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 robot platform displaceable in a translatory manner. This support rail is configured in the manner of an elongate construction element having at least one metallic guide rail for guiding the robot platform, the metallic guide rail being provided on the external side and extending in a main direction of extent. The support rail has at least one lower metallic connection flange for fastening the support rail on a sub-base such as a shed floor or to a gantry base, and 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. The support rail is designed having a support structure of concrete, and the support rail has a metallic tension structure embedded in the support structure of concrete and under tensile stress in the main direction of extent.

Claims

1. Support rail for a robot platform that is displaceable in a translatory manner, 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 downwards 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 upwards 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 tension structure that is embedded in the support structure of concrete and is under tensile stress in the main direction of extent (A).

2. Support rail according to claim 1, having the following additional feature: a. the support rail has a metallic compression structure that in the main direction of extent (A) is under compressive stress.

3. Support rail according to claim 2, having the following additional feature: a. the compression structure has an external structure that forms the external face of the support rail; in particular having the following additional feature: b. the external compression structure is formed by a hollow section.

4. Support rail according to claim 2, having the following additional feature: a. the tension structure extends across at least 60%, preferably across at least 80%, of the length of the support structure.

5. Support rail according to claim 1, having the following additional feature: a. the tension structure at both end sides is connected to compression plates extended transversely to the main direction of extent (A); and/or c. the tension structure in relation to the main direction of extent has a variable cross-section.

6. Support rail for a robot platform that is displaceable in a translatory manner, 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. in order for the mass to be reduced, at least one void is provided, or at least one block from plastic, in particular from polystyrene, is incorporated, in the concrete of the support structure; and/or d. 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 a plurality of mutually spaced apart floor plates are preferably provided; and/or e. the support rail in the main direction of extent has a length of at least 3 m, in particular of at least 6 m.

7. 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.

8. Gantry base of a robot system, for attaching a support rail for a robot platform that is displaceable in a translatory manner, having the following features: a. the gantry base has a plurality of gantry columns; b. the gantry columns have at least one lower metallic connection flange for fastening the gantry columns to a sub-base such as a shed floor; c. the gantry columns has at least one upper connection flange for attaching a horizontally extended support rail for a robot platform that is displaceable in a translatory manner; d. at least one gantry column has a metallic external structure which is formed by a metallic hollow section; e. an internal region that is surrounded by the hollow section is at least largely filled with concrete; and f. a metallic internal structure is embedded in the concrete in the internal region.

9. Gantry base according to claim 8, having at least one of 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 hollow section; and/or b. the metallic internal structure is connected directly to the hollow section, preferably by way of a welded connection.

10. Gantry base according to claim 8, 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.

11. Robot system having a gantry base and a horizontal support rail that is supported by the gantry base, having at least one of the following features: a. the support rail is configured according to claim 1; and/or b. the gantry base is configured according to claim 8.

12. Robot system according to claim 11, having the following additional feature: a. the robot system comprises a robot that is attached to the robot platform.

13. 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. at least one lower metallic connection flange and at least one upper metallic connection flange, or a guide rail, respectively, are placed into a formwork or onto the formwork; b. a tension structure is placed into the formwork and at the end sides secured in a locationally fixed manner to walls of the formwork such that said tension structure is under tensile stress acting in the main direction of extent (A) of the formwork; c. the formwork is subsequently cast with concrete such that the support structure is formed on account thereof, wherein the tension structure while under tensile stress is embedded in the concrete of the support structure; and d. the support rail produced on account thereof, after the concrete of the support structure has at least partially cured, is removed from the formwork, wherein the tensile stress in the tension structure is at least partially preserved.

14. 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 combined metallic tensile and compressive structure which has at least one structural portion that is under tension in a main direction of extent (A), and at least one structural portion that is under compression in the main direction of extent (A) is established; and b. a support structure in which at least the structural portion that is under tension is embedded is cast from concrete.

15. Method according to claim 14, having the following additional feature: a. a separation of the tension structure from the compression structure is performed after the concrete of the support structure has at least partially cured, wherein the tensile stress in the tension structure is at least partially preserved.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 in which:

[0035] FIG. 1 shows a robot system using a support rail according to the invention;

[0036] FIG. 2 shows the support rail of the robot system including add-on parts;

[0037] FIGS. 3A and 3B highlight a first possibility for constructing a support rail according to FIG. 2;

[0038] FIGS. 4A and 4B highlight a second possibility for constructing a support rail according to FIG. 2;

[0039] FIGS. 5A and 5B highlight a third possibility for constructing a support rail according to FIG. 2;

[0040] FIGS. 6A to 6D in an exemplary manner highlight the production of a support rail according to FIG. 2 in various stages of the production;

[0041] FIG. 7 shows a construction of a support rail in the gantry construction mode, comprising a gantry base having a plurality of gantry columns;

[0042] FIGS. 8 and 9 highlight various possibilities for fastening a support rail to the gantry base.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0043] FIGS. 1 and 2 show a robot system 100 according to the invention, which can be used in particular in the course of production, and the support rail 10 of said robot system 100 in a separate view.

[0044] The robot system 100 has a displacement system 110 comprising the horizontally aligned support rail 10 mentioned 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, which is again illustrated separately in FIG. 2, on the lower side thereof has connection flanges 30 in the form of floor plates which are provided with bores 32 so as to be securely fastened to a sub-base, in particular to a shed floor or 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 is 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 movability 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.

[0045] 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 storage so as to pick up components therefrom.

[0046] A line bundle 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.

[0047] FIGS. 3A and 3B highlight the internal construction of a first variant of a support rail. The support structure 20 of concrete is omitted for the sake of clarity in FIG. 3A. It can be seen that a tension structure 70 which in an exemplary manner is presently formed by two tie rods 72 is embedded in the support structure 20. These tie rods 72 are fastened, for example screwed or welded, on the end sides to the compression plates 60 that serve as anchors for the bracing. The two tie rods 72 are under tensile stress and by way of the compression plates 60 introduce a corresponding compressive force into the support structure 20 of concrete. An enhanced stability of the support rail in terms of flexing is achieved on account thereof, such as is to be anticipated in particular in the case of a use in a robot system according to the gantry construction mode. Alternatively, this enhanced stability could indeed also be achieved by a larger cross section of the support structure 20. However, since it is provided according to the intended use that the support rails of the type according to the invention replace support rails that are typically produced from metal, in particular aluminium, it is desirable for the construction form of the support rail 10 to have a volume that is as similar as possible. This can be achieved by the tension structure 70.

[0048] FIGS. 4A and 4B show a second design embodiment of a support rail 10 according to the invention. Said second design embodiment has the peculiarity that the former on the outer side is formed by a metallic hollow section, for example of aluminium or steel, which at both end sides is closed by metallic end faces 86. A tension structure 70 which is composed of tie rods 72 which internally are welded or screwed to the end sides 86 is again provided.

[0049] It is caused on account thereof that the tensile stress prevailing in the tension structure 70 does not have to be entirely and optionally not even largely absorbed by the support structure 20 of concrete, but can be absorbed by the hollow section 84. This is advantageous in the production since no external tool which maintains the tensile stress is blocked. Instead, this can be performed in a self-acting manner by the support rail by way of the end faces 86 thereof.

[0050] It is provided in the design according to FIGS. 4A and 4B that the end faces 86 are permanently preserved and thus that at least part of the compressive stress for compensating the tensile stress in the tension structure 70 is permanently made available by the hollow section 84.

[0051] The fundamental construction in the case of the alternative design according to FIGS. 5A and 5B is identical. However, no end faces 86 are provided here so that no metallic connection exists between the tension structure 72 and the hollow section 84. This means that the tensile stress of the tension structure 70 is introduced into the support structure 20 of concrete. However, it is advantageous also in a design according to FIGS. 5A and 5B for said design to be produced in the same manner as the design of FIGS. 4A and 4B, in that a metallic connection between the ends of the hollow section 84 and the ends of the tie rods of the tension structure 70 exists at the point of time of production. This metallic connection is released by severing the connection only after the concrete of the support structure 20 has cured, such that the support structure 20 of concrete is put under pressure at this moment in time.

[0052] The tension structure in FIGS. 5A and 5B is illustrated in such a manner that the former is composed of purely cylindrical metal rods 72. However, deviating therefrom, it can also be provided that the rods 72 are provided with thickenings that are aligned transversely to the direction of extent of said rods 72, said thickenings engaging in a form-fitting manner in the support structure and, on account thereof, providing anchor points for the tie rods 72.

[0053] The manufacturing method for the production of the support rail according to FIGS. 3A and 3B will be explained in an exemplary and schematic manner by means of FIGS. 6A to 6E.

[0054] The starting point of the method is a formwork 300, illustrated in FIG. 6A, which in the way highlighted in FIG. 6B is placed in a multi-part metal framework which comprises inter alia the lower connection flanges 30 and the upper connection flanges 40 as well as connection struts therebetween. Moreover, the metal framework comprises the two compression plates 60 which are interconnected by the tie rods 72.

[0055] The compression plates in the manner highlighted by the arrows of FIG. 6B are pulled outwards by a tensile force that is applied by the tool such that the desired tensile stress is built up in the tie rods 72. In this state, the support structure 20 is then cast by supplying concrete such that the support structure 20 according to FIG. 6C is created.

[0056] The support rail 10 is removed from the formwork 300 as soon as the concrete has cured. The tensile stress existing in the tie rods 72, in the manner highlighted by the arrows in FIG. 6D, leads to a compressive stress in the support structure 20.

[0057] FIG. 7 shows a support rail 10 of the type described in the use as a support rail 10 of a robot system in a gantry construction mode. Therefore, apart from the support rail 10 mentioned, a gantry base 200 which comprises a plurality of gantry columns 210 which at the lower end thereof have a metallic connection flange 212 with fastening bores 213 for fastening to the shed floor and at the upper end thereof are in each case provided with one connection flange 214 which in the embodiment illustrated are configured by three threaded rods for fastening the lower connection flanges 30 of the support rail 10 is provided.

[0058] Since the support rail of a length of, for example, 3 m by virtue of the gantry construction mode is fundamentally at risk of flexing, the variant described, having a tention structure 70 with tie rods 72, is used.

[0059] Like the support rail 10, the gantry columns 210 of the gantry base 200 are also produced as a composite of concrete and metal. The gantry columns 210 have a metallic hollow section 220 which in an internal region is cast from concrete 230, wherein the concrete surrounds a metallic internal structure 240. It has been demonstrated that such a construction having a metallic hollow section and a metallic internal structure as well as a concrete core achieves optimal preconditions for effecting simultaneously the required stability and positive damping properties. Furthermore, the concrete and the metallic internal structure permit the use of hollow sections with comparatively thin walls.

[0060] The system of FIG. 7 is also illustrated in a side view in FIG. 8 in which it can be seen what the gantry columns 210 look like in the cross section. Deviating from the variant illustrated, it is also possible for the metallic internal structure 240 to be connected directly to the respective hollow sections 220 by way of a welded connection or screw connection.

[0061] FIG. 9 shows that another alignment of the support rail 10 can also be expedient, depending on the specific field of application. In the case of the design embodiment of FIG. 9, metal plates 250 which are screwed together in a manner not illustrated in more detail are provided on both sides of the support column. The metal plate 250 on the left side is furthermore screwed to the lower connection flange 30 of the support rail 10.