JP2525267B2 - Ceiling-mounted manipulator arm cover - Google Patents

Description

TECHNICAL FIELD The present invention relates to an arm cover that covers a ceiling-mounted articulated manipulator and protects it from chemicals, heat, dust, and the like.
More specifically, the present invention relates to an arm cover in which the cover is formed by combining a plurality of divided jackets to cover the entire manipulator in a cylindrical shape to distribute the weight and prevent sagging.

[Prior Art] An industrial robot used in a bad environment is used with a cover for chemical resistance, heat resistance, and dust resistance. Most of the ordinary industrial robots are floor-standing type, and the cover has a structure that widens the hem like rain wing or skirt and covers not only the arm but the entire robot. In the case of a floor-standing robot, such a cover will not cause any problems.

On the other hand, robots used in the nuclear field,
There are many ceiling-mounted multi-joint manipulators as shown in FIG.

[Problems to be Solved by the Invention] When an attempt is made to attach the above-mentioned cover to a ceiling-mounted manipulator, which is used in a floor-standing robot, the cover hangs down and the operation of the manipulator is hindered. .

As an arm cover for a ceiling-mounted multi-joint power manipulator used in the field of nuclear power, etc., it is necessary to have a structure that can follow the bending angle and operating speed of each axis and can be easily replaced remotely. However, an arm cover that can meet such requirements has not been developed yet.

The object of the present invention is to provide a drooping prevention function suitable for a ceiling-suspended type in consideration of the above-mentioned circumstances of the prior art, can smoothly follow the complicated operation of the articulated robot, and can be easily attached / detached / replaced. An object is to provide an arm cover for such a ceiling-mounted manipulator.

[Means for Solving the Problems] The present invention is an arm cover that protects a ceiling-mounted multi-joint manipulator, and is configured to cover the entire manipulator in a substantially cylindrical shape by combining a plurality of jackets. Each jacket overlaps at the interconnect. The jacket at the position corresponding to the bending operation axis has a pad cloth in the bellows type. Each jacket is supported by the trousers suspension method on the manipulator shoulders and the shaft holding method on the other parts, so that they can be mounted by flexible fasteners.

[Operation] The jacket divided into a plurality of pieces is trouser-suspended at the manipulator shoulders and is held by the corresponding shafts other than that, so the weight is dispersed and the jacket does not sag. The jackets are dust-proof because they overlap each other at the connection.

Since the bending operation shaft has a bellows structure, it has good followability to the bending operation, and by having a pad cloth on the inside, slipping is improved and it moves smoothly and wear is prevented. Since each jacket can be attached with a free fastener, it can be operated remotely and only the damaged jacket can be partially replaced.

[Embodiment] FIG. 1 is an overall explanatory view showing an embodiment of an arm cover for a ceiling-mounted manipulator according to the present invention, and FIG. 2 is an exploded explanatory view thereof.

The manipulator to which this arm cover is applied is a ceiling-mounted articulated power manipulator as shown in FIG. This is a robot for plasma cutting work with 7 axes used in the nuclear field. The arm cover is manufactured to prevent heat and dust during plasma cutting.

As shown in FIG. 1, the arm cover 10 has a substantially tubular shape as a whole and has a structure that almost completely covers the entire manipulator. The arm cover 10 is composed of a combination of jackets 12A, ..., 12E which are divided into five parts as shown in FIG. 2, so that the interconnecting portions 14a, ..., 14e overlap each other so that the manipulator does not have an exposed portion. Is designed. This prevents dust and the like from entering.

The manipulator's two, three, and five axes are bending motion axes, and the corresponding jackets 12B, 12C, 12D are bellows type. The power manipulator is designed in consideration of the movement of a human arm in order to efficiently perform various remote controls, and its operation is more complicated than that of a general industrial robot. Therefore, by adopting the bellows type for the bending operation shaft as described above, a function capable of following the minimum and maximum operation speed is provided. In addition, it is designed to satisfy the stroke of the operating range of each axis, and the number and pitch are set so that the operating range is not narrowed by the thickness of the bellows when it is most contracted. Furthermore, a pad cloth with good slipperiness is attached to the inside of the bellows to prevent the manipulator elbow from being caught and to ensure smooth operation.

The jackets 12A, ..., 12E are held by corresponding shafts. Therefore, the weight of the entire cover is dispersed, and it is possible to prevent the cover from hanging down, which is a problem in the ceiling-mounted type. Also, in order to be able to change the jacket by remote control, it has a structure that can be attached by a free fastener. That is, one of the flexible fasteners is sewn to the corresponding portion of the jacket in advance, and the other flexible fastener is attached to the arm side with a double-sided tape. Then, it is attached by joining with flexible fasteners.

Further specific points will be described. To prevent the bellows from hanging down, the jacket 12B is attached with a free fastener 16 with double-sided tape at an intermediate point between the two axes and the three axes, and the jacket 12B is fixed by using the fastener 16 so that it does not fall below it. Jacket 12C also provides similar assistance. Further, the band 18 is attached to the shoulder portion of the manipulator, and the trouser suspension belt 20 is attached. Since the belt is inside the jacket, it cannot be seen from the outside. Furthermore, in order to prevent interference at the arm elbow, the material 22 at the front and rear ends of the bellows is used to pull it up so that it does not go down. One is sewn to the bellows, and the other is sandwiched and fixed between the jackets. Also, the jacket 12C has a shape in which the four corners of the bellows are recessed in order to reduce the weight and ensure a sufficient camera field of view that is important for remote control. Because the bellows cannot be used for the rotating parts of the 1-axis, 4-axis, and 6-axis functions, the division method is used.
The ends of the jackets overlap each other to provide a dustproof effect. The 7-axis finger covers the outside only and the inside band
It is fixed by 24 etc. There is no need to protect the inside because it has a torch. Frills 26 are sewn on to allow the fingers to open and close freely.

Except for the bellows, the jacket is made of 2 fabrics as a whole.
The layers are stacked and the threads are sewn twice to improve wear resistance. For example, a heat resistant and fire resistant material may be used for the outer material, and a material having good slipperiness may be used for the lining material.

The preferred embodiment of the present invention has been described in detail above.
The present invention is not limited to such a configuration. There is no particular limitation on the number of split jackets, and it is designed according to the manipulator to be protected. INDUSTRIAL APPLICABILITY The present invention can be applied as an arm cover for a ceiling-mounted manipulator to any application such as chemical resistance or oil resistance.

[Advantages of the Invention] As described above, according to the present invention, the arm cover is divided into a plurality of jackets, and the jackets are held by the corresponding shafts. Therefore, the weight of the arm cover can be dispersed and the shoulder portion can be dispersed. With the trouser suspension holding structure, the arm cover can be prevented from hanging down. In addition, since the interconnecting portions of the respective jackets are overlapped with each other, intrusion of dust or the like can be prevented.

Since a bellows type jacket is used for the bending operation shaft part and a patch cloth is attached to the inside, it is possible to follow the complicated operation of the power manipulator which is an articulated robot, smooth operation is guaranteed, and wear is prevented. Is unlikely to occur.

Furthermore, since the split jacket can be attached by a flexible fastener, it can be easily replaced by remote control, can be used in the nuclear field, and only deteriorated parts can be replaced.

[Brief description of drawings]

FIG. 1 is an overall explanatory view of an arm cover of a ceiling-mounted manipulator according to the present invention, FIG. 2 is an exploded explanatory view thereof, and FIG. 3 is an explanatory view of a manipulator to which the present invention is applied. 10 …… Arm cover, 12A,…, 12E …… Jacket, 14a,
…, 14e …… Interconnecting part, 20 …… Pants hanging belt.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Bibliography flat 2-4790 (JP, U) live 57-43000 (JP, U)

Claims (1)

(57) [Claims] 1. An arm cover for protecting a ceiling-mounted multi-joint manipulator, which has a structure in which a plurality of divided jackets are combined and connecting portions overlap each other to cover the entire manipulator in a substantially cylindrical shape, and the jacket positioned on the bending operation axis is The ceiling-mounted manipulator is characterized in that it has a bellows type interior with a patch cloth, each jacket is supported by the trouser suspension method on the shoulder part of the manipulator, and the other is supported by the shaft holding method, and can be mounted by a universal fastener. Arm cover.