System for docking a movable platform

• US 9,434,068 B2
• Filed: 04/28/2015
• Issued: 09/06/2016
• Est. Priority Date: 05/05/2014
• Status: Active Grant

• Current Assignee: OpiFlex Automation AB
• Original Assignee: OpiFlex Automation AB
• Inventors: Frisk, Johan
• Primary Examiner(s): SKROUPA, JOSHUA A
• Application Number:
  US14/698,314
• Publication Number:
  US 20150314437A1
• Time in Patent Office: 497 Days
• Field of Search: 403/167, 403/187, 403/189, 403/230, 403/263, 403/353, 403/364, 403/381, 403/361, 294/28, 294/64, 294/66, 245/911, 245/951, 246/04
• US Class Current: 1/1
• CPC Class Codes: B23Q 1/0063 Connecting non-slidable parts of machine tools to each other
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements
• CPC Class Codes: F16B 2200/10 Details of socket shapes
• CPC Class Codes: F16B 5/0056 by moving the sheets, plates or panels or the interlocking key perpendicular to the main plane
• CPC Class Codes: F16B 5/0088 with locking means moving substantially perpendicular to the main plane, e.g. pins, screws
• CPC Class Codes: F16B 5/065 the plates being one on top of the other and distanced from each other, e.g. by using protrusions to keep contact and distance
• CPC Class Codes: Y10T 24/45262 Pin, post and receiver
• CPC Class Codes: Y10T 29/49899 by multiple cooperating aligning means
• CPC Class Codes: Y10T 403/33 Transverse rod to spaced plate surfaces

Abstract

A system for docking a platform adapted to carry a manipulator, in relation to a workstation. The system comprises a plurality of protruding members attached to the platform, a docking station arranged at the workstation and comprising a plurality of recesses adapted to receive the protruding members for positioning the platform relative the workstation. Each of the recesses comprises a positioning section defining a space and a supporting section tapering towards the positioning section and having at least one support surface, and the protruding members are protruding away from a bottom surface of the platform, and an outer end of each of the protruding members comprises a positioning portion designed to at least partly fit in said space, and a bearing portion tapering towards the positioning portion and having a bearing surface adapted to bear on the support surface when the positioning portion is fitted in said space.

Claims

1. A docking system comprising:

a plurality of protruding members attached to a platform,

a docking station arranged at a workstation, the docking station comprising a plurality of recesses adapted to receive the protruding members for positioning the platform relative to the workstation, wherein each of the plurality of recesses comprises;

a positioning section defining a space and a supporting section tapering towards the positioning section and having at least one support surface, wherein the support surface has an angle α

₁ in relation to a center axis of the recess, and the angle α

₁ of the support surface is between 30° and

70°

, between 35° and

65°

, or between 40° and

55°

, and

a funnel shaped guiding section tapering towards the supporting section, and the guiding section has a guiding surface having an angle α

₂ in relation to the center axis of the recess, and the angle α

₂ of the guiding surface is equal to or larger than the angle α

₁ of the support surface,

wherein the angle α

₂ of the guiding surface is defined by the equation;

tan (90−

α

₂)>

μ

,

whereby μ

is the static friction coefficient between the guiding surface and the positioning portion

wherein the protruding members protrude away from a bottom surface of the platform, and an outer end of each of the protruding members comprises;

a positioning portion designed to at least partly fit in said space, and

a bearing portion tapering towards the positioning portion and having a bearing surface, the bearing surface is adapted to bear on the support surface when the positioning portion is fitted in said space, and the positioning section and the positioning portion are designed so that an accommodation is formed below the positioning portion when the positioning portion is fitted in said space.

2. The system according to claim 1, wherein the positioning section and the positioning portion are designed so that said accommodation is formed between a bottom of the positioning section and the positioning portion when the positioning portion is fitted in said space.

3. The system according to claim 2, wherein said accommodation has a height of at least 0.1 mm, at least 0.5 mm, or at least 1 mm.

4. The system according to claim 1, wherein each of the plurality of recesses is rotationally symmetric and a radial distance (d) between an upper periphery of the guiding surface and a lower periphery of the support surface is more than 5 mm.

5. The system according to claim 1, wherein each of the plurality of recesses, the bearing portion and positioning portion are rotationally symmetric.

6. The system according to claim 1, wherein the protruding members are designed as legs arranged to support the platform.

7. The system according to claim 1, wherein each of the plurality of protruding members comprises a distance portion arranged between the platform and said outer end.

8. A method of docking the movable platform in relation to the workstation, comprising:

providing the system according to claim 1, wherein the recesses have openings, the docking station is attached to a floor with the openings turned upwards, the manipulator is positioned on the movable platform, and the protruding members are directed downwards towards the floor, and

inserting the protruding members into the recesses until the positioning portions are positioned in the positioning sections.

9. The system according to claim 1, wherein a height (h1) of the positioning portion is less than a height (h2) of the positioning section.