JP2018164967A - Heat-resistant protective cover for working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a heat-resistant protective cover for a working robot, which is flexible and heat-resistant, and with which attachment/detachment is easy and maintenance trouble is reduced.SOLUTION: A heat-resistant protective cover 20 for a working robot, with which a working robot is to be covered, is composed of knitted fabric comprising heat-resistant fibers. In the knitted fabric, a rate of elongation at a load of 4.9 N according to a JIS L1018B method (a constant load method) is 15% or higher in a vertical direction and 30% or higher in a lateral direction. Further, the heat-resistant fibers are one or more kinds of fibers selected from a group consisting of a meta-based aramid fiber, a para-based aramid fiber, and a polyparaphenylene-benzobisoxazole fiber.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a heat-resistant protective cover for a work robot suitable for a work robot that performs operations such as forging, welding, and fusing. More specifically, the present invention relates to a heat-resistant protective cover for a work robot made of knitted fabric.

  Conventionally, protective covers used for working robots having arms and joints have been known. For example, in Patent Document 1, in a working robot used for forging, a release agent or oxide powder in forging adheres to the robot, or the robot breaks down or causes contamination due to intrusion into a joint. In order to prevent this, it is described that the entire surface is covered with an iron or stainless steel cover (Patent Document 1). In addition, in Patent Document 2, in a working robot that performs welding and fusing, fumes and the like adhere to the robot, and prevent the robot from being broken or causing contamination by entering the joint. A protective cover is formed by laminating a flameproof film on a knitted knit made of glass fiber (Patent Document 2). In addition, a robot jacket using a material obtained by vapor-depositing aluminum on a synthetic rubber sheet is used. In addition, a hard and non-stretchable woven material such as a fire suit is also used.

Japanese Unexamined Patent Publication No. 2000-1080736 JP 2010-274373 A

  Since operations such as forging, welding, and fusing are performed in a high-temperature environment, the robot protective cover that covers the work robot that performs operations such as forging, welding, and fusing is required to have heat resistance. It is necessary to follow the movement of the robot joints. If the entire surface is covered with an iron or stainless steel cover as in Patent Document 1, there are problems such as restricting the movement of robot joints and the like, and making it easy to contact peripheral equipment during work. Further, the protective cover laminated with a flameproof film as in Patent Document 2 has a limit in stretchability, and has a problem that it cannot follow the free movement of the robot. In addition, when a material obtained by vapor-depositing aluminum on a synthetic rubber sheet or a woven material is used, there is a problem in that movement of a robot joint or the like is limited.

  In order to solve the above-mentioned conventional problems, the present invention provides a heat-resistant protective cover for a working robot that is flexible and heat-resistant, can be easily attached and detached, and can reduce maintenance work.

  The present invention is a heat-resistant protective cover for a work robot that covers a work robot, and the heat-resistant protective cover for the work robot is composed of a yarn knitted fabric including heat-resistant fibers, and the knitted fabric is JIS L 1018. The elongation at a load of 4.9 N in accordance with the B method (constant load method) is 15% or more in the vertical direction and 30% or more in the transverse direction, and the heat-resistant fibers are meta-aramid fibers, para-types The present invention relates to a heat-resistant protective cover for a working robot, which is one or more fibers selected from the group consisting of an aramid fiber and a polyparaphenylene benzobisoxazole fiber.

  The heat-resistant protective cover for a working robot of the present invention is a yarn knitted fabric including heat-resistant fibers that are one or more fibers selected from the group consisting of meta-aramid fibers, para-aramid fibers, and polyparaphenylenebenzobisoxazole fibers. The knitted fabric is stretchable when the elongation at a load of 4.9 N in accordance with JIS L 1018 B method (constant load method) is 15% or more in the vertical direction and 30% or more in the transverse direction. It is possible to provide a heat-resistant protective cover for a working robot that has both heat and heat resistance, can follow the movement of the robot, can be easily attached and detached, and can reduce maintenance work.

FIG. 1 is a perspective view showing a heat-resistant protective cover for a working robot according to an embodiment of the present invention. FIG. 2 is a plan view showing a heat-resistant protective cover for a working robot according to another embodiment of the present invention. FIG. 3 is a perspective view showing a heat-resistant protective cover for a working robot according to another embodiment of the present invention. FIG. 4 is a schematic perspective view for explaining a state in which the heat-resistant protective cover for work robot according to the embodiment of the present invention is attached to the work robot. FIG. 5 is a schematic plan view showing a knitted fabric constituting the heat-resistant protective cover for a working robot according to one embodiment of the present invention. FIG. 6 is a schematic process diagram showing a knitted fabric constituting the heat-resistant protective cover for a working robot according to one embodiment of the present invention. FIG. 7 is a schematic front view showing a tip protective cover in the heat-resistant protective cover for a working robot according to one embodiment of the present invention. FIG. 8 is a schematic front view showing an intermediate protective cover in the heat-resistant protective cover for a working robot according to one embodiment of the present invention. FIG. 9 is a schematic front view showing a body protective cover in the heat-resistant protective cover for a working robot according to one embodiment of the present invention. FIG. 10 is a schematic perspective view for explaining a state in which the work robot heat-resistant protective cover according to one embodiment of the present invention is mounted on the work robot.

  The present invention is a heat-resistant protective cover for a working robot (hereinafter, also simply referred to as “protective cover”) used for a working robot that performs operations such as forging, welding, and fusing. When used in a forging work robot, the heat-resistant protective cover for a working robot can prevent a release agent, oxide powder, or the like in forging from adhering to the robot or entering a joint. Further, the heat-resistant protective cover for a working robot can prevent fume or the like from adhering to the robot or entering a joint when used in a welding or fusing robot. The working robot that performs operations such as forging, welding, and fusing may be a robot that delivers workpieces (parts) in operations such as forging, welding, and fusing. Here, the work robot may be a work robot main body or an arm of the robot. This is because both the robot body and the arm may move and may not be clearly distinguished.

  The heat-resistant protective cover for a working robot is composed of a knitted yarn including heat-resistant fibers, and has heat resistance and stretchability.

  The knitted fabric has an elongation at a load of 4.9 N in accordance with the JIS L 1018 B method (constant load method) of 15% or more in the vertical direction and 30% or more in the transverse direction. Preferably, the knitted fabric has an elongation at a load of 4.9 N in accordance with the JIS L 1018 B method (constant load method) of 20% or more in the vertical direction and 35% or more in the transverse direction. By using a knitted fabric having a large elasticity as described above, the heat-resistant protective cover for a work robot can flexibly follow a large movement of the work robot, for example, a movement of a joint. In addition, the shape can be fitted to the work robot, and interference with surrounding equipment can be reduced.

  As the heat-resistant fiber, one or more fibers selected from the group consisting of meta-aramid fibers, para-aramid fibers, and polyparaphenylene benzobisoxazole fibers are used. Preferably, the heat resistant fiber is a meta aramid fiber and / or a para aramid fiber. The yarn may further include a flame retardant rayon. Cost can be reduced while maintaining appropriate heat resistance. Moreover, sewing processing becomes easy by using aramid fiber and a flame-retardant rayon together. From the viewpoint of heat resistance, cost, and workability, the yarn preferably contains 50 to 80% by mass of heat resistant fiber and 20 to 50% by mass of flame retardant rayon when the yarn is 100% by mass. More preferably, it contains 50 to 70% by mass of fiber and 30 to 50% by mass of flame retardant rayon.

  It is preferable that the yarn further includes an antistatic fiber. Thereby, the antistatic property can be imparted to the knitted fabric, and the heat resistant protective cover for the work robot also has the antistatic property. When the yarn is 100% by mass, the yarn preferably contains 0.1 to 1% by mass of the charged spun fiber, and more preferably 0.3 to 0.7% by mass.

  From the viewpoints of heat resistance, cost, processability and antistatic properties, the yarn has a heat resistant fiber of 50 to 80% by mass, a flame retardant rayon of 19 to 49.9% by mass, when the yarn is 100% by mass, It is preferable to contain 0.1 to 1% by mass of antistatic fiber, 50 to 70% by mass of heat resistant fiber, 29.3 to 49.7% by mass of flame retardant rayon, and 0.3 to 0. 0% of antistatic fiber. It is more preferable to contain 7% by mass.

  The yarn may be a spun yarn or a filament yarn. From the viewpoint of cost, a spun yarn is preferable. The spun yarn is preferably a uniform mixed spun yarn. In order to obtain a uniform blended spun yarn, according to a conventional spinning method, for example, a spun yarn is obtained by blending in a card process, a roving process, a continuous process or an earlier process. The spun yarn is not particularly limited. For example, from the viewpoint of strength, the single yarn fineness is preferably 10 to 100 dtex (10 to 100 in metric), and 33 to 67 dtex (30 to 60 in metric). ) Is more preferable. The spun yarn is preferably a twin yarn obtained by twisting in the S direction using two Z-strand uniform blended spun yarns. In this way, when the yarn torque is canceled and the knitted fabric is formed, the loop can be stabilized, the knitted fabric is not skewed, and the stretchability is enhanced.

  The meta-aramid fiber is not particularly limited, and examples thereof include “Conex” (trade name) manufactured by Teijin Limited, “Nomex” (trade name) manufactured by DuPont. These meta-aramid fibers have a tensile strength of about 4 to 7 cN / dtex (deci tex), a limiting oxygen index (LOI) of about 30, and a thermal decomposition temperature exceeding 400 ° C. Excellent in properties. Although the single fiber fineness of the meta-aramid fiber is not particularly limited, for example, a range of 0.5 to 6 dtex is preferable, and a range of 1 to 4 dtex is more preferable. The average fiber length of the meta-aramid fiber is not particularly limited, but when used for spun yarn, it is preferably, for example, 30 to 220 mm, and more preferably 50 to 120 mm.

  The para-aramid fiber is not particularly limited, and examples thereof include “Technola” (trade name) manufactured by Teijin Limited and “Kevlar” (trade name) manufactured by DuPont. These para-aramid fibers have high tensile strength (for example, “Technola” manufactured by Teijin Limited: 24.7 cN / dtex, “Kevlar” manufactured by DuPont: 20.3 to 24.7 cN / dtex), and the thermal decomposition start temperature is also high. It is high (both products are about 500 ° C.) and has a limiting oxygen index (LOI) of 25 to 29, which is excellent in heat resistance. The single fiber fineness of the para-aramid fiber is not particularly limited, but is preferably in the range of 0.5 to 6 dtex, and more preferably in the range of 1 to 4 dtex. The average fiber length of the para-aramid fibers is not particularly limited, but when used for spun yarn, for example, it is preferably 30 to 220 mm, more preferably 50 to 120 mm.

  The polyparaphenylene benzobisoxazole fiber (also referred to as PBO fiber) is not particularly limited, and for example, “Zylon (registered trademark)” manufactured by Toyobo can be used. Although the single fiber fineness of the said polyparaphenylene benzobisoxazole fiber is not specifically limited, For example, the range of 0.5-6 dtex is preferable, More preferably, it is the range of 1-4 dtex. The average fiber length of the polyparaphenylene benzobisoxazole fiber is not particularly limited, but when used for spun yarn, for example, it is preferably 30 to 220 mm, and more preferably 50 to 120 mm.

  The flame retardant rayon is not particularly limited. For example, rayon fiber processed by Provan (ammonia curing using tetrakishydroxymethylphosphonium salt developed by Albright & Wilson), Pyropatex developed by Ciba Geigy CP ray-processed (N-methyloldimethylphosnopropionamide-processed) rayon fiber, etc. are mentioned. Specifically, for example, commercially available products such as “Viscose FR” (trade name) manufactured by Lenzing, Austria can be used. The single fiber fineness of the flame retardant rayon is not particularly limited, but is preferably in the range of 0.5 to 6 dtex, more preferably in the range of 1 to 4 dtex. The average fiber length of the flame retardant rayon is not particularly limited, but when used for spun yarn, for example, it is preferably 30 to 220 mm, more preferably 80 to 120 mm.

  The antistatic fiber is not particularly limited. For example, a synthetic resin such as nylon or polyester is used as a base polymer, and metal fibers, carbon fibers, fibers in which metal particles or carbon particles are kneaded, such as nylon conductive fibers or polyesters. A conductive fiber or the like can be used. In addition, as the antistatic fiber, commercially available products such as “Bertron” (trade name) manufactured by KB Seiren, “Kura Carbo” (trade name) manufactured by Kuraray Co., Ltd. can be used. "Beltron" (trade name) manufactured by KB Seiren includes nylon-based conductive fibers whose base polymer is nylon and conductive particles of carbon, and polyester-based conductive fibers whose conductive particles are carbon. Any of these may be used. The antistatic fiber is not particularly limited, but the single fiber fineness is preferably in the range of 0.5 to 10 dtex, more preferably in the range of 1 to 8 dtex. The average fiber length of the flame retardant rayon is not particularly limited, but when used for spun yarn, for example, it is preferably 30 to 220 mm, more preferably 80 to 120 mm.

  The knitted fabric may be a weft knitted fabric or a warp knitted fabric. There is a circular knitted fabric in the weft knitted fabric. A circular knitted fabric is easy to configure in a cylindrical shape. The warp knitted fabric may be a tricot knitted fabric or a Russell knitted fabric. These knitted fabrics can also be formed in accordance with the shape of the work robot by cutting and sewing.

  The circular knitted knit is preferably a single knit woven fabric (flat knitted fabric), and is a single knitted woven fabric using two yarns obtained by twisting two Z-strand uniform blended spun yarns in the S direction. Is more preferable. With a tengu structure (flat knitting), the manufacturing cost can be reduced, and the robot arm can respond to the intense bending and stretching movements of the robot arm. When a twin yarn in which two Z-twisted uniform blended spun yarns are twisted in the S direction is used, the loop can be stabilized, the knitted fabric cannot be skewed, and the stretchability becomes high. Alternatively, a single knit may be knitted by false twisting the multifilament yarn and alternately supplying S-twisted yarn and Z-twisted yarn to the circular knitting machine during false twist. In this way, the torque of the yarn can be canceled and the loop can be stabilized, the knitted fabric cannot be skewed, and the stretchability becomes high.

  A water repellent may be attached to the knitted fabric. Water repellency can be imparted to the knitted fabric, and the heat-resistant protective cover for work robots also has water repellency. The water repellent can be attached to the knitted fabric by subjecting the knitted fabric to water repellency and bonding the water repellant to the fibers. In the water repellent processing, it is preferable that the knitted fabric is dipped in a processing liquid containing a water repellent and then dehydrated, dried and cured. Thereby, a water repellent agent can be firmly fixed to a fiber.

  The water repellent is not particularly limited, and examples thereof include a fluorine-based water repellent including a fluorine-containing compound, a silicone-based water repellent including a silicone compound, a cationic fluorine-containing silicone compound, and a cationic hydrocarbon-based compound. Can be mentioned. Examples of the fluorine-based water repellent include “WO91” (trade name) manufactured by Tsuyac Corporation, a fluorine-based water repellent emulsion “Asahi Guard GS10” (trade name) manufactured by Asahi Glass Co., Ltd., and a fluorine system manufactured by Nikka Chemical Co., Ltd. Commercially available products such as water repellent emulsions “NK guard FGN700T” (trade name) and “NK guard NDN7000” (trade name) can be used. Although it does not specifically limit as a silicone type water repellent, For example, a modified silicone type water repellent etc. can be used. Examples of the modified silicone-based water repellent include epoxy-modified silicone-based water repellent, cationic amino-modified silicone-based water repellent, and commercially available products such as “X-22-9002 manufactured by Shin-Etsu Silicone Co., Ltd. "(Trade name, side chain double-ended epoxy-modified silicone)", "X-22-163A" (trade name, double-ended epoxy-modified silicone) and "KF-8012" (trade name, cationic both-end amino-modified silicone) ) And the like. Examples of the cationic fluorine-containing silicone compound include commercially available product names “NK Guard S-07” and product names “NK Guard S-09” manufactured by Nikka Chemical Co., Ltd. Examples of the cationic fluorine compound include commercially available cationic fluorine water repellent emulsions “AG-E061” (trade name), “AG-E081” (trade name), and “AG-E082” (manufactured by Asahi Glass Co., Ltd.). Product name), “AG-E092” (product name), “AG-E500D” (product name), and the like. “As the cationic hydrocarbon compound, for example, a commercial product such as a high melting point wax emulsion“ TH-44 ”(trade name) manufactured by Nikka Chemical Co., Ltd. can be used.

The knitted fabric preferably has a basis weight in the range of 80 to 600 g / m ² , more preferably in the range of 100 to 500 g / m ² . When the basis weight is in the above-described range, the strength and durability are increased.

  When the knitted fabric is a circular knitted knit, the heat-resistant protective cover for work robots of the present invention may be used as a heat-resistant protective cover for work robots while remaining cylindrical. From the viewpoint of facilitating detachment, it is preferable to cut the circular knitted knit, sew it in accordance with the shape of the robot, and place a hook-and-loop fastener at a predetermined location on the peripheral edge. From the viewpoint of heat resistance, for example, heat-resistant fiber yarns such as meta-aramid fiber yarns and para-aramid fiber yarns are preferably used as sewing threads. From the viewpoint of heat resistance, the surface fastener is preferably made of a heat resistant material including heat resistant fibers such as polyphenylene sulfide (PPS) fibers.

  The heat-resistant protective cover for a work robot of the present invention may be a combination of parts having a plurality of sizes that fit the shape and size of the work robot. Usually, a work robot is composed of a plurality of parts such as a machine base, a body, and an arm. Therefore, if a protective cover is formed in a size suitable for each part, there is no waste and replacement work is facilitated. The protective cover may further include fixing means using a string, rubber, button, hook, hook, magnet, fastener or hook-and-loop fastener. When these fixing means are used, the protective cover can be prevented from being detached from the work robot, and even if an electric wire or the like is present, a gap can be produced and covered. In particular, magnets are preferable because they can be fixed to each other or to a metal such as a housing of a robot and a robot, and even a complicated shape can be fixed without slack.

In the present invention, the work robot includes the following. Also,
(1) Forging: Hot forging, etc. (2) Fusing: Laser cutting, gas welding torch cutting, plasma cutting, etc. (3) Welding: Laser, electric welding, etc. In the above operations (1) to (3) Includes robots that transport workpieces.

  Next, it demonstrates using drawing. FIG. 1 is a perspective view of a protective cover according to an embodiment (Embodiment 1) of the present invention. The protective cover 10 of Embodiment 1 is a protective cover using a circular circular knitted knit as it is, and is seamless in the transverse direction. Both ends are treated with a stretchable sewing method so that fraying from the ends does not occur. The protective cover 10 according to the first embodiment is folded so that the diameter of the cylindrical knitted fabric becomes a width, and as an example, the length L is 1 to 3 m and the width D is 0.3 to 1 m.

  FIG. 2 is a perspective view of a protective cover according to another embodiment (Embodiment 2) of the present invention. The protective cover 20 of the second embodiment is obtained by cutting a circular knitted knit into a flat shape, and then processing the end of the flat circular knitted knit with a stretchable sewing method, and then the surface of one side edge portion. The protective cover is provided with a hook-and-loop fastener 201 and a hook-and-loop fastener 202 detachably coupled to the hook-and-loop fastener 201 on the back surface of the other side edge. After covering the work robot with the protective cover 20 of the embodiment, the protective cover 20 can be attached to the work robot by combining the surface fasteners 201 and 202. The protective cover 20 of this embodiment is a state in which the protective cover 20 in which the hook-and-loop fasteners 201 and 202 are joined and formed into a cylindrical shape is folded so that the diameter becomes the width. Is 0.3-1 m.

  In the present specification, “back surface” means a surface in the protective cover that is close to the work robot, and “front surface” means a surface opposite to the back surface.

  FIG. 3 is a perspective view of a protective cover according to another embodiment (Embodiment 3) of the present invention. This is a protective cover in which two cylindrical circular knitted knits 30 and 40 having different diameters are sewn and connected, or the circular knitted knits 30 and 40 are continuous knitted fabrics. Both ends are similarly folded and sewn. The protective cover according to the third embodiment is folded so that the diameter of the cylindrical knitted fabric becomes the width, and as an example, the length L1 is 1 to 3 m, L2 is 0.3 to 0.6 m, and the width D1 is 0.6. ˜1 m, D2 is 0.3 to 0.5 m. Further, as in the case of the second embodiment, the two cylindrical circular knitted knits 30 and 40 are cut open and made flat, and then the ends of the planar circular knitted knit are processed by a stretchable sewing method. Then, you may make it the structure which arrange | positions a surface fastener in required locations, such as the surface of one side edge part, and the back surface of the other side edge part.

  FIG. 4 is a perspective view of an example in which the protective cover 20 according to the second embodiment shown in FIG. 2 is attached (covered) to the work robot 100. In the protective cover 20, a hook-and-loop fastener is not shown. The protective cover 20 covers the entire arm of the work robot 100 and can flexibly cope with intense and large movements of the joints. 11 is a machine base, 12 is a rotating base, 13 is an arm, 14 is a joint, and 15 is a magic hand. The protective cover of the first embodiment shown in FIG. 1 and the protective cover of the third embodiment shown in FIG. 3 can be similarly put on the work robot.

  FIG. 5 is an organization chart of a single knit sheet fabric (flat knitting) in one embodiment of the present invention. FIG. 6 is a schematic explanatory view showing a stitch forming process of the tengu structure (flat knitting).

  Hereinafter, the present invention will be described more specifically with reference to examples. In addition, this invention is limited to a following example and is not interpreted.

<Elongation rate of knitted fabric>
It was based on the JIS L1018B method (constant load method). Cut the knitted fabric into a size of 30 cm in length and 5 cm in width in the wale direction (warp direction) and course direction (weft direction) in an atmosphere of temperature 20 ± 2 ° C. and relative humidity 65 ± 2%. A test piece was obtained. One end of this test piece is fixed with an upper clamp, an initial load of 3 gf is applied to the other end, a 20 cm interval is marked, a 4.9 N load is applied gently, and the distance between the marks after holding for 1 minute is measured. Then, the elongation percentage (%) was obtained by the following formula, and the average value was calculated five times for each of the wale direction (vertical direction) and the course direction (lateral direction).
E _P = {(L1-L) / L} × 100
E _P : Elongation rate (%)
L: Distance between original marks (cm)
L1: Distance between marks (cm) after applying a load of 4.9 N and holding for 1 minute

Example 1
(1) Used fiber Meta-aramid fiber: “Conex” (trade name) manufactured by Teijin Limited, average single fiber fineness 2.2 dtex, average fiber length 89 mm, thermal decomposition temperature 415 ° C.
Flame retardant rayon: “Viscose FR” (trade name) manufactured by Lenzing, average single fiber fineness 3.3 dtex, average fiber length 70 mm
Antistatic fiber: “Beltron” (trade name, base polymer: nylon, conductive particles: carbon), KB Selen, average single fiber fineness 5.5 dtex, average fiber length 89 mm

(2) Production of protective cover The meta aramid fiber, flame retardant rayon fiber and antistatic fiber raw cotton are individually put into a carded card and opened to form a fiber web, and then a meta aramid fiber by sliver mixing. 55.0% by mass, 44.5% by mass of flame retardant rayon and 0.5% by mass of antistatic fiber were mixed, and a uniform blended spun yarn was obtained through a pre-spinning process and a spinning process. Two yarns obtained by twisting in the S direction (meter count: No. 60) were fed to the circular knitting machine and knitted into a tenshi structure (flat knitting) using the two uniform blended spun yarns of Z twist. . The obtained circular knit knit had a number of courses of 35 / inch, a number of wales of 31 / inch, and a basis weight of 200 g / m ² . Thereafter, the obtained circular knitted knit was cut open and made flat, and then the ends of the flat circular knitted knit were processed by a stretchable sewing method. Thereafter, as shown in FIG. 2, a hook-and-loop fastener 201 having a loop made of polyphenylene sulfide fiber on the surface of one side edge (made by Kuraray Fastening Co., Ltd., trade name “New Eco Magic Heat Resistant Type”, width 20 mm, length 1m), and hooks on the back side of the other side edge portion are connected to a hook-and-loop fastener 201 made of polyphenylene sulfide fiber in a detachable manner (made by Kuraray Fastening Co., Ltd., trade name “New Eco Magic Heat-resistant Type”) The protective cover 20 was obtained by arranging a width of 20 mm and a length of 1 m. After the obtained protective cover 20 is put on the work robot, the surface fasteners 201 and 202 are combined and used. The length L is 60 m and the width D is 1.5 m in a state in which the protective cover 20 formed by combining the hook-and-loop fasteners 201 and 202 into a cylindrical shape is folded to have a diameter.

(3) Elongation rate of knitted fabric (protective cover) When the elongation rate of the knitted fabric was measured by a method based on the above-mentioned JIS L 1018 B method, it was 25% in the vertical direction and 50% in the lateral (circumferential) direction. Met.

(4) Wearing test of protective cover (a) Forging process After covering the protective cover obtained in Example 1 on a work robot that performs work transfer work in the forging process, the surface fasteners 201 and 202 are joined and protected. The cover 20 was attached to the work robot. The conventional product (manufactured by Yaskawa Electric Co., Ltd.) is heavy and cumbersome to attach and detach, and does not fit the work robot, causing interference with peripheral devices. Although it was expensive, it was torn in about 6 months. On the other hand, the protective cover of the embodiment was easy to attach and detach, and the maintenance work could be reduced. Further, since it is relatively inexpensive and has heat resistance and flexibility, the protective cover is not damaged even after 7 months of use, and the work robot can be prevented from being contaminated by the release agent.

(B) Fusing process After the protective cover obtained in Example 1 is put on a work robot that performs a workpiece transfer operation in the fusing process, the hook-and-loop fasteners 201 and 202 are joined, and the protective cover 20 is attached to the work robot. It was. Even after half a year of use, the protective cover did not break, the metal oxide powder could be prevented from entering the robot joint, and the robot did not fail. In addition, maintenance of the valves and piping was made easy as needed while wearing the protective cover. In addition, since the degree of freedom of the shape is high, a part such as Patlite (registered trademark) to be taken out of the protective cover can be put out, and it is easy to use.

(Example 2)
In this embodiment, an example of a plurality of protective covers composed of parts of a plurality of sizes that fits the shape and size of the work robot will be described. A protective cover was prepared in the same manner as in Example 1 except for the following changes. First, as shown in FIG. 7, the tip protection cover 51 of the forging work robot was created with a circular knitting machine. The size was 200 mm in the lower side, 90 mm in the upper side, and 320 mm in the vertical state in the folded state as shown in FIG. The top edge of the upper edge was treated with a stretchable sewing method to form a fray prevention edge 52. The bottom side was bag-sewn and rubber 53 was inserted.

  Next, as shown in FIG. 8, an intermediate protective cover 54 for covering the movable part of the intermediate part of the work robot was created with a circular knitting machine. The size was 320 mm wide and 800 mm long when folded as shown in FIG. The top edge of the upper edge was treated with a stretchable sewing method to form a fray prevention edge 52. The bottom side was sewn with a bag-sewn string 55 and used as a fixing means.

  Next, as shown in FIG. 9, a body protection cover 56 for covering the body portion of the work robot was produced by a circular knitting machine. The size was 1200 mm wide and 2000 mm long when folded as shown in FIG. The top edge of the upper edge was treated with a stretchable sewing method to form a fray prevention edge 52. The bottom side was sewn with a bag-sewn string 55 and used as a fixing means. Furthermore, the separation part 57 was created with a length of 900 mm from the upper right, and the separation part 57 was stopped by a button 59 or a hook. The buttons 59 and 59 are fixed to the button string 60 and are fixed in the button holes 58 and 58. When separating, the buttons 59 and 59 are removed from the body protection cover 56. In this way, the fabric is not damaged during washing. A magnet may be used instead of the button. Magnets are preferable because they can be fixed between magnets and can also be fixed to a magnet and a metal such as a robot housing, and can be fixed without slack even in a complicated shape. The magnet can also be removed when washing.

  The protective cover prepared as described above was put on a forging work robot as shown in FIG. That is, the tip protection cover 51, the intermediate protection cover 54, and the body protection cover 56 were put on the work robot 200 as shown in FIG. Since the protective covers 51, 54, and 56 are configured to fit the shape and size of the work robot 200, there is no wasted space and the robot arm can be freely moved. 61a to 61d are electric wires connected to the work robot. It was possible to cover the protective cover 56 without moving the positions of the electric wires 61a to 61d using the separation portion 57 shown in FIG.

10, 20 Protective cover 30, 40 Cylindrical knitted fabric 11 Machine base 12 Rotating base 13 Arm 14 Joint 15 Magic hand 51 Tip protective cover 52 Fraying prevention edge 53 Rubber 54 Intermediate protective cover 55 String 56 Botty protective cover 57 Separating part 58 Button hole 59 Button 60 Button string 61a, 61b, 61c, 61d Electric wire 100, 200 Work robot 201, 202 Surface fastener

Claims (10)

A heat-resistant protective cover for work robots that covers work robots,
The heat-resistant protective cover for the working robot is composed of a knitted yarn containing heat-resistant fibers, and the knitted fabric has an elongation at a load of 4.9 N in accordance with the JIS L 1018 B method (constant load method). 15% or more in the vertical direction and 30% or more in the width direction,
The heat-resistant protective cover for a working robot, wherein the heat-resistant fiber is one or more fibers selected from the group consisting of meta-aramid fiber, para-aramid fiber, and polyparaphenylene benzobisoxazole fiber.   The heat-resistant protective cover for a working robot according to claim 1, wherein the yarn further includes a flame retardant rayon.   The heat-resistant protective cover for a work robot according to claim 1 or 2, wherein the yarn includes 50 to 80% by mass of heat-resistant fiber and 20 to 50% by mass of flame-retardant rayon when the yarn is 100% by mass.   The heat-resistant protective cover for a working robot according to claim 1, wherein the yarn further includes an antistatic fiber.   The heat-resistant protective cover for a working robot according to claim 4, wherein the antistatic fiber is a nylon conductive fiber.   The said thread | yarn contains 50 to 80 mass% of heat resistant fibers, 19 to 49.9 mass% of flame retardant rayon, and 0.1 to 1 mass% of antistatic fibers when the yarn is 100 mass%. Or the heat-resistant protective cover for work robots as described in 5.   The heat-resistant protective cover for a working robot according to claim 1, wherein a water repellent is attached to the knitted fabric. The heat-resistant protective cover for a working robot according to claim 1, wherein the knitted fabric has a basis weight in a range of 80 to 600 g / m ² .   The heat-resistant protection for a working robot according to any one of claims 1 to 8, wherein the yarn is a spun yarn, and the spun yarn is a double yarn obtained by twisting two Z-twisted spun yarns in the S direction. cover.   The heat-resistant protective cover for a work robot according to claim 1, wherein the work robot is a forging work robot, a welding work robot, or a fusing work robot.

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