, in particular to a shed floor or to a gantry base that is provided to this end. Two parallel mutually spaced apart connection flanges 40 to which in each case one guide rail 42 can be screw-fitted are provided on the upper side of the support rail 10. The platform 120 can be displaced on these guide rails, the platform 120 to this end having castors. Driving is performed by way of a motor 122 which drives a sprocket (not illustrated) which interacts with a rack of the support rail 10. Terminal detents for limiting the mobility of the platform 120 are provided in each case on the end side of the support rail 10. An industrial robot 130 having robotic arms that are pivotable in multiple axes is provided on the upper side 124 of the platform 120.

[0044] By attaching the industrial robot 130 to the platform 120 the robot gains a further degree of freedom which can be utilized, for example, to reach processing locations that are further spaced apart, or to approach a store so as to pick up components therefrom. In particular, the industrial robot 130 can thereby be moved between the rear and the front of a vehicle that is in production.

[0045] A line section 128 (illustrated with dashed lines) which is received in a trough-type channel 22 between the guide rails 42 is provided for supplying the platform 120 and the industrial robot 130.

[0046] FIG. 2 shows a first variant of a support rail 10 for the robot system 100 of FIG. 1.

[0047] This support rail has the two upper connection flanges 40, already mentioned, and the floor plates 30 that form a lower connection flange. The support rail 10 is largely formed by a support structure 20 of concrete which aside the flanges and the exoskeleton structure (yet to be explained hereunder) form the external faces of the support rail 10. The upper connection flanges 40, like the lower connection flanges 30, are provided with tie anchors so as to have a secure hold in the support structure 20 of concrete. The exoskeleton structure 90, already mentioned, which is composed of metallic structural elements 94, 96 is additionally provided.

[0048] The construction is illustrated in the cross section by means of FIG. 3. It can be seen that the upper connection flanges 40 by way of lateral structural elements are connected to the lower connection flange 30. The connection between the structural elements 94 and the lower connection flange 30 and the upper connection flanges 40 here is in each case a welded connection. An upper structural element 96 which by means of welded connections is fixedly welded to both upper connection flanges 40 so as to connect the former and the latter is additionally provided, such that an overall structure that encircles the support structure 20 in an annular manner results.

[0049] As can be seen in particular by means of FIG. 2, the exoskeleton rings 92 thus formed surround the support structure 20 only partially. By contrast, the external face of the support rail 10 between the rings 92 is formed by the surface of the support structure 20 of concrete.

[0050] In consequence, a support rail according to FIGS. 2 and 3 is producible in a rather cost-effective manner. The weight of the metal structure having the connection flanges and the exoskeleton structure 90 is, in particular, comparatively light as compared with the overall weight of the support rail 10, this facilitating the transportation to an application site. The support structure 20 of concrete, required for the stability and in particular also for the damping of the support rail, is not particularly demanding in terms of production such that the latter can usually be performed on site. The manner of production will furthermore be explained by means of FIGS. 5A to 5E.

[0051] Before said production is discussed, reference is first made to the variant of FIG. 4. The basic concept is very similar to that of the exemplary embodiment of FIG. 3. However, two lower connection flanges 30 which are not configured in the manner of a floor plate but according to the intended use are connected to an additional floor plate by means of a screw connection are provided. For this reason, the support rail 10 of FIG. 4 has a total of four lower and upper connection flanges 30, 40. Therefore, an additional lower structural element 95 by means of which the two lower connection flanges 30 are interconnected is provided.

[0052] The production of a support rail according to FIGS. 2 and 3 will be explained by means of FIGS. 5A to 5E. FIG. 5A shows a formwork 300 which is used herein in the cross section. As is illustrated in FIG. 5B, a metal structure 12 is first placed into the formwork 300, wherein this metal structure 12 comprises both the lower connection flange 30 as well as the upper connection flanges 40, in each case in an as yet non-processed form. The metal structure 12 furthermore comprises the structural elements 94, 95, already mentioned, which by way of welded connections are connected to the flanges 30, 40, forming a type of annular structure 92.

[0053] Proceeding from this state of FIG. 5B, the incorporation of the support structure 20 of concrete is then performed. To this end, the liquid concrete is filled into the formwork such that said concrete fills the internal region which is also surrounded by the connection flanges 30, 40 and by the structural elements 94, 95. The external sides of the exoskeleton 90, in particular the external sides of the structural elements 94, 95, herein bear on the formwork 300 such that said external sides are not surrounded by concrete.

[0054] The as yet unfinished support rail 10 is removed from the formwork after the support structure 20 has cured, and in the exemplary embodiment is moved to the upright position thereof, as is shown in FIG. 5D. Subtractive machining of the connection flanges 30, 40 is finally performed. It is achieved on account thereof that any potential inaccuracies which result in the preceding manufacturing steps do not have any effect on the accuracy of the positioning of guide rails 42 which according to the intended use are attached to the upper connection flanges 40.

[0055] FIG. 5E shows the support rail 10 after subtractive machining, prior to the guide rails 42 being attached.

[0056] FIGS. 6 and 7 show an alternative design embodiment of a support rail 10 which however is likewise made as a composite support rail of concrete and metal.

[0057] In the case of this embodiment a metallic external structure 70 in the manner of a metallic hollow section 72 is used according to the invention, the walls of said metallic hollow section 72, having a thickness of at maximum 8 mm and preferably less than 6 mm, alone not being sufficient in order for the required loads to be supported. However, such a hollow section is comparatively cost-effective in production and above all has low material costs. In order for the required stability to be achieved the internal region of the hollow section 72 is provided with a support structure of concrete which largely fills said internal space completely. A metallic internal structure 80 which in the case of the exemplary design has a total of four longitudinal segments 82 that extend in the longitudinal direction and are interconnected by transverse segments 84 is placed into said support structure of concrete.

[0058] It has been demonstrated that such a structure, with a relevantly reduced investment of material in terms of metal, has sufficient stability for a support rail of the generic type. As is shown in FIG. 7, the support rail is additionally provided with a lower connection flange 30 on the floor side and with upper connection flanges 40 for attaching the guide rails 42, said connection flanges being welded to the external side of the hollow section 72 in this exemplary embodiment. Alternatively however, the respective connection flanges 30, 40 can also be an integral component part of the hollow section which in this instance is particularly preferably formed from metal sheets and the respective connection flanges 30, 40.