JP7095447B2 - Protective jacket for robots - Google Patents

Description

The present invention relates to a protective jacket for a robot to be attached to a robot having a plurality of arms.

Conventionally, a protective jacket to be attached to a robot has been devised for the purpose of protecting the robot. Some such protective jackets have a bellows structure so as not to limit the movable range of the robot, and some have a structure separated by joints as in Patent Document 1, for example. However, the bellows structure tends to be relatively expensive, and when the bellows portion is folded, the outer shape becomes large, which may limit the movable range of the robot. Further, the separated structure may not be adopted depending on the installation environment of the robot because foreign matter may enter the inside of the protective jacket from the separated portion or, conversely, foreign matter may be released from the inside.

Japanese Unexamined Patent Publication No. 2010-274373

Therefore, it is desirable to be able to use an integrated protective jacket that is entirely bag-shaped. However, such a form of protective jacket also has the following problems. For example, in the case of a vertical 6-axis robot, one end of the protective jacket is fixed to the 6-axis portion which is the tip of the robot arm. Generally, the 6 axes are configured to be rotatable beyond 180 °. Therefore, as shown in FIG. 10, the fabric of the protective jacket is greatly deformed by twisting, and the protective jacket is easily damaged.

Therefore, we provide a protective jacket for a robot that can avoid damage due to rotation of the shaft without excessively limiting the movable range of the robot even if the whole is integrated.

The protective jacket for a robot according to claim 1 is composed of a tubular sheet-shaped member having one end fixed to the tip of an arm and covering up to an installation portion . The sheet-shaped member extends in the outer peripheral direction from the base end portion fixed to the tip end portion side, closes the tip end portion of the tubular portion of the sheet-shaped member, and has a diameter larger than the outer diameter of the tip portion. It has a disk-shaped tip surface portion. The inner diameter of the tubular portion extending from the outer periphery of the tip surface portion to the installation portion side is equal to or larger than the inner diameter of the tip surface portion except for the portion corresponding to the joint portion .

That is, the sheet-shaped member has a disk-shaped tip surface portion having a diameter larger than the outer diameter of the arm tip portion, and the inner diameter of the tubular portion extending from the outer circumference of the tip surface portion toward the installation portion is In the vicinity of the base end where the sheet-like member is fixed when the tip of the arm rotates beyond 180 ° because it is equal to or larger than the inner diameter of the tip surface except for the part corresponding to the joint . The twist that occurs is relatively small, and the twist can be dispersed toward the installation portion. As a result, the state in which twists are concentrated in the vicinity of the base end portion is alleviated.

Further, the inner diameter of the tubular portion of the portion corresponding to the joint portion of the sheet-shaped member is smaller than the inner diameter of the tip surface portion and larger than the outer diameter of the arm in the portion, so that the joint portion is vertical. It is possible to reduce the slack of the sheet-shaped member generated in the portion when the motion of bending in the direction is performed. This makes it difficult for foreign matter to stay and adhere to the portion. Further, even if a foreign substance stays or adheres to the portion, the foreign substance that has stayed or adhered becomes difficult to scatter when the joint portion changes from a bent state to an extended state and the slack is eliminated. ..

If the robot has a vertical 6-axis type arm, the part of the sheet-like member that is most susceptible to expansion and contraction is the joints of the 2nd and 3rd axes, so the protective jacket is vertically 6 It can be fitted to a shaft-shaped arm.

In addition, the inner diameter of the tubular portion of the sheet-like member that covers the installation portion is set to be larger than the inner diameter of the tip portion . Generally, in an articulated robot having a plurality of arms, the inner diameter of the arm on the installation portion side is larger than that on the tip portion side. Therefore, it is possible to fit the protective jacket to such a shape and avoid unnecessarily increasing the inner diameter of the protective jacket.

1 is a diagram showing a state in which a protective jacket is applied to a robot having a vertical 6-axis type arm according to the first embodiment. The figure which shows an example of a fixing member schematically The figure which shows the shape of the protective jacket schematically The figure explaining the twist which occurs when 6 axes rotate when the shape of the tip part is a truncated cone shape. The figure explaining the twist which occurs when 6 axes rotate when the shape of the tip part is columnar. The figure which shows the photograph around 5 axes in an actual robot The figure which shows the behavior of the protective jacket in the postures A, B, and C of a robot. FIG. 7 equivalent diagram when the shapes of the protective jackets are all the same inner diameter. The figure which shows the 2nd Embodiment, and shows the state which applied the protective jacket to the dual arm type robot. The figure explaining the twist which occurs in the protective jacket when 6 axes are rotated in the conventional structure.

(First Embodiment)
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 8. As shown in FIG. 1, in the present embodiment, a so-called vertical articulated 6-axis robot having a plurality of arms is assumed as the robot 1. The robot 1 is installed on an installation surface 2 such as a floor surface, and is connected to a controller (not shown) which is a control device to execute various operations.

In the robot 1, the shoulder 1b is rotatably connected to the base 1a corresponding to the installation portion via a first axis having a vertical axis. The lower arm 1c is rotatably connected to the shoulder 1b via a second axis which is a rotation axis orthogonal to the first axis. A first upper arm 1d is rotatably connected to the lower arm 1c via a third axis, which is a rotation axis parallel to the second axis, on the tip end side of the lower arm 1c. On the tip end side of the first upper arm 1d, the second upper arm 1e is coaxially connected to the first upper arm 1d via a fourth axis, which is a rotation axis orthogonal to the third axis, so as to be rotatable and rotatable. ..

A wrist 1f is rotatably connected to the tip end side of the second upper arm 1e via a fifth axis which is a rotation axis orthogonal to the fourth axis. A flange 1g as a tip portion is coaxially connected to the wrist 1f via a sixth axis, which is a rotation axis orthogonal to the fifth axis, so as to be rotatable in a twisting manner. These first to sixth axes correspond to the joint axes of the robot 1.

As shown in FIG. 2, a fixing member 4 for fixing the protective jacket 3 to the robot 1 side is attached to the flange 1g in a rotatable state together with the flange 1g. The fixing member 4 is formed in a columnar shape and has a structure that can be attached to the flange 1g on one surface side and an end effector (not shown) can be attached to the surface side opposite to the flange 1g.

Further, a plurality of screw holes for fixing the protective jacket 3 are provided on the outer peripheral surface of the fixing member 4. The structure of the fixing member 4 shown in FIG. 2 is an example, and the end effector may have a cylindrical structure so that it can be directly attached to the flange 1g. Inside the protective jacket 3, a plurality of rings 10 which are support members are fixedly arranged. As a result, the tip portion of the protective jacket 3 has a shape that rises substantially vertically in the drawing from the portion fixed to the fixing member 4, and has a tip surface portion 3F corresponding to the upper bottom portion of the cylinder.

The protective jacket 3 is roughly divided into five parts and covers the entire robot 1. The portion that mainly covers the sixth axis to the fourth axis portion from the flange 1g side, which is the tip portion of the robot 1, is the tip portion 3a, and the portion that mainly covers the fourth axis to the second axis portion is the intermediate portion 3c. Further, the portion that mainly covers the second axis and the first axis portion is the base portion 3e. The inner diameters of the tip portion 3a and the intermediate portion 3c are the same, and the inner diameter of the base portion 3e is larger than those.

Further, the portion between the tip portion 3a and the intermediate portion 3c is a portion corresponding to the third axis, and this portion is connected by a first constriction portion 3b having an inner diameter smaller than those. Further, the intermediate portion 3c and the base portion 3e are portions corresponding to the second axis, and this portion is connected by a second constricted portion 3d having an inner diameter smaller than that of the intermediate portion 3c. Rings 10 are also arranged on the rear end side of the tip portion 3a and the tip end side of the intermediate portion 3c, and on the rear end side of the intermediate portion 3c and the tip end side of the base portion 3e, respectively. It is maintained in a substantially cylindrical shape. The ring 10B arranged on the tip end side of the base portion 3e has a larger diameter than the other rings 10. Further, in the base portion 3e, the end portion on the base 1a side is tightly fixed to, for example, the floor surface. In FIG. 1, for simplification of the description, the protective jacket 3 shows a cross section along the longitudinal direction. Further, FIG. 3 shows the outer shape of the protective jacket 3 as a model.

As the sheet-shaped member constituting the protective jacket 3, in the present embodiment, a material having water resistance and chemical resistance so that it can be washed with, for example, a hypochlorous acid-based cleaning liquid is adopted. However, the elasticity of the sheet-shaped member is very small, and it is difficult to expand and contract. Further, the sheet-shaped member is preferably made of a material having a strength that can withstand the robot 1 repeatedly performing the same work without being damaged, and is made of nylon having a thickness of, for example, about 0.5 mm. The ring 10 fixedly arranged inside the protective jacket 3 is also made of nylon.

The cylindrical protective jacket 3 has an inner diameter larger than the diameter of each arm, and the length in the longitudinal direction is an arm from the tip end portion to the installation portion of the robot 1 regardless of the posture of the robot 1. It is formed to be longer than the length along the surface.

The size of the protective jacket 3, particularly the inner diameter forming the space for accommodating the robot 1, can be appropriately designed according to the shape of the arm of the robot 1 and the like. Further, the tip portion 3a, the intermediate portion 3c, and the base portion 3e do not necessarily have the same inner diameter in the longitudinal direction, and are formed into a truncated cone shape having a slight taper as long as the operation of the arm is not hindered. Is also good.

Next, the reason why the tip portion 3a of the protective jacket 3 of the present embodiment has a cylindrical shape whose inner diameter is larger than the outer diameter of the arm tip portion will be described. As shown in FIG. 2, the tip portion 3a of the protective jacket 3 is fixed to the fixing member 4. At this time, the sheet-shaped member of the portion is fixed by, for example, a screw 4a by using a plurality of screw holes provided on the outer peripheral surface of the fixing member 4. Therefore, the sheet-shaped member is twisted in the circumferential direction when the wrist 1f of the sixth axis; the flange 1g is rotated. The tip portion 3a may be fixed to the fixing member 4 by using a hose band instead of the screw 4a.

At this time, if the shape of the tip portion is a truncated cone shape such that the tapered portion is immediately started from the proximal end portion fixed to the fixing member 4 as shown in FIG. 4, the proximal end portion is formed. In the vicinity, the angle of rotation becomes large, and the twisting of the protective jacket and seat member concentrates on the part where the circumference of the cross section is short.

On the other hand, as shown in FIG. 5, since the tip portion 3a has the tip surface portion 3F having a diameter larger than that of the fixing member 4, the range in which twisting occurs is widened, so that the tip portion 3a is not concentrated in one place. , The change in perimeter becomes smaller. This alleviates the damage to the protective jacket 3.

In addition, among the protective jackets for robots that have been proposed conventionally, the conventional bellows structure and the separate type described above are expensive, limit the movable range of the robot 1, and are inside the jacket. Foreign matter may enter or may be released from inside the jacket.

For example, in sites where cleanliness is required, such as in food factories, regular cleaning is generally performed every day, but in the bellows structure, many irregularities are formed on the surface, and in the separated structure, the joints are narrow and deep grooves. Since the shape is formed, there is a high possibility that unwiped residue or the like will occur, and there is a risk that foreign matter left unwiped or released or the cleaning liquid remains when the robot 1 operates.

Also, if the fabric is enlarged to secure the movable range of the robot 1, the part inside the joint will loosen greatly when the arm is rotated, so that the loosened part will turn up, that is, it will bend. If the portion moves so as to be separated from the surface of the protective jacket 3, there is a high possibility that the portion will come into contact with the work, which may limit the movable range of the robot 1.

Further, the tip of the robot 1 is often directed downward in order to grip the work, and in that case, the first upper arm 1d and the second upper arm 1e are directed diagonally downward, and the robot 1 Since the arm is often swiveled, the surface of the jacket is liable to be uneven, and foreign matter is liable to adhere or scatter.

For example, assuming that the shape of the protective jacket is a cylinder having the same inner diameter, as shown in FIG. 8, large dents and slacks are generated in the portions corresponding to the second axis and the third axis. FIG. 6 is a photograph of the periphery of the five axes in an actual robot, and a dent is generated in a portion surrounded by a broken line ellipse. As shown in the posture A shown in FIG. 8, a portion R having an excess length is generated in the protective jacket 3. The posture A is a posture in which the load applied to the joints is reduced by moving each arm straight upward, and is also referred to as a standby posture.

Although the surplus portion R has a structure necessary for securing the movable range of the robot 1, it becomes a portion Ra that hangs down due to its own weight as shown in postures B and C, and a portion Rb that causes a dent at the opposite position. Or become. That is, although the surplus portion R has a structure necessary for not limiting the rotation of the arm, it is a portion that may come into contact with the work or peripheral equipment if it hangs down, and the movable range of the robot 1 as a whole is reversed. It is also a part where there is a risk of limiting to and the adhesion of foreign matter.

On the other hand, the protective jacket 3 of the present embodiment is provided with constricted portions 3b and 3d. The second axis and the third axis of the 6-axis arm are joints that operate so as to bend in the vertical direction. Therefore, in the present embodiment, by providing the constricted portions 3b and 3d having a small inner diameter in the portions corresponding to the second axis and the third axis, as shown in FIGS. 1 and 7, the dents and 3Rb generated in the portions are formed. The slack is reduced by 3Ra to prevent foreign matter from adhering and staying as much as possible. In addition, when foreign matter adheres to it, it is difficult for it to pop out.

As described above, according to the present embodiment, the protective jacket 3 is composed of a tubular sheet-like member having one end fixed to the tip end side of the arm of the robot 1 and covering up to the installation portion side. The sheet-shaped member has a tip surface portion 3F having an inner diameter that extends in the outer peripheral direction from the base end portion fixed to the tip end portion side and has an inner diameter larger than the diameter of the tip portion. The inner diameter of the cylinder extending from the outer periphery of the tip surface portion 3F toward the installation portion is the tip surface portion 3F except for the portion corresponding to one or more joint portions that perform a vertical bending operation existing in the middle portion of the arm. The inner diameter was set to be equal to or larger than the inner diameter, and the inner diameter of the cylinder at the portion corresponding to the joint portion was smaller than the inner diameter of the tip surface portion 3F and larger than the outer diameter of the arm at the portion.

As a result, when the tip of the arm rotates beyond 180 °, the twist generated in the vicinity of the base end to which the sheet-shaped member is fixed can be dispersed toward the installation part, and the base end can be dispersed. It is possible to alleviate the situation where twists are concentrated in the vicinity.

Further, since the inner diameters of the constricted portions 3b and 3d, which are the portions corresponding to the joint portions of the sheet-shaped member, are smaller than the inner diameter of the tip surface portion and larger than the diameter of the arm in the portion, the joint portions are in the vertical direction. It is possible to reduce the slack of the sheet-shaped member generated in the relevant portion when the bending motion is performed. This makes it difficult for foreign matter to stay and adhere to the constricted portions 3b and 3d. In addition, even if foreign matter stays and adheres to the constricted parts 3b and 3d, the foreign matter that stays and adheres is scattered when the joint part changes from a bent state to an extended state and the slack is eliminated. It becomes difficult to do.

Then, for the robot 1 having a vertical 6-axis type arm, the constricted portions 3b and 3d were made to correspond to the positions of the second axis and the third axis, respectively. That is, since the portion of the sheet-shaped member most susceptible to expansion and contraction is the joint portion of the second axis and the third axis, the protective jacket 3 can be fitted to the vertical 6-axis type arm.

Further, since the inner diameter of the base portion 3e that the protective jacket 3 covers the installation portion side is made larger than the inner diameter of the tip surface portion 3F, the protective jacket 3 is shaped like a general articulated robot having a plurality of arms. By fitting it, it is possible to avoid unnecessarily increasing the inner diameter of the protective jacket 3.

(Second Embodiment)
FIG. 9 shows a second embodiment, showing a case where the protective jacket of the present invention is applied to a double-armed robot 11 that is close to a humanoid shape. The robot 11 includes a head 12, a body 13, a right arm 14R, and a left arm 14L. The right arm 14R and the left arm 14L extend from a portion corresponding to the shoulder in the body portion 13, and are vertical 6-axis arms similar to the robot 1 of the first embodiment, respectively.

The protective jacket 15 also includes a head portion 15a, a body portion 15b, a right arm portion 15R, and a left arm portion 15L corresponding to the above-mentioned portions of the robot 11. Then, these arm portions 15R and 15L have the tip surface portions 15RF and 15LF, the tip portions 15Ra and 15La, the first constricted portions 15Rb and 15Lb, the intermediate portions 15Rc and 15Lc, and the first, as in the protective jacket 3 of the first embodiment. 2 Constricted portions 15Rd and 15Ld, and base portions 15Re and 15Le are provided.
As described above, according to the second embodiment, the protective jacket 15 can be applied to the double-armed robot 11.

(Other embodiments)
The sheet-shaped member constituting the protective jacket 3 may be configured to use a single sheet, but it does not necessarily have to be a single sheet, and a plurality of sheets divided in the longitudinal direction and the circumferential direction are formed into a cylinder. It is also possible to form a structure in which the pieces are bonded or sewn together.
The constriction may be provided as needed.
A resin or metal ring may be used instead of the nylon ring 10.

Further, although it is simply referred to as a cylinder in the embodiment, the protective jacket 3 is not limited to a jacket having a circular cross section, and a jacket having a polygonal shape such as a quadrangle or an elliptical shape can be adopted. That is, the tubular shape referred to in the present specification includes an arbitrary shape that can cover the periphery of the robot 1. Therefore, the shape of the support member is not limited to the annular shape, and may be a polygonal shape or an elliptical shape.
It may be applied to a robot having an arm other than 6 axes.

In the drawing, 1 is a robot, 1a to 1f are arms, 3 is a protective jacket, 3a is a tip, 3b is a first constriction, 3c is an intermediate part, 3d is a second constriction, 3e is a base, and 3F is a tip. A face portion, 11 indicates a robot, and 15 indicates a protective jacket.

Claims (1)

A protective jacket for robots that can be attached to robots with multiple arms.
It has a sheet-like member that is formed in a cylindrical shape that covers from the tips of a plurality of arms to the installation portion , and one end thereof is fixed to the tip portion .
The sheet-shaped member extends in the outer peripheral direction from the base end portion fixed to the tip end portion to close the tip end portion of the tubular portion of the sheet-shaped member, and is larger than the outer diameter of the tip end portion of the arm. It has a disk-shaped tip surface portion having a diameter of
The inner diameter of the tubular portion of the sheet-like member at the portion corresponding to one or more joints that perform a vertical bending motion existing in the middle portion of the arm is smaller than the inner diameter of the tip portion , and the said. It is larger than the outer diameter of the arm at the site,
The robot has the plurality of arms forming a vertical 6-axis type, and the joints are the second axis and the third axis.
The inner diameter of the tubular portion of the sheet-shaped member extending from the outer periphery of the tip surface portion toward the installation portion is equal to or larger than the inner diameter of the tip portion except for the portion corresponding to the joint portion.
A protective jacket for a robot in which the inner diameter of the tubular portion of the sheet-shaped member covering the installation portion is set to be larger than the inner diameter of the tip portion .

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