CA1251243A - Electric robot for use in a hazardous location - Google Patents
Electric robot for use in a hazardous locationInfo
- Publication number
- CA1251243A CA1251243A CA000496086A CA496086A CA1251243A CA 1251243 A CA1251243 A CA 1251243A CA 000496086 A CA000496086 A CA 000496086A CA 496086 A CA496086 A CA 496086A CA 1251243 A CA1251243 A CA 1251243A
- Authority
- CA
- Canada
- Prior art keywords
- robot
- compartment
- arm assembly
- compartments
- electric motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
ELECTRIC ROBOT FOR USE IN A HAZARDOUS LOCATION
ABSTRACT
A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during opera-tion of the robot.
ABSTRACT
A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during opera-tion of the robot.
Description
~2~
EL~CTRIC ROBOT_FOR USE IN A ~AZARDOUS LOCATION_ TECHNICAL FIELD
This invention relates to electrically driven robots adapted for use in hazardous ambients and, in particular, electrically driven robots which can operate in an environment containing flammable gases or vapors.
BACKGROUND AR~
Many spray painting machines have been introduced to paint mass-produced items such as automotive bodies. Such paint spraying machines have typically been limited in their use in that they must be backed up by human operators, who must touch up areas missed by the machines. Such machines also tend to be wasteful of paint and are only designed to paint with horizontal and/or vertical paths on a reciprocator system. Coating an object fully, especially if it has complex contours, requires movements in depth as well as lateral movements. The use of a wrist is signif-icant in that it is often necessary for an operator to angle a paint spray gun in a particular manner to deposit paint on a heavily contoured surface.
Many of the prior art spray painting machines include a battery of spray guns fed from large capacity, centralized paint reservoirs which manage to paint a large percentage of the exterior surface to be covered. Less accessible areas, such as wheel arches, the interiors of the ~P
~251~
trunk or engine compartment and door edges had to be painted by operators who looked for unpainted areas as the car body left the automatic painter.
Numerous prior art patents disclose painting machines including electrical painting apparatus such as the U.S. Patent to Chapman
EL~CTRIC ROBOT_FOR USE IN A ~AZARDOUS LOCATION_ TECHNICAL FIELD
This invention relates to electrically driven robots adapted for use in hazardous ambients and, in particular, electrically driven robots which can operate in an environment containing flammable gases or vapors.
BACKGROUND AR~
Many spray painting machines have been introduced to paint mass-produced items such as automotive bodies. Such paint spraying machines have typically been limited in their use in that they must be backed up by human operators, who must touch up areas missed by the machines. Such machines also tend to be wasteful of paint and are only designed to paint with horizontal and/or vertical paths on a reciprocator system. Coating an object fully, especially if it has complex contours, requires movements in depth as well as lateral movements. The use of a wrist is signif-icant in that it is often necessary for an operator to angle a paint spray gun in a particular manner to deposit paint on a heavily contoured surface.
Many of the prior art spray painting machines include a battery of spray guns fed from large capacity, centralized paint reservoirs which manage to paint a large percentage of the exterior surface to be covered. Less accessible areas, such as wheel arches, the interiors of the ~P
~251~
trunk or engine compartment and door edges had to be painted by operators who looked for unpainted areas as the car body left the automatic painter.
Numerous prior art patents disclose painting machines including electrical painting apparatus such as the U.S. Patent to Chapman
2,858,947; the U.S. Patent to Shelley et al
3,007,097; the U.S. Patent to Pierson et al 3,481,499; the U.S. Patent to Richter 4,030,617;
10 the U.S. Patent to Yoshio 4,113,115; the U.S.
Patent to Burns et al 4,196,049; the U.S. Patents to Shum 4,398,863 and 4,407,625; the U.S. Patent to Jacot-Descombes et al 4,424,472 and the U.S.
Patent to Gorman 4,424,473. The U.S. Patents to 15 Pollard 2,213,108 and 2,286,571 both disclose electrical robots for paint spraying. The U.S.
Patent to Stricker 4,170,751 likewise discloses an electric apparatus associated with paint spraying robots.
There are many reasons for using spray-ing robots to provide high-quality painted finishes on a mass-produced item. Robots are desirable in that they are able to cope with the hostile painting environment; they allow the painting process to proceed with less total energy being expended; and they improve paint quality which, in turn, will eventually result in reduced material and labor costs. The above advantages are particularly important in painting car bodies where production rates are expected to be high, and there is a relatively small amount of time available for the paint to be applied and completed in not one, but several coats.
A spraying robot can also be used in the enameling and/or powdering of surfaces. For example, application of vitreous enamel to plastic bathtubs utilizes many of the same spray techniques as used in the application of paint to an automotive body.
Robots which have been used for spray painting comprise continuous path machines which emulate the action of a human operator. Such robots are typically taught by having an expert painter lead each robot in its learning mode through an actual paint job.
The average spray booth in the automo-tive industry has been standardized to have a relatively small width. This small width re-stricts the size and movements of any robot which is to be used in such a spray booth. Redesigning the existing spray booth is cost prohibitive.
Because of the limited size available for a robot in a conventional paint spray booth, the use of a robot having electrical drives is, at first blush, desirable due to the cost advan-tage that small electrical robots enjoy oversmall hydraulically-driven robots. Such costs not only include the cost of the robot, but also installation, maintenance and other operational expenses. However, in paint spraying and other similar applications the environment favors the use of hydraulically or pneumatically driven equipment. Such environment presents an explosion hazard to electrical motors and the electrical robot must either be explosion proof or intrinsically safe so as not to ignite the combustible environment. A hydraulically-driven robot does not utilize the amount of electrical energy typically sufficient to ignite the explo-sive fuel-air mixture.
Electrical equipment which is to be located in areas classified as "hazardous" (i.e.
a Class 1, Division 1 location) by Article 500 of NFPA 70, Natural Electrical Code, either must be placed in pressurized containers or must be made explosion proof. If this is done the area immediately around the electrical equipment is no longer classified as a Class 1, Division location, but rather a Class 1, Division 2 location wherein only the location adjacent the enclosure or explosion proof container contains the ignitable concentration of flammable gases or vapors under normal operating conditions. The pressurization of the enclosure entails supplying the enclosure with clean air or an inert gas with or without continuous flow at sufficient pressure to prevent the entrance of combustible gases or vapors which might occasionally be communicated into the enclosure. If the enclosure is maintained under a positive pressure of at least pascals (0.1 inches of water~ when the electric equipment is energized, the risk of an explosion in the "hazardous" environment is substantially eliminated.
One way of complying with the above standard is to make the containers for the equipment, such as motors, explosion-proof.
However, the use of explosion-proof motors not only increases the cost of the motorsl but also increases the weight and size of the robot.
Also, the use of explosion-proof motors necessitates the use of explosion-proof cables.
Such cables not only are more costly and heavier, but also are more inflexible and unwieldly. Such explosion-proof motors and cables also take up valuable space in or on the robot and, consequently, in the paint spray booth.
DISCLOSURE OF THE INVENTION
An object of the present invention is to provide an improved electrically driven robot adapted for use in a hazardous environment.
Another object of the present invention is to provide a relatively compact robot adapted for use in a hazardous environment and which includes a pair of pressurized compartments for housing electric motors therein.
Yet still another object of the present invention is to provide a relatively compact and inexpensive electrically driven robot adapted for use in hazardous environments, including a base, an arm assembly and first and second drive systems including first and second electric motors, respectively, and wherein at least one electric motor is located in a first pressurized compartment located in the base and at least one electric motor is located in a second pressurized compartment located in the arm assembly.
In carrying out the above objects and other objects of the present invention an elec-trically driven robot constructed in accordancewith the present invention includes a base having a first pressurized compartment contained there-in, and an arm assembly having a second pres-suri~ed compartment contained therein. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting its opposite end with a fluid delivery tool. The robot also includes first and second drive systems. The first drive system includes at least one electric motor located in the first pressuri~ed compart-ment to drive the arm assembly. The second drive system includes at least one electric motor located in the second pressurized compartment to drive the wrist.
Preferably, the electric motors comprise brushless servo motors commonly known as brushless D.C. motors or AC servo motors.
Also, preferably, the robot includes cables which are housed in a pressurized conduit attached to the outer surface of the base. The cables are electrically coupled to the electric motors and adapted to be coupled to a robot controller. The conduit is in fluid communication with first and second pressurized compartments.
Consequently, the cables may comprise regular duty cahles rather than heavy duty, explosion-proof cables.
Pressurizing means includes a pressure regulator that provides a positive pressure in 5 the first and second compartments and also, pref-erably, in the conduit.
An electric spraying robot constructed in this fashion is not only relatively small and lightweight, but also less costly than comparable 10 hydraulically-driven robots. The electric spraying robot also includes regular duty cables and does not necessitate the use of heavy duty, explosion-proof cables and their attendant disadvantages. The use of a pair of pressurized 15 compartments, one of which is located in the arm assembly, minimizes the amount of gearing or other mechanisms required therein to transfer the rotary motion of the drive motors to a wrist mechanism mounted on the free end of the arm 20 assembly.
Other advantages of the present in-vention will be readily appreciated as the same becomes better understood by reference to the following detailed description when considered in 25 connection with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a perspective view of an electric spraying robot constructed in accordance with the present invention;
FIGURE 2 is a side elevational view of a lower base section of the robot of FIGURE 1;
~ ~51~,3 FIG~RE 3 is a broken-away, side elevational view of the lower section of FIGURF 2 illustrating various components contained there-in;
FIGURE 4 is a side elevational view of the various cables of the robot whereln the outer housing struc~ure of the robot is indicated by phantom lines;
FIGURE 5 is an enlarged view of a portion of FIGURE 4 illustrating the sealing mechanism between the upper and lower sections of the base;
FIGURE 6 is a top plan view of the cables of FIGURE 4 wherein the various other components of the robot are illustrated in phantom; and FIGURE 7 is a broken-away, top plan view of an inner arm of the robot.
BEST MODE FOR CARRYING OUT THE INVENTION
Referring now to FIGURE 1 there is illustrated a paint spray robot constructed in accordance with the present invention and collec-tively indicated by reference numeral 10. The spray robot 10 includes a base, generally in-25 dicated at 12 having an upper base section 14 and a lower base section i6. The upper base section 14 is rotatable with respect to the stationary lower base section 16. The robot 10 also in-cludes an arm assembly, generally indicated at 30 18, including an inner arm 20 pivotally connected to the upper base section 14 at one end thereof P-307 _9_ and to an outer arm 22 at its opposite end thereof. A wrist or wrist mechanism 24 is connected at the free end of the outer arm 22 and preferably comprises a three-axis wrist mecha-nism. The wrist mechanism 24 is adapted to holda spraying tool, such as a paint spray gun at its free end thereof.
As described in greater detail hereinaf-ter, the robot 10 includes an air system for pressurizing the base 12 and the arm assembly 18 so that non-sparking electric motors can be located within pressurized compartments located therein without requiring the use of explo-sion-proof electric motors. Also, because the electric motors for driving the wrist mechanism 24 are located in the arm assembly 18, and not the base 12, the amount of gearing required to interconnect the electric motors with the wrist mechanism 24 is substantially reduced. It is obvious that the second pressurized compartment can be located within the inner arm 20 as described herein, or within the outer arm 22 if desired.
As illustrated in FIGURE 1, the robot 10 is adapted for use in a hazardous ambient or environment such as within a paint spray booth, a wall of which is illustrated at 26. The lower base section 16 is adjustably mounted on the floor 29 of the paint spray booth by leveling jack assemblies 31 located at each lower corner of the lower base section 16, as best shown in FIGURE 2.
l.Z5~ ~3 The area within the paint spray booth is an area where flammable gases or vapors may be present in the air in concentrations sufficient for the location to be classified as haz~rdous as defined by Article 500 of the NFPA 70, National Electrical Code. Such an environment may present an explosion or fire hazard arising from the highly flammable nature of the explosive solvent-air mixture contained therewithin.
Power and control signals for the robot lO are carried by cables (not shown~ which extend from a robot controller 28 located outside the paint spray booth. A pressurized conduit 30 houses the cables and is attached to the lower base section 16. The lower base section 16 is adapted to be connected to the pressurized conduit 30 by an adaptor plate 34 which, in turn, is mounted by bolts 32 on the front housing plate 36 of the lower base section 16. The cables contained in the conduit 30 extend through a passage 38 extending through the front wall 36 and are electrically connected or coupled to a terminal strip 40, as indicated in FIGURE 4.
The adaptor plate 34 al~o includes an 25 air inlet passage 42 which is in fluid communica-tion with an air inlet tube 44, which also extends through the wall 26 of the paint spray booth to permit relatively clean air or inert gas to flow into the lower base section 16 from the 30 ambient about the paint spray booth.
After flowing through the air inlet passage 42 the air flows through a tube 46 which is in fluid communication with an air pressure regulator 48. The regulator 48 is mounted to an inner w~ll 50 of the lower base section 46. The inner wall 50 defines an inner compartment 59 in the lower base section 16.
The pressure regulator 48 maintains the air pressure within a first compartment 52 within the lower base section 16 between predetermined limits. Also included within the first compartment 52 is a low pressure switch 54 which indicates a pressure within the first compartment 52 which is below the pressure that the pressure regulator 48 is designed to maintain. The pressure switch 54 is connected by means of a tube 56 to the non-pres-surized compartment 59 at a connector 58 as an access to a reference atmospheric pressure level.
The pressure switch 54 is also connected by a cable (not shown) to provide an alarm signal to the robot controller 28 to indicate that the robot 10 should be shut down due to the low pressure in the first compartment 52.
A pair of umbrella vents 60 are also provided between the first compartment 52 and the inner compartment 59 at the inner wall 50 to relieve any excess pressure generated by the pressure regulator 48 above a maximum predetermined limit.
The umbrella vent 60 communicates the excess pressure from the first compartment 52 to the inner compartment 59.
The first compartment 52 is in fluid communication with a second compartment 62 formed ~2~ 3 in the upper base section 14 through an opening 64 formed in the top wall of the lower base section 16. The opening 64 is aligned with an opening 66 formed in a drive plate 68 disposed 5 between the upper and lower base sections 14 and 16, respectively. In turn, the opening 66 is aligned with an opening 76, formed in a collar member 72 which is bolted to the drive plate 68 by mounting bolts 74 as shown in FIGURE 5. A
circular seal 78 is provided between the collar member 72 and the lower wall of the upper base section 14 to seal the compartment 62 during relative rotation between the collar member 72 and its attached plate 68 and the upper base section 14.
A directing means or mechanism, general-ly indicated at 80, is fixedly mounted to the collar member 72 and supports a plurality of regular duty cables 82 which are electrically 20 connected in the lower compartment 52 to the terminal strip 40. As shown in FIGURES 4 through 6, the cables 82 are relatively flexible to permit the cables 82 to be formed into a ribbon which, in turn, is bent along a relatively small 25 radius of curvature. The cables are also flexible enough to permit flexing of the ribbon during relative rotation between the collar member 72 and its associated directing mechanism 80 and the upper base section 14.
Each cable 82 includes three smaller cables 84 contained therein. Two of the smaller cables 84 are provided for each electric drive 'Z~3 P-307 -13- 7l087-75 motor 86 of an electric drive system mounted within the upper compartment 62. One of the smaller cables 84 provides the power signals and the other small cable provides the control signals. Three drive motors 86 are located in the upper compartment 62, one of each axis of rotation of the arm assembly 18.
Each drive motor preferably comprises a non-sparking brushless servo motor, commonly known as A.C. servo motor or brushless D.C. motor.
Two of the cables 82 are routed and clamped to extend into a third pressurized compart-ment 88 contained in the inner arm 20, as best shown in FIGURES 6 and 7. The cables extend from the third pressurized compartment 88 through an opening 90 formed in the outer wall of the upper base section 14. The cables 82 are electrically connected to their respective electric motors 94 which are mounted within the third compartment 88.
Additional details of the specific construction and operation of the ribbon of cables 82 are given in U.S. Patent No. 4,659,279 issued April 21, 1987 and entitled nRobot With Improved Cable Routing and Clamping~, having the same Assignee.
Drive shafts 96 of the motors 94 e~tend through inner walls 98 which define the pressurized compartment 88 and are in driving 1.~5~
engagement with their respective timing belts 100. Each timing belt 100 in turn, is operatively connected to its respective gear mechanism for driving a separate axis of the three-axis wrist mechanism 24 through hollow concentric drive tubes.
A number of purging vents (not shown~
are also provided in the inner walls defining the compartments 52, 62 and 88 so that each of the compartments can be provided with clean air or an inert gas at sufficient flow and pressure to reduce to an acceptably safe level the concen-tration of any flammable gas or vapor which may have contaminated any or all of the compartments.
The pressure regulator 48 includes a manual bypass to allow this purging process when desired.
Also, appropriate seals may be provided between the various moving and non-moving parts of the robot so that the positive pressure within the compartments 52, 62 and 88 can be maintained, without an excess of air flow.
The above construction allows the use of a relatively small and inexpensive electric robot in a hazardous environment such as can be found in a conventional paint spray booth. The pres-surized compartments 52, 62 and 88 which either are in fluid communication with each other, or are individually pressurized, prevent flammable 30 gases or vapors from entering into the compartments which house electrical equipment including the electric drive motors.
By providing the pressurized compartment 88 in the arm assembly 18, the amount of inter-connecting gearing to drive the various axes of the wrist mechanism 24 is substantially reduced.
5 Also, the use of non-sparking electric motors in the various pressurized compartments eliminates the need for re]atively heavy and costly explo-sion-proof motors either within the robot 10 or attached on the exterior surface thereof. A
further benefit of using the non-sparking elec-tric motors within the pressurized compartments is that the cables providing the power and control signals to the electric motors may com-prise regular duty cables and not heavy-duty 15 explosion-proof cables which are not only more costly, but also are relatively inflexible compared to regular duty cables.
The invention has been described in an illustrative manner and it is to be understood that the terminology which has been used is intended to be in the nature of words of descrip-tion rather than of limitation.
Obviously, many modifications and variations of the present invention are possible 25 in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described.
10 the U.S. Patent to Yoshio 4,113,115; the U.S.
Patent to Burns et al 4,196,049; the U.S. Patents to Shum 4,398,863 and 4,407,625; the U.S. Patent to Jacot-Descombes et al 4,424,472 and the U.S.
Patent to Gorman 4,424,473. The U.S. Patents to 15 Pollard 2,213,108 and 2,286,571 both disclose electrical robots for paint spraying. The U.S.
Patent to Stricker 4,170,751 likewise discloses an electric apparatus associated with paint spraying robots.
There are many reasons for using spray-ing robots to provide high-quality painted finishes on a mass-produced item. Robots are desirable in that they are able to cope with the hostile painting environment; they allow the painting process to proceed with less total energy being expended; and they improve paint quality which, in turn, will eventually result in reduced material and labor costs. The above advantages are particularly important in painting car bodies where production rates are expected to be high, and there is a relatively small amount of time available for the paint to be applied and completed in not one, but several coats.
A spraying robot can also be used in the enameling and/or powdering of surfaces. For example, application of vitreous enamel to plastic bathtubs utilizes many of the same spray techniques as used in the application of paint to an automotive body.
Robots which have been used for spray painting comprise continuous path machines which emulate the action of a human operator. Such robots are typically taught by having an expert painter lead each robot in its learning mode through an actual paint job.
The average spray booth in the automo-tive industry has been standardized to have a relatively small width. This small width re-stricts the size and movements of any robot which is to be used in such a spray booth. Redesigning the existing spray booth is cost prohibitive.
Because of the limited size available for a robot in a conventional paint spray booth, the use of a robot having electrical drives is, at first blush, desirable due to the cost advan-tage that small electrical robots enjoy oversmall hydraulically-driven robots. Such costs not only include the cost of the robot, but also installation, maintenance and other operational expenses. However, in paint spraying and other similar applications the environment favors the use of hydraulically or pneumatically driven equipment. Such environment presents an explosion hazard to electrical motors and the electrical robot must either be explosion proof or intrinsically safe so as not to ignite the combustible environment. A hydraulically-driven robot does not utilize the amount of electrical energy typically sufficient to ignite the explo-sive fuel-air mixture.
Electrical equipment which is to be located in areas classified as "hazardous" (i.e.
a Class 1, Division 1 location) by Article 500 of NFPA 70, Natural Electrical Code, either must be placed in pressurized containers or must be made explosion proof. If this is done the area immediately around the electrical equipment is no longer classified as a Class 1, Division location, but rather a Class 1, Division 2 location wherein only the location adjacent the enclosure or explosion proof container contains the ignitable concentration of flammable gases or vapors under normal operating conditions. The pressurization of the enclosure entails supplying the enclosure with clean air or an inert gas with or without continuous flow at sufficient pressure to prevent the entrance of combustible gases or vapors which might occasionally be communicated into the enclosure. If the enclosure is maintained under a positive pressure of at least pascals (0.1 inches of water~ when the electric equipment is energized, the risk of an explosion in the "hazardous" environment is substantially eliminated.
One way of complying with the above standard is to make the containers for the equipment, such as motors, explosion-proof.
However, the use of explosion-proof motors not only increases the cost of the motorsl but also increases the weight and size of the robot.
Also, the use of explosion-proof motors necessitates the use of explosion-proof cables.
Such cables not only are more costly and heavier, but also are more inflexible and unwieldly. Such explosion-proof motors and cables also take up valuable space in or on the robot and, consequently, in the paint spray booth.
DISCLOSURE OF THE INVENTION
An object of the present invention is to provide an improved electrically driven robot adapted for use in a hazardous environment.
Another object of the present invention is to provide a relatively compact robot adapted for use in a hazardous environment and which includes a pair of pressurized compartments for housing electric motors therein.
Yet still another object of the present invention is to provide a relatively compact and inexpensive electrically driven robot adapted for use in hazardous environments, including a base, an arm assembly and first and second drive systems including first and second electric motors, respectively, and wherein at least one electric motor is located in a first pressurized compartment located in the base and at least one electric motor is located in a second pressurized compartment located in the arm assembly.
In carrying out the above objects and other objects of the present invention an elec-trically driven robot constructed in accordancewith the present invention includes a base having a first pressurized compartment contained there-in, and an arm assembly having a second pres-suri~ed compartment contained therein. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting its opposite end with a fluid delivery tool. The robot also includes first and second drive systems. The first drive system includes at least one electric motor located in the first pressuri~ed compart-ment to drive the arm assembly. The second drive system includes at least one electric motor located in the second pressurized compartment to drive the wrist.
Preferably, the electric motors comprise brushless servo motors commonly known as brushless D.C. motors or AC servo motors.
Also, preferably, the robot includes cables which are housed in a pressurized conduit attached to the outer surface of the base. The cables are electrically coupled to the electric motors and adapted to be coupled to a robot controller. The conduit is in fluid communication with first and second pressurized compartments.
Consequently, the cables may comprise regular duty cahles rather than heavy duty, explosion-proof cables.
Pressurizing means includes a pressure regulator that provides a positive pressure in 5 the first and second compartments and also, pref-erably, in the conduit.
An electric spraying robot constructed in this fashion is not only relatively small and lightweight, but also less costly than comparable 10 hydraulically-driven robots. The electric spraying robot also includes regular duty cables and does not necessitate the use of heavy duty, explosion-proof cables and their attendant disadvantages. The use of a pair of pressurized 15 compartments, one of which is located in the arm assembly, minimizes the amount of gearing or other mechanisms required therein to transfer the rotary motion of the drive motors to a wrist mechanism mounted on the free end of the arm 20 assembly.
Other advantages of the present in-vention will be readily appreciated as the same becomes better understood by reference to the following detailed description when considered in 25 connection with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a perspective view of an electric spraying robot constructed in accordance with the present invention;
FIGURE 2 is a side elevational view of a lower base section of the robot of FIGURE 1;
~ ~51~,3 FIG~RE 3 is a broken-away, side elevational view of the lower section of FIGURF 2 illustrating various components contained there-in;
FIGURE 4 is a side elevational view of the various cables of the robot whereln the outer housing struc~ure of the robot is indicated by phantom lines;
FIGURE 5 is an enlarged view of a portion of FIGURE 4 illustrating the sealing mechanism between the upper and lower sections of the base;
FIGURE 6 is a top plan view of the cables of FIGURE 4 wherein the various other components of the robot are illustrated in phantom; and FIGURE 7 is a broken-away, top plan view of an inner arm of the robot.
BEST MODE FOR CARRYING OUT THE INVENTION
Referring now to FIGURE 1 there is illustrated a paint spray robot constructed in accordance with the present invention and collec-tively indicated by reference numeral 10. The spray robot 10 includes a base, generally in-25 dicated at 12 having an upper base section 14 and a lower base section i6. The upper base section 14 is rotatable with respect to the stationary lower base section 16. The robot 10 also in-cludes an arm assembly, generally indicated at 30 18, including an inner arm 20 pivotally connected to the upper base section 14 at one end thereof P-307 _9_ and to an outer arm 22 at its opposite end thereof. A wrist or wrist mechanism 24 is connected at the free end of the outer arm 22 and preferably comprises a three-axis wrist mecha-nism. The wrist mechanism 24 is adapted to holda spraying tool, such as a paint spray gun at its free end thereof.
As described in greater detail hereinaf-ter, the robot 10 includes an air system for pressurizing the base 12 and the arm assembly 18 so that non-sparking electric motors can be located within pressurized compartments located therein without requiring the use of explo-sion-proof electric motors. Also, because the electric motors for driving the wrist mechanism 24 are located in the arm assembly 18, and not the base 12, the amount of gearing required to interconnect the electric motors with the wrist mechanism 24 is substantially reduced. It is obvious that the second pressurized compartment can be located within the inner arm 20 as described herein, or within the outer arm 22 if desired.
As illustrated in FIGURE 1, the robot 10 is adapted for use in a hazardous ambient or environment such as within a paint spray booth, a wall of which is illustrated at 26. The lower base section 16 is adjustably mounted on the floor 29 of the paint spray booth by leveling jack assemblies 31 located at each lower corner of the lower base section 16, as best shown in FIGURE 2.
l.Z5~ ~3 The area within the paint spray booth is an area where flammable gases or vapors may be present in the air in concentrations sufficient for the location to be classified as haz~rdous as defined by Article 500 of the NFPA 70, National Electrical Code. Such an environment may present an explosion or fire hazard arising from the highly flammable nature of the explosive solvent-air mixture contained therewithin.
Power and control signals for the robot lO are carried by cables (not shown~ which extend from a robot controller 28 located outside the paint spray booth. A pressurized conduit 30 houses the cables and is attached to the lower base section 16. The lower base section 16 is adapted to be connected to the pressurized conduit 30 by an adaptor plate 34 which, in turn, is mounted by bolts 32 on the front housing plate 36 of the lower base section 16. The cables contained in the conduit 30 extend through a passage 38 extending through the front wall 36 and are electrically connected or coupled to a terminal strip 40, as indicated in FIGURE 4.
The adaptor plate 34 al~o includes an 25 air inlet passage 42 which is in fluid communica-tion with an air inlet tube 44, which also extends through the wall 26 of the paint spray booth to permit relatively clean air or inert gas to flow into the lower base section 16 from the 30 ambient about the paint spray booth.
After flowing through the air inlet passage 42 the air flows through a tube 46 which is in fluid communication with an air pressure regulator 48. The regulator 48 is mounted to an inner w~ll 50 of the lower base section 46. The inner wall 50 defines an inner compartment 59 in the lower base section 16.
The pressure regulator 48 maintains the air pressure within a first compartment 52 within the lower base section 16 between predetermined limits. Also included within the first compartment 52 is a low pressure switch 54 which indicates a pressure within the first compartment 52 which is below the pressure that the pressure regulator 48 is designed to maintain. The pressure switch 54 is connected by means of a tube 56 to the non-pres-surized compartment 59 at a connector 58 as an access to a reference atmospheric pressure level.
The pressure switch 54 is also connected by a cable (not shown) to provide an alarm signal to the robot controller 28 to indicate that the robot 10 should be shut down due to the low pressure in the first compartment 52.
A pair of umbrella vents 60 are also provided between the first compartment 52 and the inner compartment 59 at the inner wall 50 to relieve any excess pressure generated by the pressure regulator 48 above a maximum predetermined limit.
The umbrella vent 60 communicates the excess pressure from the first compartment 52 to the inner compartment 59.
The first compartment 52 is in fluid communication with a second compartment 62 formed ~2~ 3 in the upper base section 14 through an opening 64 formed in the top wall of the lower base section 16. The opening 64 is aligned with an opening 66 formed in a drive plate 68 disposed 5 between the upper and lower base sections 14 and 16, respectively. In turn, the opening 66 is aligned with an opening 76, formed in a collar member 72 which is bolted to the drive plate 68 by mounting bolts 74 as shown in FIGURE 5. A
circular seal 78 is provided between the collar member 72 and the lower wall of the upper base section 14 to seal the compartment 62 during relative rotation between the collar member 72 and its attached plate 68 and the upper base section 14.
A directing means or mechanism, general-ly indicated at 80, is fixedly mounted to the collar member 72 and supports a plurality of regular duty cables 82 which are electrically 20 connected in the lower compartment 52 to the terminal strip 40. As shown in FIGURES 4 through 6, the cables 82 are relatively flexible to permit the cables 82 to be formed into a ribbon which, in turn, is bent along a relatively small 25 radius of curvature. The cables are also flexible enough to permit flexing of the ribbon during relative rotation between the collar member 72 and its associated directing mechanism 80 and the upper base section 14.
Each cable 82 includes three smaller cables 84 contained therein. Two of the smaller cables 84 are provided for each electric drive 'Z~3 P-307 -13- 7l087-75 motor 86 of an electric drive system mounted within the upper compartment 62. One of the smaller cables 84 provides the power signals and the other small cable provides the control signals. Three drive motors 86 are located in the upper compartment 62, one of each axis of rotation of the arm assembly 18.
Each drive motor preferably comprises a non-sparking brushless servo motor, commonly known as A.C. servo motor or brushless D.C. motor.
Two of the cables 82 are routed and clamped to extend into a third pressurized compart-ment 88 contained in the inner arm 20, as best shown in FIGURES 6 and 7. The cables extend from the third pressurized compartment 88 through an opening 90 formed in the outer wall of the upper base section 14. The cables 82 are electrically connected to their respective electric motors 94 which are mounted within the third compartment 88.
Additional details of the specific construction and operation of the ribbon of cables 82 are given in U.S. Patent No. 4,659,279 issued April 21, 1987 and entitled nRobot With Improved Cable Routing and Clamping~, having the same Assignee.
Drive shafts 96 of the motors 94 e~tend through inner walls 98 which define the pressurized compartment 88 and are in driving 1.~5~
engagement with their respective timing belts 100. Each timing belt 100 in turn, is operatively connected to its respective gear mechanism for driving a separate axis of the three-axis wrist mechanism 24 through hollow concentric drive tubes.
A number of purging vents (not shown~
are also provided in the inner walls defining the compartments 52, 62 and 88 so that each of the compartments can be provided with clean air or an inert gas at sufficient flow and pressure to reduce to an acceptably safe level the concen-tration of any flammable gas or vapor which may have contaminated any or all of the compartments.
The pressure regulator 48 includes a manual bypass to allow this purging process when desired.
Also, appropriate seals may be provided between the various moving and non-moving parts of the robot so that the positive pressure within the compartments 52, 62 and 88 can be maintained, without an excess of air flow.
The above construction allows the use of a relatively small and inexpensive electric robot in a hazardous environment such as can be found in a conventional paint spray booth. The pres-surized compartments 52, 62 and 88 which either are in fluid communication with each other, or are individually pressurized, prevent flammable 30 gases or vapors from entering into the compartments which house electrical equipment including the electric drive motors.
By providing the pressurized compartment 88 in the arm assembly 18, the amount of inter-connecting gearing to drive the various axes of the wrist mechanism 24 is substantially reduced.
5 Also, the use of non-sparking electric motors in the various pressurized compartments eliminates the need for re]atively heavy and costly explo-sion-proof motors either within the robot 10 or attached on the exterior surface thereof. A
further benefit of using the non-sparking elec-tric motors within the pressurized compartments is that the cables providing the power and control signals to the electric motors may com-prise regular duty cables and not heavy-duty 15 explosion-proof cables which are not only more costly, but also are relatively inflexible compared to regular duty cables.
The invention has been described in an illustrative manner and it is to be understood that the terminology which has been used is intended to be in the nature of words of descrip-tion rather than of limitation.
Obviously, many modifications and variations of the present invention are possible 25 in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described.
Claims (33)
1. An electrically driven robot adapted for use in a hazardous ambient comprising:
a base having a first compartment contained therein pressurized to a first positive pressure;
an arm assembly having a second compart-ment contained therein pressurized to a second positive pressure, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor located in said first pres-surized compartment to drive the arm assembly;
and a second drive system including at least one electric motor located in said second pres-surized compartment to drive the wrist wherein the positive pressures prevent flammable gases or vapors from entering said first and second compartments upon fluid communication of the compartments to the hazardous ambient.
a base having a first compartment contained therein pressurized to a first positive pressure;
an arm assembly having a second compart-ment contained therein pressurized to a second positive pressure, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor located in said first pres-surized compartment to drive the arm assembly;
and a second drive system including at least one electric motor located in said second pres-surized compartment to drive the wrist wherein the positive pressures prevent flammable gases or vapors from entering said first and second compartments upon fluid communication of the compartments to the hazardous ambient.
2. An electrically driven robot comprising:
a base having a first pressurized compartment contained therein;
an arm assembly having a second pres-surized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one non-sparking electric motor located in said first pressurized compartment to drive the arm assembly; and a second drive system including at least one non-sparking electric motor located in said second pressurized compartment to drive the wrist.
a base having a first pressurized compartment contained therein;
an arm assembly having a second pres-surized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one non-sparking electric motor located in said first pressurized compartment to drive the arm assembly; and a second drive system including at least one non-sparking electric motor located in said second pressurized compartment to drive the wrist.
3. The robot as claimed in claim 1 or claim 2 wherein at least one of said electric motors comprises a brushless D.C. motor.
4. The robot as claimed in claim 1 or claim 2 wherein at least one of said electric motors comprises an A.C. servo motor.
5. An electrically driven robot comprising:
a base having a first pressurized compartment contained therein;
an arm assembly having a second pres-surized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor and at least one electrically connected cable, said motor being located in said first pressurized compartment to drive the arm assembly; and a second drive system including at least one electric motor and at least one electrically connected cable, said motor of said second drive system being located in said second pressurized compartment to drive the wrist.
a base having a first pressurized compartment contained therein;
an arm assembly having a second pres-surized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor and at least one electrically connected cable, said motor being located in said first pressurized compartment to drive the arm assembly; and a second drive system including at least one electric motor and at least one electrically connected cable, said motor of said second drive system being located in said second pressurized compartment to drive the wrist.
6. The robot as claimed in claim 5 including a pressurized conduit attached to the outer surface of said base and in fluid communication with said first pressurized compartment for protecting said cables therewithin.
7. The robot as claimed in claim 5 or claim 6 wherein each of said cables comprises a regular duty cable.
8. The robot as claimed in claim 5 wherein each of said motors includes a drive shaft and wherein at least one of said drive shafts extends outside of its respective pressurized compartment.
9. The robot as claimed in claim 8 including at least one drive belt operatively connected to its respective drive shaft outside its respective pressurized compartment.
10. An electrically driven robot comprising:
a base having a first pressurized compartment contained therein;
an arm assembly having a second pressurized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor located in said first pressurized compartment to drive the arm assembly;
a second drive system including at least one electric motor located in said second pressurized compartment to drive the wrist.
a base having a first pressurized compartment contained therein;
an arm assembly having a second pressurized compartment contained therein, said arm assembly being supported for movement on said base at one end thereof, said arm assembly including a wrist adapted for connecting the opposite end of the arm assembly with a fluid delivery tool;
a first drive system including at least one electric motor located in said first pressurized compartment to drive the arm assembly;
a second drive system including at least one electric motor located in said second pressurized compartment to drive the wrist.
11. The robot as claimed in claim 10 including pressurizing means for pressurizing said first and second compartments above the ambient pressure.
12. The robot as claimed in claim 11 wherein said pressurizing means includes a pressure regulator for regulating the pressure in at least one of the compartments.
13. The robot as claimed in claim 11 wherein said first and second compartment are in fluid communication and wherein said pressurizing means pressurizes said first and second compartments to a predetermined pressure above the ambient pressure.
14. The robot as claimed in claim 13 wherein said predetermined pressure comprises a positive pressure of at least 25 pascals.
15. The robot as claimed in claim 11 including venting means for relieving excess pressure in said compartments.
16. The robot as claimed in claim 11 including a pressure sensing device for sensing pressure in said compartment and providing a signal when the pressure falls below a predetermined level.
17. The robot as claimed in claim 16 wherein said device comprises a pressure switch and wherein said switch is adapted to be coupled to a controller of the robot to provide said signal
18. An improved electrically driven robot adapted for use in a hazardous environment, the robot including a base forming a first compartment therein; an arm assembly supported for movement on said base and forming a second compartment therein;
a first drive system including at least one electric motor encased in one of the first and second compartments to drive the arm assembly; a wrist mechanism supported for movement on said arm assembly, the wrist mechanism having a first end connected to the arm assembly and a second end adapted to support a tool; a second drive system including at least one electric motor encased in one of the first and second compartments to drive the wrist mechanism; wherein the improvement comprises:
maintaining means for automatically maintain-ing a positive pressure within an acceptable range above atmospheric pressure in each of the first and second compartments having an electric motor encased therein, wherein each of the first and second compartments having an electric motor encased therein is airtight and wherein the positive pressure prevents flammable gases or vapors from entering each airtight compartment.
a first drive system including at least one electric motor encased in one of the first and second compartments to drive the arm assembly; a wrist mechanism supported for movement on said arm assembly, the wrist mechanism having a first end connected to the arm assembly and a second end adapted to support a tool; a second drive system including at least one electric motor encased in one of the first and second compartments to drive the wrist mechanism; wherein the improvement comprises:
maintaining means for automatically maintain-ing a positive pressure within an acceptable range above atmospheric pressure in each of the first and second compartments having an electric motor encased therein, wherein each of the first and second compartments having an electric motor encased therein is airtight and wherein the positive pressure prevents flammable gases or vapors from entering each airtight compartment.
19. The robot as claimed in claim 18 wherein the at least one electric motor of the first drive means is encased in the first compartment and the at least one electric motor of the second drive means is encased in the second compartment and wherein said maintaining means maintains a positive pressure within the acceptable range in the first and second compartments.
20. The robot as claimed in claim 19 wherein the improvement further comprises means for communicating the first and second compartments.
21. The robot as claimed in claim 20 wherein said means for communicating includes a conduit between the first and second compartments and forming part of the robot structure.
22. The robot as claimed in claim 20 wherein said means for communicating includes a flexible conduit between the first and second compartments independent of the robot structure.
23. The robot as claimed in claim 20 wherein said means for communicating includes a conduit for housing at least one electric cable electrically connected to the electric motor in the second compartment.
24. The robot as claimed in claim 18 wherein at least one of the electric motors is a DC motor.
25. The robot as claimed in claim 18 wherein at least one of the electric motors is an A.C. servo motor.
26. An improved electrically driven robot adapted for use in a hazardous environment, the robot including a base forming a first compartment therein; an arm assembly supported for movement on said base and forming a second compartment therein;
a first electric motor encased in one of the first and second compartments; a second electric motor encased in one of the first and second compartments;
wherein the improvement comprises:
maintaining means for automatically maintain-ing a positive pressure within an acceptable range above atmospheric pressure in each of the first and second compartments having an electric motor encased therein, wherein each of the first and second compartments having an electric motor encased therein is airtight and wherein the positive pressure prevents flammable gases or vapors from entering each airtight compartment.
a first electric motor encased in one of the first and second compartments; a second electric motor encased in one of the first and second compartments;
wherein the improvement comprises:
maintaining means for automatically maintain-ing a positive pressure within an acceptable range above atmospheric pressure in each of the first and second compartments having an electric motor encased therein, wherein each of the first and second compartments having an electric motor encased therein is airtight and wherein the positive pressure prevents flammable gases or vapors from entering each airtight compartment.
27. The robot as claimed in claim 26 wherein the first electric motor is encased in the first compartment and the second electric motor is encased in the second compartment.
28. The robot as claimed in claim 27 wherein the improvement further comprises means for communicating the first and second compartments.
29. The robot as claimed in claim 28 wherein said means for communicating includes a conduit between the first and second compartments and forming part of the robot structure.
30. The robot as claimed in claim 28 wherein said means for communicating includes a flexible conduit between the first and second compartments independent of the robot structure.
31. The robot as claimed in claim 28 wherein said means for communicating includes a conduit for housing at least one electric cable electrically connected to the second electric motor in the second compartment.
32. The robot as claimed in claim 26 wherein at least one of the electric motors is a DC motor.
33. The robot as claimed in claim 26 wherein at least one of the electric motors is an A.C. servo motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US69299685A | 1985-01-22 | 1985-01-22 | |
| US692,996 | 1985-01-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1251243A true CA1251243A (en) | 1989-03-14 |
Family
ID=24782899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000496086A Expired CA1251243A (en) | 1985-01-22 | 1985-11-25 | Electric robot for use in a hazardous location |
Country Status (3)
| Country | Link |
|---|---|
| JP (2) | JP2622374B2 (en) |
| CA (1) | CA1251243A (en) |
| DE (1) | DE3601437C2 (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3627745A1 (en) * | 1985-08-20 | 1987-03-05 | Tokico Ltd | INDUSTRIAL PLAYER ROBOT |
| JPS6263090A (en) * | 1985-09-11 | 1987-03-19 | トキコ株式会社 | Explosion-proof structure of electric robot |
| JPH0413115Y2 (en) * | 1986-10-20 | 1992-03-27 | ||
| DE3704505A1 (en) * | 1987-02-13 | 1988-08-25 | Leybold Ag | INSERT UNIT FOR VACUUM SYSTEMS |
| JP2599188B2 (en) * | 1988-10-20 | 1997-04-09 | トキコ株式会社 | Electric robot |
| JP2605187B2 (en) * | 1991-04-25 | 1997-04-30 | 東京瓦斯株式会社 | Internal pressure explosion-proof method for mobile equipment and mobile internal pressure explosion-proof container |
| JP3513050B2 (en) * | 1998-11-13 | 2004-03-31 | トヨタ自動車株式会社 | Painting robot and assembly method of painting robot |
| DE10357609A1 (en) | 2003-12-10 | 2005-07-21 | Kuka Roboter Gmbh | Handling device such as industrial robots and method for influencing an environmental condition in such |
| JP5289125B2 (en) * | 2009-03-24 | 2013-09-11 | ファナック株式会社 | Robot system with articulated robot |
| JP5890653B2 (en) * | 2011-10-28 | 2016-03-22 | 川崎重工業株式会社 | Multi-axis robot |
| CN106573373B (en) | 2014-08-14 | 2019-10-18 | 库卡罗伯特有限公司 | Positioning to robot |
| DE102014012160A1 (en) * | 2014-08-14 | 2016-02-18 | Kuka Roboter Gmbh | Carrier system for a manipulator |
| DE102016004788A1 (en) * | 2016-04-20 | 2017-10-26 | Kastanienbaum GmbH | Method for producing a robot and device for carrying out this method |
| JP6677190B2 (en) | 2017-02-09 | 2020-04-08 | 株式会社安川電機 | Painting system and fixed operating robot |
| JP2019010695A (en) | 2017-06-29 | 2019-01-24 | 株式会社安川電機 | robot |
| AU2021411718A1 (en) * | 2020-12-30 | 2023-07-27 | Autofuel Aps | Robotic system for automatic refuelling of vehicles |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4731147A (en) * | 1971-03-29 | 1972-11-10 | ||
| DE2228598A1 (en) * | 1972-06-12 | 1974-01-03 | Jens Dr Rer Nat Geerk | ANTHROPOMORPHIC MANIPULATOR |
| JPS5336434Y2 (en) * | 1974-04-23 | 1978-09-05 | ||
| JPS5187743A (en) * | 1975-01-30 | 1976-07-31 | Mitsui Shipbuilding Eng | |
| JPS52140808A (en) * | 1976-05-19 | 1977-11-24 | Hitachi Ltd | Construction of electric machine of type preventing explosion due to inner pressure |
| JPS5836164Y2 (en) * | 1976-12-27 | 1983-08-15 | 株式会社宮木電機製作所 | Electrical equipment with internal pressure explosion-proof structure |
| JPS5828804B2 (en) * | 1976-12-27 | 1983-06-18 | 株式会社宮木電機製作所 | Rapid scavenging device for electrical equipment containers with internal pressure explosion-proof structure |
| JPS5552874U (en) * | 1978-10-03 | 1980-04-09 | ||
| JPS5594557A (en) * | 1979-01-11 | 1980-07-18 | Toshiba Corp | Internal pressure explosion-proof rotary machine |
| JPS5824237B2 (en) * | 1979-02-01 | 1983-05-19 | 株式会社明電舎 | Manipulator arm actuator |
| JPS5936390Y2 (en) * | 1979-07-16 | 1984-10-06 | 株式会社明電舎 | Cooling structure for arms in manipulators, etc. |
| JPS56160584A (en) * | 1980-05-13 | 1981-12-10 | Hokushin Electric Works | Protective device for drafting internal pressure explosionproof type thermostat |
| JPS592397A (en) * | 1982-06-28 | 1984-01-07 | 株式会社東芝 | Internal pressure air feeding device for internal pressure explosionproof electric equipment |
| JPS5992053A (en) * | 1982-11-17 | 1984-05-28 | Sakae Riken Kogyo Kk | Coating robot |
| JPS59160193A (en) * | 1983-03-04 | 1984-09-10 | 沖電気工業株式会社 | Voice data editing system |
| JPS59160193U (en) * | 1983-04-13 | 1984-10-26 | 株式会社神戸製鋼所 | electric robot |
| JPS61125791A (en) * | 1984-11-26 | 1986-06-13 | フアナツク株式会社 | Industrial robot of inner-pressure explosion-proof structure |
-
1985
- 1985-11-25 CA CA000496086A patent/CA1251243A/en not_active Expired
-
1986
- 1986-01-20 DE DE19863601437 patent/DE3601437C2/en not_active Revoked
- 1986-01-22 JP JP61011799A patent/JP2622374B2/en not_active Expired - Lifetime
-
1992
- 1992-08-04 JP JP4207869A patent/JPH0773834B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DE3601437A1 (en) | 1986-07-24 |
| DE3601437C2 (en) | 1995-04-13 |
| JP2622374B2 (en) | 1997-06-18 |
| JPH0773834B2 (en) | 1995-08-09 |
| JPS61168492A (en) | 1986-07-30 |
| JPH05237790A (en) | 1993-09-17 |
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| MKEX | Expiry |