JP2010131709A - Safe cover - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safe cover of an industrial robot capable of securing safety of a worker and preventing damage even though the industrial robot collides with it. <P>SOLUTION: The safe cover forming at least a part of the work area of the industrial robot includes: a plate-like resin cover member 21 with which the hand or arm of the industrial robot that is protruded from the work area collides; a frame member 22 for holding the cover member 21 having an engagement means 22c engaged with the outer circumferential side of the cover member 21; and a fall preventing means 35 for preventing the cover member 21 from falling from the frame member 22 when at least a part of the cover member 21 gets out from the engagement means 22c. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a safety cover used in a factory where an industrial robot is installed.

  Conventionally, in a factory where an industrial robot is installed, a safety cover is installed around the industrial robot in order to ensure the safety of workers (see, for example, Patent Documents 1 and 2). Conventionally, as an industrial robot, a transfer robot including a hand on which an object to be transferred is mounted and an arm that holds the hand is known (for example, see Patent Document 3). There is also a safety cover.

Japanese Patent Laid-Open No. 2007-222002 JP 2004-353849 A JP 2006-102886 A

  Some objects to be transported by a transport robot, such as glass substrates for liquid crystal displays, become larger year by year. On the other hand, in order to improve productivity, it is required to increase the transfer speed of the transfer object by the transfer robot, and the kinetic energy at the time of movement of the hand of the transfer robot or the like tends to increase. As a result, there is a situation where it is difficult to ensure the safety of the operator when the transfer robot malfunctions.

  Here, if a strong safety cover made of high-strength material such as steel plate is installed around the transfer robot, even if the transfer robot malfunctions, the hand etc. can be stopped with the strong safety cover. Therefore, it is possible to ensure the safety of workers. However, when a strong safety cover is installed around the transport robot, if the hand or the like collides with the safety cover, the hand or the like may be damaged by an impact at the time of the collision.

  Accordingly, an object of the present invention is to provide a safety cover for an industrial robot that can ensure the safety of an operator and can prevent damage to the industrial robot even if the industrial robot collides. is there.

  In order to solve the above problems, the safety cover of the present invention is a safety cover that forms at least a part of the work area of the industrial robot, and is made of a resin that collides with the hand or arm of the industrial robot that protrudes from the work area. And a plate-shaped cover member, a frame member that is formed with an engaging means that engages with the outer peripheral side of the cover member, and that holds the cover member; and when the cover member is detached from the engaging means, the cover is covered from the frame member. A drop prevention means for preventing the member from falling off is provided.

  In the safety cover of the present invention, the resin cover member that collides with the hand or arm of the industrial robot that protrudes from the work area is held by the frame member formed with the engaging means that engages with the outer peripheral side of the cover member. . In addition, the safety cover of the present invention includes drop prevention means for preventing the cover member from dropping from the frame member when the cover member is detached from the engaging means. Therefore, even if the hand or arm collides with the cover member, first, the kinetic energy of the hand or arm is absorbed by the cover member engaged with the engaging means until the cover member is disengaged from the engaging means. The kinetic energy that could not be absorbed can be absorbed by the drop-off preventing means. Therefore, in the present invention, it is possible to absorb all of the kinetic energy of the hand and arm with the safety cover, and the hand and arm can be stopped by the safety cover. As a result, according to the present invention, it is possible to ensure the safety of the operator.

  In the present invention, since the kinetic energy of the hand or arm can be absorbed in two stages by the cover member engaged with the engagement means and the drop-off prevention means, the cover member is fixed to the frame member. The strength can be lowered. Further, the cover member of the present invention is made of resin. Therefore, according to the present invention, it is possible to reduce the impact when the hand or arm collides with the cover member. As a result, even if the hand or arm collides with the cover member, the damage can be prevented. .

  In the present invention, it is preferable that the drop-off preventing means is disposed at three or more locations along the outer periphery of the cover member. If comprised in this way, when a hand and an arm collide with a cover member, it will become possible to prevent that a cover member rotates centering on a dropping prevention means. Therefore, the kinetic energy can be reliably absorbed by the drop-off preventing means.

  In the present invention, the drop-off preventing means includes, for example, a wire member or a chain member that connects the cover member and the frame member. In this case, the kinetic energy of the hand or the arm can be absorbed by utilizing the deformation (elastic deformation and / or plastic deformation) of the wire-shaped member or the chain-shaped member.

  In the present invention, the drop-off prevention means includes a first bolt fixed to the cover member and a second bolt fixed to the frame member, and the wire member or the chain member includes the first bolt and the first bolt. Preferably, it is bridged between two bolts. If comprised in this way, a cover member and a frame member can be connected with a comparatively simple structure.

  In the present invention, the drop-off prevention means preferably includes a wire as a wire-like member, and an insertion hole through which the wire is inserted is preferably formed in the head of the first bolt. If comprised in this way, even if some external force will act on a wire, it will become possible to prevent that a wire falls from between the 1st bolt and the 2nd bolt.

  In the present invention, the drop-off prevention means may include a plate-like member that is fixed to the frame member at a position where the cover member comes into contact with the drop-off prevention means. In this case, the kinetic energy of the hand or arm can be absorbed by utilizing the deformation of the plate-like member.

  In order to solve the above problems, the safety cover of the present invention is a safety cover that forms at least a part of the work area of the industrial robot, and the hand or arm of the industrial robot that protrudes from the work area collides with it. A resin and plate-shaped cover member, a frame member that is formed with an engagement means that engages with the outer peripheral side of the cover member, and a work area when at least a part of the cover member is removed from the engagement means And a restricting means for restricting the movement of the cover member toward the outside.

  In the safety cover of the present invention, the cover member that collides with the hand or arm of the industrial robot that protrudes from the work area is held by the frame member on which the engaging means with which the outer peripheral side of the cover member is engaged is formed. In addition, the safety cover of the present invention includes a restricting means for restricting the movement of the cover member toward the outside of the work area when the cover member is detached from the engaging means. Therefore, even if the hand or arm collides with the cover member, first, the kinetic energy of the hand or arm is absorbed by the cover member engaged with the engaging means until the cover member is disengaged from the engaging means. It becomes possible to absorb the kinetic energy that could not be absorbed by the regulating means. Therefore, in the present invention, it is possible to absorb all of the kinetic energy of the hand and arm with the safety cover, and the hand and arm can be stopped by the safety cover. As a result, according to the present invention, it is possible to ensure the safety of the operator.

  In the present invention, since the kinetic energy of the hand or arm can be absorbed in two stages by the cover member engaged with the engaging means and the regulating means, the fixing strength of the cover member to the frame member Can be lowered. Further, the cover member of the present invention is made of resin. Therefore, according to the present invention, it is possible to reduce the impact when the hand or arm collides with the cover member. As a result, even if the hand or arm collides with the cover member, the damage can be prevented. .

  In the present invention, the cover member is preferably translucent or transparent. If comprised in this way, it will become possible for an operator to confirm the state of an industrial robot from the outer side of a safety cover.

  As described above, according to the safety cover of the present invention, it is possible to ensure the safety of the operator and to prevent the industrial robot from being damaged even if it collides.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Factory layout where safety covers are installed and schematic configuration of industrial robots)
FIG. 1 is a plan view showing an example of a layout of a factory where a safety cover 1 according to an embodiment of the present invention is installed. FIG. 2 is a plan view of the industrial robot 3 shown in FIG. FIG. 3 is a diagram showing the industrial robot 3 from the EE direction of FIG.

  The safety cover 1 of this embodiment is provided with, for example, an industrial robot 3 (hereinafter referred to as “robot 3”) for transporting a glass substrate 2 for liquid crystal display (hereinafter referred to as “substrate 2”). This is to ensure the safety of workers in the factory. In the factory, for example, as shown in FIG. 1, the safety cover 1 is installed so as to surround the other one of the robots 3 surrounded by three liquid crystal display manufacturing apparatuses 4. In this embodiment, the work area R of the robot 3 is formed by the three manufacturing apparatuses 4 and the safety cover 1.

  The robot 3 is a transfer robot for transferring the substrate 2 as described above. The robot 3 of this embodiment is a large robot particularly suitable for transporting a large substrate 2, and for example, transports a substantially square substrate 2 having a side of about 3 m. The robot 3 may be a robot that transfers a semiconductor wafer or the like.

  As shown in FIGS. 2 and 3, the robot 3 includes two hands 6 on which the substrate 2 is mounted, two arms 7 each of which is connected to the tip side, and two hands 6. A main body 8 that supports the arm 7 and a base member 9 that supports the main body 8 so as to be movable in the horizontal direction. The main body 8 supports the base end sides of the two arms 7 and can move up and down, a columnar member 11 for supporting the support member 10 so as to be movable in the vertical direction, A base 12 that constitutes the lower end portion and is horizontally movable with respect to the base member 9, and a turning member 13 that is fixed at the lower end of the columnar member 11 and that can turn with respect to the base 12.

  The hand 6 includes a plurality of claw portions (forks) 14 for mounting the substrate 2. The proximal end of the hand 6 is rotatably connected to the distal end of the arm 7. The arm 7 has two joint portions 15 and is configured to expand and contract with respect to the main body portion 8. Further, the base end of the arm 7 is fixed to the support member 10. In this embodiment, the two hands 6 and the two arms 7 are arranged so as to overlap in the vertical direction. That is, the robot 3 of this embodiment is a double arm type robot. The robot 3 may be a single arm type robot including one hand 6 and one arm 7.

  In the robot 3, the support member 10 moves up and down together with the hand 6 and the arm 7 with respect to the columnar member 11, and the arm 7 extends and contracts with respect to the main body 8, so that the substrate 2 to the manufacturing apparatus 4 can be moved. Loading and unloading of the substrate 2 from the manufacturing apparatus 4 are performed. Further, the base 12 moves horizontally with respect to the base member 9, and the swiveling member 13 rotates with respect to the base 12, whereby the hand 6 moves between the three manufacturing apparatuses 4.

(Configuration of safety cover)
FIG. 4 is a front view of the safety cover 1 shown in FIG. FIG. 5 is a plan view showing the safety cover 1 from the FF direction in FIG. 4. FIG. 6 is an enlarged view of a portion G in FIG. 7 is a cross-sectional view taken along the line HH in FIG.

  In this embodiment, the safety cover 1 is installed so that the surface of the safety cover 1 in FIG. Therefore, in the following description, the front side (upper side in FIG. 5) of FIG. 4 is defined as the “opposite” side, and the rear side (lower side in FIG. 5) of FIG. Note that the safety cover 1 may be installed so that the back surface of the safety cover 1 in FIG. 4 faces the robot 3.

  As shown in FIGS. 4 and 5, the safety cover 1 includes a thin flat cover member 21, a frame member 22 that holds the cover member 21, and two bases 23 that support the frame member 22 from below. I have. As shown in FIGS. 6 and 7, the safety cover 1 includes a plurality of first bolts 24 (hereinafter referred to as “first bolts 24”) fixed to the cover member 21 and a frame member 22. In order to connect a plurality of second bolts 25 (hereinafter referred to as “second bolts 25”), the cover member 21, and the frame member 22, between the first bolts 24 and the second bolts 25. A wire 26 is provided.

  The cover member 21 is made of a translucent or transparent resin. Specifically, the cover member 21 of this embodiment is formed of transparent polyvinyl chloride (vinyl chloride). The cover member 21 is formed in a rectangular shape, and is held by the frame member 22 with the longitudinal direction thereof being the vertical direction. The cover member 21 has a thickness of 5 mm, for example. The cover member 21 may be formed of polycarbonate or the like.

  The frame member 22 includes two parallel long side portions 22a made of a metal or resin square material, and two parallel short side portions 22b made of a metal or resin square material and shorter than the long side portion 22a. And is composed of. Specifically, the frame member 22 is formed by combining the two long side portions 22a and the two short side portions 22b into a rectangular frame shape, and the frame member 22 includes the long side portion 22a. It is installed with the longitudinal direction as the vertical direction. In addition, the short side portion 22 b disposed on the lower side is supported by the gantry 23.

  As shown in FIG. 7, an engagement groove 22 c as an engagement means with which the outer periphery side of the cover member 21 engages is formed on the inner peripheral surface of the frame member 22. That is, the engaging groove 22c is formed in the whole area of the inner surface of the long side part 22a and the short side part 22b. The engagement groove 22c is formed in a square groove shape whose cross-sectional shape is a rectangle.

  The gantry 23 is, for example, an adjuster pad or an L-shaped plate, and is made of metal or resin. The two mounts 23 are attached to the lower end of the frame member 22 at a predetermined interval in the left-right direction in FIG. 4 and are placed on the floor or the like. The gantry 23 functions to prevent the safety cover 1 from falling down.

  The first bolt 24 is screwed into a nut (specifically, a T-groove nut) 27 in a state where the first bolt 24 is inserted into a through hole 21a that penetrates the cover member 21 in the direction perpendicular to the paper surface of FIG. (See FIG. 7). In this embodiment, the first bolt 24 is fixed to the cover member 21 such that the head 24 a of the first bolt 24 is disposed on the opposite side of the cover member 21 and the nut 27 is disposed on the opposite side of the cover member 21. Has been. A washer 28 is disposed between the head 24 a and the cover member 21 and between the nut 27 and the cover member 21. An insertion hole 24b through which the wire 26 is inserted is formed in the head portion 24a so as to penetrate in the radial direction.

  The plurality of first bolts 24 are arranged along the outer periphery of the cover member 21. In this embodiment, a plurality of through holes 21a are formed on the left and right ends of the cover member 21 in FIG. 4, and a plurality of first bolts 24 are provided along the left and right ends of the cover member 21 that engage with the long side portion 22a. Is arranged. For example, five first bolts 24 are arranged at equal intervals along the left and right ends of the cover member 21 in FIG.

  The second bolt 25 is screwed into a nut (specifically, a T-groove nut) 29 in a state where the second bolt 25 is inserted into a through hole 22d penetrating the frame member 22 in the direction perpendicular to the paper surface of FIG. (See FIG. 7). In this embodiment, the second bolt 25 is fixed to the frame member 22 so that the head 25 a of the second bolt 25 is disposed on the opposite side of the frame member 22 and the nut 29 is disposed on the opposite side of the frame member 22. Has been. A washer 30 is disposed between the head 25a and the frame member 22.

  The plurality of second bolts 25 are arranged along the outer periphery of the cover member 21 so as to correspond to the first bolts 24. In this embodiment, a through hole 22d is formed in the vicinity of the through hole 21a of the long side portion 22a, and a plurality of second bolts 25 are arranged along the left and right ends of the cover member 21 in FIG. For example, five second bolts 25 are arranged at substantially the same interval as the five first bolts 24 along the left and right ends of the cover member 21 in FIG.

  The wire 26 is wound by one turn between the first bolt 24 and the second bolt 25 so as to pass through the outer periphery of the threaded portion of the second bolt 25 and the insertion hole 24b of the first bolt 24. The both ends are twisted together. In this embodiment, the wire 26 is wound relatively loosely between the first bolt 24 and the second bolt 25. Further, the wire 26 is bridged between the first bolt 24 and the second bolt 25 in a state of being inserted into the insertion hole 24b of the first bolt 24 and sandwiched between the long side portion 22a and the washer 30. Has been. That is, the wire 26 is disposed on the opposite side of the cover member 21 and the frame member 22. The wire 26 of this embodiment is a wire-like member that connects the cover member 21 and the frame member 22. In FIG. 6, FIG. 7, etc., illustration of a twisted portion in which both ends of the wire 26 are twisted is omitted. Further, the wire 26 of the present embodiment is a relatively hard wire that has been subjected to a quenching process.

  The safety cover 1 of this embodiment is installed with the opposite side facing the inside of the work area R. Therefore, when some trouble occurs in the robot 3 and the hand 6 (specifically, the claw part 14) protrudes from the work area R toward the safety cover 1, the tip of the claw part 14 has an arrow shown in FIG. 5. Colliding with the opposite side of the safety cover 1 from the direction. Specifically, the tip of the claw portion 14 collides with the surface on the opposite side of the cover member 21.

  When the tip of the claw 14 collides with the surface on the opposite side of the cover member 21, a part of the outer peripheral side of the cover member 21 is disengaged from the engagement groove 22 c of the frame member 22 depending on the moving speed of the hand 6. In this embodiment, since the wire 26 is bridged between the first bolt 24 fixed to the cover member 21 and the second bolt 25 fixed to the frame member 22, a part on the outer peripheral side of the cover member 21. Even if the cover member 21 is disengaged from the engagement groove 22 c, the cover member 21 is held by the frame member 22 via the wire 26. Therefore, the cover member 21 does not fall off from the frame member 22. Further, the wire 26 restricts the movement of the cover member 21 toward the outside of the work area R.

  In this embodiment, the first bolt 24, the second bolt 25, the wire 26, and the like prevent the cover member 21 from dropping from the frame member 22 when the cover member 21 is removed from the engagement groove 22c. Means 35 are configured. Further, the drop-off preventing means 35 of this embodiment is a restricting means for restricting the movement of the cover member 21 toward the outside of the work area R when the cover member 21 is removed from the engagement groove 22c.

  When the tip of the claw 14 collides with the surface on the opposite side of the cover member 21, the torque of the motor that is the driving source for the expansion / contraction operation of the arm 7 changes rapidly. In this embodiment, the motor stops when a sudden change in the torque is detected.

(Main effects of this form)
As described above, in this embodiment, the outer peripheral side of the cover member 21 is engaged with the engagement groove 22 c of the frame member 22, and the cover member 21 is held by the frame member 22. In this embodiment, the wire 26 is bridged between the first bolt 24 fixed to the cover member 21 and the second bolt 25 fixed to the frame member 22. Therefore, when the tip of the claw 14 collides with the cover member 21, first, the movement of the hand 6 and the like by the cover member 21 engaged with the engagement groove 22c until a part of the cover member 21 is disengaged from the engagement groove 22c. Energy is absorbed and the hand 6 decelerates. Thereafter, the kinetic energy that could not be absorbed is absorbed by the wire 26 and the hand 6 stops. That is, in this embodiment, the kinetic energy of the hand 6 and the like can be absorbed by both the cover member 21 and the wire 26, and all of the kinetic energy of the hand 6 and the like can be absorbed by the safety cover 1. become. As a result, in the present embodiment, the hand 6 can be stopped by the safety cover 1, and the safety of the operator can be ensured.

  In this embodiment, even if the outer peripheral side of the cover member 21 is disengaged from the engagement groove 22c, the cover member 21 is held by the frame member 22 via the wire 26, so that the cover member 21 is outside the work area R. Never jump out towards Therefore, it is possible to ensure the safety of the operator also in this respect.

  In this embodiment, since the kinetic energy of the hand 6 and the like is absorbed in two stages by the cover member 21 and the wire 26 engaged with the engagement groove 22c, the fixing strength of the cover member 21 to the frame member 22 is increased. Can be lowered. The cover member 21 is made of resin. Therefore, in this embodiment, it is possible to reduce the impact when the claw portion 14 collides with the cover member 21, and as a result, even if the claw portion 14 collides with the cover member 21, damage to the claw portion 14 and the like is prevented. It becomes possible to do.

  In this embodiment, for example, ten first bolts 24 and second bolts 25 are arranged at predetermined intervals so as to follow the outer periphery of the cover member 21. That is, for example, ten drop prevention means 35 are arranged at predetermined intervals along the outer periphery of the cover member 21. Therefore, when the claw portion 14 collides with the cover member 21, it is possible to prevent the cover member 21 from rotating about the left-right direction in FIG. Therefore, in this embodiment, the kinetic energy possessed by the hand 6 and the like can be reliably absorbed by using the deformation of the wire 26. Moreover, since the rotation of the cover member 21 whose axial direction is the left-right direction of FIG. 4 can be prevented, the cover member 21 can be prevented from coming into contact with the operator.

  In this embodiment, the cover member 21 and the frame member 22 are connected by the wire 26 that is bridged between the first bolt 24 that is fixed to the cover member 21 and the second bolt 25 that is fixed to the frame member 22. It is. Therefore, the cover member 21 and the frame member 22 can be connected with a relatively simple configuration. That is, the cover member 21 is prevented from falling off from the frame member 22 when the outer peripheral side of the cover member 21 is disengaged from the engaging groove 22c with a relatively simple configuration, and the cover member 21 facing the outside of the work area R is prevented. The movement can be restricted.

  In this embodiment, an insertion hole 24b through which the wire 26 is inserted is formed in the head 24a of the first bolt 24. Therefore, it becomes difficult for the wire 26 to fall from between the first bolt 24 and the second bolt 25.

  In this embodiment, the cover member 21 is translucent or transparent. Therefore, the operator can check the state of the robot 3 from the outside of the safety cover 1. Moreover, in this embodiment, since the cover member 21 is formed of a resin such as vinyl chloride, the cost of the safety cover 1 can be reduced.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited thereto, and various modifications can be made without departing from the scope of the present invention.

  In the embodiment described above, the first bolt 24, the second bolt 25, the wire 26, and the like constitute the drop-off preventing means (regulating means) 35. In addition to this, for example, as shown in FIG. 8, the plate-like member 40 fixed to the frame member 22 at a position where the cover member 21 comes into contact when the cover member 21 comes off from the engagement groove 22c is used. ) 45 may be configured. Specifically, drop-off prevention means (by a plate-like member 40 fixed at a predetermined interval on the back surface of the long side portion 22a of the frame member 22 and at least the back surface of the short side portion 22b disposed on the lower side. (Regulating means) 45 may be configured.

  In this case, for example, the plate-like member 40 is protruded on the inner peripheral side of the frame member 22 so that the cover member 21 that is bent when the claw portion 14 collides does not come out on the opposite side of the plate-like member 40. Thus, the plate-like member 40 is fixed to the back surface of the long side portion 22a and the like. In this case, the plate-like member 40 is fixed to the back surface of the long side portion 22a and the like by the bolt 41. In this case, the kinetic energy of the hand 6 or the like can be absorbed by using the deformation of the plate-like member 40. The first bolt 24, the second bolt 25, the wire 26, and the plate-like member 40 may constitute a drop-off preventing unit and a regulating unit.

  In the embodiment described above, the wire 26 is wound by one turn between the first bolt 24 and the second bolt 25 so as to pass through the outer periphery of the threaded portion of the second bolt 25 and the insertion hole 24b. . In addition, for example, the wire 26 may be wound two or more times between the first bolt 24 and the second bolt 25 so as to pass through the outer periphery of the threaded portion of the second bolt 25 and the insertion hole 24b. good.

  In the embodiment described above, the wire 26 is bridged between the first bolt 24 and the second bolt 25, and the cover member 21 and the frame member 22 are connected by the wire 26. In addition, for example, a piano wire may be bridged between the first bolt 24 and the second bolt 25, and the cover member 21 and the frame member 22 may be connected by this piano wire. Further, a wire member other than the wire 26 and the piano wire may be bridged between the first bolt 24 and the second bolt 25, and the cover member 21 and the frame member 22 may be connected by the wire member. . Further, a chain member such as a chain may be bridged between the first bolt 24 and the second bolt 25, and the cover member 21 and the frame member 22 may be connected by this chain member. That is, a member that is excellent in elasticity and can withstand an impact at the time of the collision of the claw portion 14 is bridged between the first bolt 24 and the second bolt 25, and the cover member 21 is connected to the member by this member. The frame member 22 may be connected.

  In the embodiment described above, the wire 26 is a relatively hard wire that has been subjected to quenching, but the wire 26 may be an annealed wire that can be easily bent. In the above-described form, the wire 26 is inserted through the insertion hole 24b of the first bolt 24. However, the wire 26 passes through the outer periphery of the first bolt 24, and on the opposite side of the cover member 21 and the washer 28. It may be sandwiched between.

  In the embodiment described above, the wire 26 is bridged between the first bolt 24 fixed to the cover member 21 and the second bolt 25 fixed to the frame member 22, but the cover member 21 and the frame member 22 are connected to each other. A winding portion of the wire 26 may be formed, and the wire 26 may be wound between the winding portions. Further, in the embodiment described above, for example, ten drop prevention means 35 are arranged along the outer periphery of the cover member 21, but the drop prevention means 35 arranged along the outer periphery of the cover member 21 is three. It may be more than one.

  In the embodiment described above, the safety cover 1 is installed so as to surround the remaining one of the robot 3 surrounded on three sides by the three manufacturing apparatuses 4. In addition, for example, the four sides of the robot 3 may be surrounded by two manufacturing apparatuses 4 and two safety covers 1. In this case, the work area R of the robot 3 is formed by the two manufacturing apparatuses 4 and the two safety covers 1. Further, four sides of the robot 3 may be surrounded by one manufacturing apparatus 4 and three safety covers 1. In this case, the work area R of the robot 3 is formed by one manufacturing apparatus 4 and three safety covers 1. Further, the four sides of the robot 3 may be surrounded by the four safety covers 1. In this case, the work area R of the robot 3 is formed by the four safety covers 1.

  In the embodiment described above, the cover member 21 is translucent or transparent, but the cover member 21 may not be translucent or transparent. In the above-described embodiment, the safety cover 1 is used in a factory where the robot 3 for transporting the substrate 2 or the like is installed. However, in the factory where a robot for a purpose other than transportation is installed, the safety cover 1 is used. The cover 1 may be used.

  In the above-described embodiment, the height of the safety cover 1 is substantially the same as the height of the robot 3, for example. However, for example, when the safety cover 1 is installed in a clean room, the safety cover 1 is installed from the waist of the worker to the upper end of the robot 3 and a net-like fence is installed below the safety cover 1. Thus, the air flow around the robot 3 may not be blocked.

It is a top view which shows an example of the layout of the factory in which the safety cover concerning embodiment of this invention is installed. It is a top view of the industrial robot shown in FIG. It is a figure which shows an industrial robot from the EE direction of FIG. It is a front view of the safety cover shown in FIG. It is a top view which shows a safety cover from the FF direction of FIG. It is an enlarged view of the G section of FIG. It is sectional drawing of the HH cross section of FIG. It is sectional drawing for demonstrating the drop-off prevention means and control means concerning other embodiment of this invention.

Explanation of symbols

1 Safety cover 3 Robot (industrial robot)
6 Hand 7 Arm 21 Cover member 22 Frame member 22c Engaging groove (engaging means)
24 First bolt (first bolt)
24a Head 24b Insertion hole 25 Second bolt (second bolt)
26 Wire (wire-like member)
35, 45 Drop-off prevention means, regulation means 40 Plate member R Work area

Claims (8)

A safety cover forming at least part of the work area of an industrial robot,
A resin-made and plate-like cover member that collides with the hand or arm of the industrial robot that protrudes from the work area, and a frame member that is formed with engagement means that engages with the outer peripheral side of the cover member and holds the cover member A safety cover comprising: a fall prevention means for preventing the cover member from falling off the frame member when at least a part of the cover member is detached from the engagement means.   The safety cover according to claim 1, wherein the drop-off prevention means is arranged at three or more locations along the outer periphery of the cover member.   The safety cover according to claim 1 or 2, wherein the drop-off prevention means includes a wire-like member or a chain-like member that connects the cover member and the frame member. The drop-off prevention means includes a first bolt fixed to the cover member and a second bolt fixed to the frame member,
The safety cover according to claim 3, wherein the wire member or the chain member is bridged between the first bolt and the second bolt. The drop-off prevention means includes a wire as the wire-shaped member,
The safety cover according to claim 4, wherein an insertion hole through which the wire is inserted is formed in a head of the first bolt.   The said drop-off prevention means includes a plate-like member fixed to the frame member at a position where the cover member comes into contact with when the cover member is detached from the engagement means. safety cover. A safety cover forming at least part of the work area of an industrial robot,
A resin-made and plate-like cover member that collides with the hand or arm of the industrial robot that protrudes from the work area, and a frame member that is formed with engagement means that engages with the outer peripheral side of the cover member and holds the cover member A safety cover comprising: restriction means for restricting movement of the cover member toward the outside of the work area when at least a part of the cover member is detached from the engagement means.   The safety cover according to claim 1, wherein the cover member is translucent or transparent.

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