SUPPORT RAIL FOR A ROBOT PLATFORM THAT CAN BE MOVED IN TRANSLATION, AND MOTION SYSTEM AND ROBOT SYSTEM HAVING A SUPPORT RAIL OF THIS KIND

Abstract

A support rail for a robot platform. The support rail is an elongate component having a metal guide rail, provided on an outer side, for guiding the robot platform. The platform has, in a downward-facing subsection, a lower metal connection flange for fastening the support rail on an underlying surface, such as a factory floor, and, in an upward-facing subsection, on an outer side, an upper metal connection flange for mounting the metal guide rail. The support rail has a concrete support structure, on the outer side of which the lower metal connection flange and the upper connection flange or the guide rail are mounted. The upper metal connection flange, the lower metal connection flange and/or the guide rail are secured on the support structure by ties engaging positively in the support structure, and/or via a connecting inner frame surrounded by the support structure.

Claims

1. Support rail for a robot platform that can be moved in translation, having the following features: a. the support rail is in the form of an elongate component aligned in a main direction of extent and having at least one metal guide rail, provided on the outer side and extended in the main direction of extent, for guiding the robot platform, b. the support rail has, in a downward-facing subsection, at least one lower metal connection flange for fastening the support rail on an underlying surface, such as a factory floor, c. the support rail has, in an upward-facing subsection, on an outer side, at least one upper metal connection flange for mounting the metal guide rail and/or has the at least one metal guide rail directly, d. the support rail has a support structure made of concrete, on the outer side of which the lower metal connection flange and the upper connection flange or the guide rail are mounted, and e. the upper metal connection flange, the lower metal connection flange and/or the guide rail are secured on the support structure: by means of ties engaging positively in the support structure made of concrete, and/or via a connecting inner frame surrounded by the support structure.

2. Support rail according to claim 1 for a robot platform that can be moved in translation, having the following additional feature: a. at least one of the connection flanges or the guide rail rests directly against and flush with the support structure made of concrete by virtue of the fact that the concrete is poured onto the relevant component or partially encases the relevant component.

3. Support rail according to claim 1 for a robot platform that can be moved in translation, having the following additional features: a. the at least one lower metal connection flange is formed by at least one baseplate, which has holes for mounting on the underlying surface, wherein preferably a plurality of spaced baseplates is provided, or b. the at least one lower metal connection flange has at least one threaded hole for mounting a baseplate, wherein preferably a plurality of threaded holes for mounting a plurality of baseplates is provided.

4. Support rail according to claim 1 for a robot platform that can be moved in translation, having one of the following additional features: a. at least two upper metal connection flanges are provided on the outer side of the support structure, each being provided for mounting one of the guide rails and each having dedicated ties or each being connected separately to the inner frame surrounded by the support structure, or b. at least two guide rails are provided directly on the outer side of the support structure, each having dedicated ties or each being connected separately to the inner frame surrounded by the support structure, and c. a trough (22) aligned in the main direction of extent for accommodating a cable harness (102) of the robot platform is provided between the two guide rails in the support structure made of concrete.

5. Support rail according to claim 1 for a robot platform that can be moved in translation, having one of the following additional features: a. a further metal connection flange for the purpose of coupling a further support rail and/or for mounting an end stop for the robot platform is provided on at least one end of the support rail, or b. at least one end stop for the robot platform is provided on at least one end of the support rail, directly on the outer side of the support structure, and c. the further metal connection flange and/or the end stop for the robot platform is connected via the inner frame to the lower metal connection flange and/or to the upper metal connection flange or the guide rail, or d. the further metal connection flange and/or the end stop have at least one tie engaging positively in the support structure made of concrete.

6. Support rail according to claim 1 for a robot platform that can be moved in translation, having the following additional feature: a. a plurality of lower metal connection flanges is provided on the underside of the support rail, which are mounted on a common inner frame, or which are mounted on the common guide rail or on a common upper metal connection flange by means of separate subsections of the inner frame.

7. Support rail according to claim 1 for a robot platform that can be moved in translation, having at least one of the following additional features: a. the metal inner frame is connected to at least one of the connection flanges or to the guide rail by a welded joint, and/or b. the metal inner frame is connected to at least one of the connection flanges or to the guide rail by a screwed joint.

8. Support rail according to claim 1 for a robot platform that can be moved in translation, having at least one of the following additional features: a. at least one connection flange is designed with a flat abutment surface or supporting surface for extended-area abutment on an external contact surface, and/or b. at least one connection flange is provided with a fastening hole or fastening aperture for receiving a fastening screw, and/or c. the ties are formed at least partially by extruded profiles extending in the main direction of extent, in particular by I-section profiles or T-section profiles, wherein preferably a plurality of such ties formed by extruded profiles is mounted on a connection flange or on a guide rail at intervals in the main direction of extent and/or ventilation holes are provided in the extruded profile.

9. Support rail according to claim 1 for a robot platform that can be moved in translation, 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 has at least one through channel as a transportation aid, wherein a hollow profile made of plastic and/or metal is preferably provided to form the through channel, and/or c. reinforcement rods are introduced into the concrete of the support structure independently of the connection flanges or of the guide rail, said rods preferably being aligned in the main direction of extent of the support rail, and/or d. at least one free region is provided or at least one block of plastic, in particular polystyrene, is inserted into the concrete of the support structure to reduce the mass, and/or e. the surface of the support structure made of concrete is ground at least in some section or sections, and/or f. the surface of the support structure made of concrete is provided with a coating, at least in some section or sections, in particular in regions which are exposed to a mechanical stress during operation owing to feed lines of the robot, and/or g. the surface of the support rail has a length of at least 3 m, preferably between 4 m and 8 m, in the main direction of extent.

10. Motion system for a robot, having the following features: a. the motion system has at least one support rail with at least one guide rail provided thereon, and b. the motion system has at least one robot platform, on which a robot is arranged in accordance with the intended purpose, c. the support rail is designed in accordance with claim 1.

11. Robot system having the following features: a. the robot system comprises a motion system having a support rail and a robot platform for mounting a robot, which platform can be moved in the main direction of extent of the support rail, and b. the robot system comprises a robot mounted on the robot platform, characterized by the following feature: c. the support rail is designed in accordance with claim 1.

12. Method for producing a support rail according to claim 1 for a robot platform that can be moved in translation, having the following features: a. a metal structure is created, comprising an inner frame and at least one lower metal connection flange and at least one upper metal connection flange or a guide rail, wherein these at least two parts are preferably welded to the inner frame, and b. the metal structure is placed in formwork, and c. the formwork is then filled with concrete, thereby forming the support structure, wherein the inner frame is at least partially surrounded by the concrete and the at least one connection flange or the guide rail is arranged at least partially outside a surface of the support structure.

13. Method for producing a support rail according to claim 1 for a robot platform that can be moved in translation, having the following features: a. at least one lower metal connection flange, at least one upper metal connection flange and/or at least one guide rail are placed in an outer region in the formwork, wherein at least one tie per connection flange or guide rail projects into an interior space of the formwork, and b. the formwork is then filled with concrete, thereby forming the support structure, wherein the ties are surrounded with concrete in such a way that they counteract separation from the support structure by positive engagement, and wherein at least one connection flange or the guide rail is arranged at least partially outside a surface of the support structure.

14. Method for producing a support rail according to claim 1 for a robot platform that can be moved in translation, having the following features: a. a concrete body forming the support structure is cast in formwork, in which through holes for the inner frame are kept free during the casting process itself or in which through holes are introduced after the casting process, and b. the inner frame is then inserted into the through holes and connects connection flanges mounted at opposite ends or at least one connection flange and one guide rail.

15. Method according to claim 12, having at least one of the following features: a. the outer surfaces of the support structure are at least partially ground and/or provided with a coating, and/or b. the as yet unfinished support rail, comprising the support structure and the inner frame and at least two connection flanges or at least one connection flange and at least one guide rail, or at least two connection flanges or at least one connection flange and at least one guide rail, which are each provided with ties, is finish-machined in the region of at least one connection flange or of the guide rail, in particular by means of grinding and/or drilling.

16. Method according to claim 12, having at least one of the following features: a. during the casting of the support structure, the upper connection flanges or the guide rails face downwards and the lower connection flanges face upwards.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Further advantages and aspects of the invention will emerge from the claims and from the following description of preferred illustrative embodiments of the invention, which are explained below with reference to the figures.

[0054] FIG. 1 shows a robot system according to the invention having a motion system with a robot platform, on which a robot is mounted.

[0055] FIG. 2 shows a support rail of the robot system according to FIG. 1 in isolation.

[0056] FIGS. 3 to 5 show a first variant of the construction of the support rail in FIG. 2.

[0057] FIGS. 6 to 8 show a second variant of the construction of the support rail in FIG. 2.

[0058] FIGS. 9 to 12 show different variations of the variants in the previous figures.

[0059] FIGS. 13A to 13D show a method for producing a support rail.

DETAILED DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS

[0060] FIG. 1 shows a robot system 100 according to the invention, which can be used, in particular, in the context of production.

[0061] The robot system 100 has a motion system 110 comprising a horizontally aligned support rail 10 and a platform 120, which can be moved on this support rail 10 in the direction of extent A of the support rail 10. The support rail 10 has, on the underside thereof, connection flanges 30 in the form of baseplates 31, which are provided with holes 32 to enable it to be fastened securely on an underlying surface, in particular a factory floor or a pedestal provided for this purpose. Provided on the upper side of the support rail 10 are two mutually spaced parallel connection flanges 40, on each of which a guide rail 42 is securely screwed. The platform 120 can be moved on these guide rails, for which purpose it has rollers 122. The drive is provided by a motor 126, which drives a pinion (not shown), which interacts with a rack 43 of the support rail 10. Provided on the ends of the support rail 10 are respective end stops 64 in order to limit the mobility of the platform 120. An industrial robot 130 with a robot arm capable of multi-axis pivoting is provided on the upper side 124 of the platform 120.

[0062] Mounting the industrial robot 130 on the platform 120 gives the robot a further degree of freedom, which can be used, for example, to reach processing locations that are further apart or to approach a store in order to collect components there.

[0063] To supply the platform 120 and the industrial robot 130, a cable harness 128 (illustrated in dashed lines) is provided, which is accommodated in a trough-like recess 22 between the guide rails 42.

[0064] The support rail 10 is produced primarily from metal connection flanges and attachments and from a support structure 20 made of concrete forming the basic structure of the support rail 10. In particular, use can be made of ultrahigh strength concrete here.

[0065] With reference to FIG. 2, the main outer surfaces of the support rail 10 shown there are formed by the support structure 20, which is cast from concrete. In addition to the already mentioned elements of the lower connection flanges 30, designed as baseplates 31, and of the upper connection flanges 40, designed as mounting strips, and the guide rails 42 mounted thereon, two connection flanges 60 mounted on the ends and the two end stops 64 are also produced predominantly from metal. To make transportation easier, through passages 70 defined by tubular hollow profiles 72 are provided transversely to the main direction of extent A.

[0066] The construction of the support rails 10 is explained in greater detail by means of FIGS. 3 to 5, on the one hand, and 6 to 8, on the other hand.

[0067] The first illustrative embodiment in FIGS. 3 to 5 is distinguished by the fact that the upper connection flanges 40 for mounting the guide rails 42 and the lower connection flanges 30 in the form of baseplates 31 are connected to one another by an inner frame 50. In the present case, this inner frame 50 is formed by a total of 16 vertically aligned subsections 52 in the form of metal struts, which, on the one hand, are welded laterally to the strip-type upper connection flanges 40 and, on the other hand, are welded at the ends, at the bottom, to the lower connection flanges 30. This can be seen especially from FIG. 3, in which the support structure 20 made of concrete is omitted. It can likewise be seen from FIG. 3 that a reinforcement 80 for the purpose of increasing strength is inserted within the support structure 20 and that polystyrene blocks 74 are furthermore inserted here to reduce the mass of the support rail 10. It can furthermore be seen that the connection flanges 60 at the ends are connected directly to the ends of the upper connection flanges 40, in particular by means of a welded joint, and are furthermore welded to the baseplates 31 by means of connecting sections 58. Moreover, ties 44, 45 are provided on some of the connection flanges, in the present case on the upper strip-type connection flanges 40, the said ties performing the task of improving the connection to the support structure 20 made of concrete in the regions between the baseplates 31 and the subsections 52. In principle, however, such ties are not absolutely essential in the illustrative embodiment in FIGS. 3 to 5 since positive attachment of the metal components to the support structure 20 is already provided by the inner frame 50. It is thereby possible, in particular, to absorb moments exerted on the support rail by the robot 130 and associated tensile forces.

[0068] FIG. 4 shows the support rail 10 including the support structure 20 made of concrete. As can be seen, the flanges 60 at the ends, the upper flanges 14 and the lower connection flanges 30 and the hollow profiles 72 form the only elements which are not surrounded by the concrete of the support structure 20. In the region of the connection flanges 60 at the ends, recesses 21 are provided in the support structure 20 in order to allow access from here to the screw holes 62 in the connection flanges 60. By means of these connection flanges 60, a plurality of support rails of the same type can be connected to one another.

[0069] FIG. 5 once again shows the support rail 10 in a cross-sectional view, from which it is clearly apparent how the lower connection flanges 30 are connected integrally via the welded-on subsections 52 of the inner frame 50 to the upper connection flanges 40 designed as strips. It can furthermore be seen how the guide rails 42 are connected by screwed joints to the connection flanges 40.

[0070] The second illustrative embodiment in FIGS. 6 to 8 corresponds, apart from the following stated differences, to the illustrative embodiment in FIGS. 3 to 5.

[0071] The most relevant difference is that there is no inner frame provided to metallically connect the lower connection flanges 30 on the bottom side to the upper connection flanges 40. Instead, ties 44, 45 formed by profile sections are provided, similarly to the preceding illustrative embodiment, although these are also provided in larger numbers and placed closer to the upper connection flanges 40. In addition, ties 34 are also provided on the connection flanges 30 on the bottom side, wherein screws are used for this purpose in the present case, as can be seen especially from FIG. 8.

[0072] The second relevant difference with respect to the illustrative embodiment in FIGS. 3 to 5 is that, in the present case, no reinforcement 80 is placed in the concrete. This has to do with the fact that the embodiment in FIGS. 6 to 8 with ties 34, 44, 45 instead of an inner frame 50 is preferred especially when ultrahigh strength concrete, which is also well suited to bearing tensile stresses, is used. When using such concrete, however, it is possible in individual cases to dispense with the reinforcement 80.

[0073] FIGS. 9 to 11 shows various variations of the two preceding illustrative embodiments in FIGS. 3 to 5 and 6 to 8.

[0074] In the illustrative embodiment in FIG. 9, there is the special feature that no separate guide rails 42 are provided for mounting on connection flanges 40; instead the guide rails 42 are integrally and directly part of the integral composite structure including the inner frame 50 and the connection flanges 30 on the bottom side. However, such a construction is not preferred, owing to the lack of exchange-ability of the guide rails 42.

[0075] The special feature in the embodiment in FIG. 10 is that, as a departure from the preceding embodiments in FIGS. 3 to 5 and 9, the connection between the upper connection flanges 40 and the baseplates 31 is not provided only by welded joints. Admittedly, the inner frame 50 is once again welded to the upper connection flanges 40. However, the connection to the baseplate 31 is established by means of a screwed joint 54, by means of which the baseplate 30 is secured at the end in the rod subsections forming the inner frame 50. Since the subsections 52 are widened at the bottom end, they already themselves form as it were the lower connection flanges 30.

[0076] The embodiment in FIG. 11 differs from all the preceding embodiments in that the support rail 10 shown in FIG. 11 is produced in a fundamentally different way from the previous embodiments. Here, the support structure 20 made of concrete is produced separately. It is only afterwards that the connection flange 30 on the bottom side has been inserted into the support structure 20 from below together with the inner frame 50 welded thereto and that the upper connection flanges 40 have been screwed to the inner frame 50 by means of a screwed joint 48. Such an embodiment and such a production method are not considered advantageous but can be expedient in individual cases, especially if it is of logistical value to be able to produce the support structure 20, on the one hand, and the connection flanges 30, 40 and the inner frame 50, on the other hand, at separate locations.

[0077] In the case of the embodiment according to FIG. 12, the arrangement of the guide rails 42 and of the connection flanges 40 belonging thereto is of a somewhat different kind to that in the preceding examples since the connection flanges are provided directly on the upward-facing side of the support structure 20.

[0078] The preferred manner of production of a support rail 10 according to the invention is shown in FIGS. 13A to 13D. Starting from formwork 200 produced from wood or metal and defining an upwardly open receiving space 202, a metal structure 12 is first of all inserted, comprising the connection flange 30 on the bottom side, the upper connection flanges 40 and the inner frame 50. As can be seen from FIG. 12B, this metal structure 12 is inserted into the formwork 200 in an upside down position relative to the subsequent alignment during use. In addition, further elements, such as polystyrene blocks 74, reinforcements 80 or the hollow profiles 72 (not shown), can be placed in the formwork 200 in this phase. As can be seen from FIG. 12C, the concrete is then poured into the formwork 200. It then predominantly surrounds the surfaces of the metal structure 12. It is only in the region of the lower connection flanges 30, which are at the top at this point in time, and of the upper connection flanges 40, which are at the bottom at this point in time, that the outer surfaces remain free of concrete. The inner frame 50, on the other hand, is surrounded by concrete, as are the reinforcement and the polystyrene blocks 74. After the concrete has hardened, the as yet unfinished support rail is removed from the formwork 200. Outer surfaces, in particular metal outer surfaces, of the metal structure 12 are then machined and, if appropriate, holes for mounting further attachments are formed in a machining centre. The grinding of the outer surfaces, e.g. of surface 40A, on which the guide rail 42 is mounted, also serves the purpose of enabling concrete residues to be removed therefrom during this process.

[0079] Machining only after the process of casting the concrete is very advantageous in respect of precision of production. Inaccurate positioning of the metal structure 12 within the formwork 200 or inaccurate assembly of the various elements of the metal structure 12 can usually be corrected in this phase after the casting of the support structure 20 by the machining which then follows.