JP4659786B2 - Protective cover for painting robot - Google Patents

Description

  The present invention relates to a protective cover for a painting work robot. More specifically, the present invention relates to a protective cover suitable for a knitting painting robot or a painting robot arm.

Conventionally, a working robot itself having an arm and a joint is known (Patent Documents 1 and 2). These work robots are used in various fields such as assembly of precision machines in a clean room. One application is a painting work robot. This robot performs coating such as spraying paint on the surface of an iron plate or a plastic molded product, and there is a problem that paint splashes on the robot arm and becomes dirty. When the robot arm gets dirty, it is not only difficult to remove, but sometimes the contaminants fall and adhere to the painted objects, causing a reduction in product yield. Further, when dust is generated, the yield of the product is reduced. In addition, accumulation of contaminants in the joints can cause fire and is dangerous.
JP 2003-94267 A Japanese Utility Model Publication No. 4-112787 and application specification

  Conventionally, there is no good solution, and the robot arm is used as it is exposed or a film is wrapped on the surface of the robot arm. However, in the former case, problems remain, and in the latter case, it is difficult to wind properly, it is difficult to follow the movement of the robot arm, dust is likely to be generated, and it is desired to improve these problems. It was.

  In order to solve the above-mentioned conventional problems, the present invention can follow a large movement of a painting robot, prevent dirt, can be easily attached and detached, reduce maintenance work, and reduce defects in processed products. Providing a protective cover for possible painting robots.

The protective cover for a painting work robot according to the present invention is a protective cover to be placed on the painting work robot, and the protective cover is composed of a plurality of parts that fit the shape and size of the painting work robot main body including the arm. The circular knitted knit using synthetic fiber yarn is formed into a cylindrical shape, the circumferential direction of the main part is seamless, and the synthetic fiber yarn is a multifilament false twisted yarn made of synthetic fiber, The knitted knit is characterized by having an elongation percentage based on the JIS L1018B method (constant load method) of 15% or more in the vertical direction and 50% or more in the circumferential direction. In the above, the main part is an area of 40% or more, preferably 50% or more of the protective cover per painting work robot.

  The protective cover for a painting work robot according to the present invention is formed of a circular knitted knit using synthetic fiber yarn in a cylindrical shape, and the circumferential direction is seamless, so that it can be easily attached to and detached from the painting work robot. In addition, since there is no sewing line in the length direction, even if the robot repeats the movement by the painting work, there is no problem of being caught. Furthermore, since it is made of fiber, a large amount of paint mist can be retained, and the occurrence of product defects due to paint drips can be reduced. The circular knitted knit has an elongation rate of 15% or more in the vertical direction and 50% or more in the circumferential direction according to the JIS L1018B method (constant load method). it can. Furthermore, since the preferable example of the said circular knit knit has imparted flame retardancy and / or antistatic property, it is not charged by static electricity and there is no risk of fire. Protective covers for robots for painting work that prevent contamination of robots including joints, can be easily attached and removed, have short replacement times, reduce maintenance work, and reduce defects in processed products. Can provide. Furthermore, a preferable example of the circular knitted knit is made of a transparent filament yarn, thereby enabling internal observation.

  In the present invention, the painting work robot may be a painting work robot main body, and also includes a robot arm. This is because both the robot body and the arm may move and may not be clearly distinguished. For convenience of explanation, explanation will be made using an example of a painting work robot arm.

  The protective cover for covering the painting robot arm of the present invention is preferably made of thermoplastic synthetic fiber yarn. As the thermoplastic synthetic fiber, a polyester fiber or a polyamide (nylon) fiber is preferable. Particularly preferred are polyester fibers. These fiber yarns have high strength and are suitable as protective covers for painting robots. The yarn may be a spun yarn or a filament yarn, but is preferably a filament from the viewpoint of not generating dust. In the case of filament yarn, it may be a multifilament drawn yarn (raw yarn) or a multifilament false twisted yarn. False twisted yarn is also called bulky yarn.

  The knitted fabric is a circular knitted knit and is formed into a cylindrical shape. If it is knitted to the size of the robot arm diameter, the circumferential direction can be formed seamlessly. Further, the circular knitted knit has an elongation percentage based on the JIS L1018B method (constant load method) of 15% or more in the vertical direction and 50% or more in the circumferential direction. Such a large stretchability can be exhibited when a circular knitted fabric is dyed by setting the dyeing temperature to 130 ° C. or higher in a relaxed state and shrinking the dyed finish width to 30 to 60% of the knitted width. For example, when the knitted fabric is relaxed and contracted at a high temperature, a large stretch is exhibited. The color of the dyed product can be changed according to the factory line. Furthermore, it is also possible to investigate the cause of dust by applying a dyed product. For example, if the circular knit is dyed in colors such as red, blue, green, black, etc., when dust adheres to the painted body, it can be estimated that dust is from the circular knit if the color is the above, If it is color, it can be pursued as other causes such as work clothes. Moreover, the above colors can be used properly for each process. For example, a circular knit of a specific color can be used for each of the undercoating, intermediate coating, and overcoating processes. In this way, process management becomes easy. In addition, a transparent resin is usually used for the top coat (top coat). In such a case, the use of a circular knitted knit dyed in black makes it easy to remove paint stains attached to the circular knitted knit that is a protective cover. The replacement time can be visually determined.

  The circular knitted knit preferably has flame retardancy and / or antistatic properties. A well-known method can be employ | adopted for the flame-retardant process and antistatic process for providing this property. For example, flame retardant processing is obtained by attaching a phosphorus-based flame retardant with a binder. Antistatic processing is obtained by attaching a polyethylene glycol compound or a phosphorus compound with a binder.

  The circular knitted knit is preferably a single knit tentacle structure (flat knitted). With this organization, the manufacturing cost can be reduced, and the robot arm can cope with the intense bending and stretching movements of the robot arm. As an example, a multi-filament yarn is false-twisted, and an S-twisted yarn and a Z-twisted yarn are alternately supplied to a circular knitting machine during false twisting to knit a single knit. The circular knit knit is in a state in which S-twisted false twisted yarn and Z twist false twisted yarn of polyester or polyamide multifilament yarn are alternately arranged. In this way, the torque of the yarn can be canceled and the loop can be stabilized, and even when knitted, it is not skewed, has high stretchability and is easy to attach.

  The fineness and the number of filaments of the multifilament processed yarn can be arbitrarily set. For example, a yarn having 10 to 100 filaments and a total fineness of 20 to 500 dtex is used.

The circular knitted knit preferably has a basis weight in the range of 60 g / m ^{2 to} 320 g / m ² . If the basis weight is less than 60 g / m ² , the strength tends to be low and the amount of paint mist retained tends to be low. Further, when the basis weight exceeds 320 g / m ² , the cost tends to increase.

  The synthetic fiber is preferably composed of a transparent filament not containing titanium oxide. A general synthetic fiber is a so-called “semi-dull” in which 0.5% by weight of titanium oxide is added in order to provide light shielding properties. However, when it is “semi-dal”, the circular knitted knit is opaque and it is difficult to see the inside. Therefore, when a circular knitted knit is composed of transparent filaments that do not contain titanium oxide, so-called “super bright” yarn, it is not completely transparent, but it can be transparent enough to observe the inside, and the movement of the machine inside the painting robot Especially, paint tubes and air tubes can be observed, and the supply state of paint can be checked.

  In the present invention, the protective cover may be a combination of parts of a plurality of sizes that fit the shape and size of the painting robot. Usually, the painting robot is composed of a plurality of parts such as the machine base, body, and spray arm. Therefore, if a protective cover is formed in a size suitable for each part, there is no waste and the 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. By using these fixing means, it is possible to prevent the protective cover from being detached from the painting work robot, and to create and cover a gap even when a paint pipe or an electric wire is present. 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.

  Moreover, it is preferable that the end of the protective cover is subjected to fraying prevention treatment by fusion processing. This is because it is not preferable to remove dust in the painting operation.

  Next, it demonstrates using drawing. FIG. 1 is a plan view of a cylindrical protective cover 1 according to an embodiment of the present invention. Seamless in the circumferential direction. Since both ends are processed by a stretchable sewing method or a heat melting process that does not impair the stretchability, fraying from the ends does not occur. The protective cover is folded in such a manner that the diameter of the cylindrical knitted fabric is the width, and as an example, the length L is 0.3 to 4.5 m and the width D is 0.3 to 1.5 m.

  FIG. 2 is a perspective view of a protective cover in which two cylindrical knitted fabrics 3 and 4 having different diameters are sewn together or connected continuously. Both ends are similarly folded and sewn. For example, the protective cover is folded so that the diameter of the cylindrical knitted fabric is the width. For example, the length L1 is 0.3 to 4.0 m, L2 is 0.3 to 1.5 m, and the width D1 is 0.00. 3 to 1.5 m, D2 is 0.05 m or more and less than 0.3 m.

  FIG. 3 is a perspective view of an example in which the protective cover 1 of FIG. 1 or 2 is attached to the painting work robot arm 10. The protective cover 1 covers the entire painting work robot arm 10 and can cope with expansion and contraction even when the joint part is subjected to intense movement. 11 is a machine base, 12 is a rotating base, 13 is an arm, 14 is a joint, and 15 is a paint spray.

  FIG. 4 is an organization chart of a single knit tengu structure (flat knitting) in one embodiment of the present invention. FIG. 5 is a schematic explanatory view showing a stitch forming process of the tentacle structure (flat knitting). In this case, it is preferable to supply S-twisted yarns to odd-numbered yarns and Z-twisted yarns to even-numbered yarns.

  FIG. 6 is an explanatory view showing the movement of the knitting needle.

Hereinafter, the present invention will be described more specifically with reference to examples.
(1) Elongation rate of knitting It conformed to JIS L1018B method (constant load method). Under an atmosphere of temperature 20 ± 2 ° C. and relative humidity 65 ± 2%, the knitted fabric was cut into a size of 30 cm in length and 5 cm in width in the wale direction (warp direction) and course direction (weft direction), respectively. 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 500 g load is gently applied, and the distance between the marks after holding for 1 minute is measured, The elongation (%) 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 = {(L ₁ −L) / L} × 100
E _p : Elongation rate (%)
L: Length between original marks (cm)
L ₁ : Length (cm) between marks after applying a load of 500 g and holding for 1 minute
(2) Elastic modulus of knitting It conformed to JIS L1018B method (constant load method). Under an atmosphere of temperature 20 ± 2 ° C. and relative humidity 65 ± 2%, the knitting was cut into a size of 30 cm in length and 5 cm in width in the wale direction (warp direction) and course direction (weft direction), respectively. A test piece was obtained. The test piece was attached to a tensile tester with a grip distance of 20 cm, held for 1 minute with a 500 g load applied, the distance between the marks was measured, the load was immediately removed, and the sample was left for another 3 minutes. The tensile speed of the test piece was 20 cm / min. Thereafter, a load of 3 gf is applied, the distance between the marks is measured again, the elongation elastic modulus (%) at constant load is obtained by the following formula, and the wale direction (vertical direction) and the course direction (lateral direction) are each 5 times. The average value of was calculated.
E _q = {(L ₀ −L ₁ ) / (L ₀ −L)} × 100
E _q : Elongation elastic modulus (%)
L: Length between original marks (cm)
L ₀ : Length (cm) between marks after applying a load of 500 g and holding for 1 minute
L ₁ : The length (cm) between the marks when the load of 500 g is removed and left for 3 minutes, and then the load of 3 gf is applied.
Example 1
(1) Knitting knitting Polyester filament false twisted yarn (48 filaments, total fineness 167 dtex, titanium oxide 0.5 wt% added yarn), round S twisted yarn and Z twisted yarn alternately during false twisting Supplied to a knitting machine and knitted into a tengu structure (flat knitting). The size was set to a width D of 1.5 m and a length of L 60 m with the cylindrical object placed on a flat place.
(2) Higher dyeing process The above knitted fabric was dyed and processed under the following conditions.
a. Disperse dyes: "DIANIX BLUE FBL" manufactured by Dystar, 0.01% owf (owf stands for on the weight of fiber), "DISPERSE RED AC-E" manufactured by Nagase Color Chemical Co., 2.4% owf, Dyster Made "DIANIX YELLOW AC-E" 0.8% owf
b. “Nicol DA-23” manufactured by Sekisei Kasei Co., Ltd. as a pH adjusting acid is 1.2% owf.
c. 1% owf trade name “21-WO-21” manufactured by Tsutatsu as a dispersion material
As the dyeing machine, a high-pressure liquid dyeing machine was used, and the knitted fabric was kept in a relaxed state and dyed at 130 ° C. for 40 minutes.

  Thereafter, it was washed by reduction, washed with water, dehydrated and once dried.

  Next, an aqueous solution containing 10 wt% of “Fran JP-40” manufactured by Daiwa Chemical Industry as a flameproofing agent and 0.5 wt% of “Sunstat ES-15” manufactured by Sanyo Chemical Industries, Ltd. as an antistatic processing agent was prepared. Then, the dyed knitted fabric was immersed in this, and was squeezed using a mangled pad so that the pickup rate was 80 wt%. After that, it was dried, and a 105 cm wide frame was passed through the inside of the round knit so that it was not twisted.

The size thus obtained was 1 m in width D and 45 m in length L in FIG. 1 in a state where the cylindrical object was placed on a flat surface as it was. The number of courses of the obtained knitting was 48 / inch, the number of wales was 41 / inch, and the basis weight was 165 g / m ² .
(3) Elongation rate of knitting The elongation rate based on the above-mentioned JIS L1018B method was 30% in the vertical direction and 99% in the transverse (circumferential) direction. Further, the elastic modulus of elongation was 90% in the vertical direction and 85% in the lateral (circumferential) direction.
(4) Flame retardancy of knitted fabric The flame retardancy of the knitted fabric was as shown in Table 1 below.

(5) Antistatic property of knitted fabric The antistatic property of knitted fabric was measured in accordance with JIS L1094B method, temperature 20 ° C., relative humidity 65% RH, using rotary static tester, 400 rpm, and friction cloth using cotton. As a result, the charged voltage in the vertical direction was 7V, and the charged voltage in the transverse direction was 3V. The charged voltage in the warp direction of the raw knitted fabric was 1000V, and the charged voltage in the transverse direction was 800V.

Further, in accordance with JIS L1094-1997 reference method, the surface leakage resistance value in the vertical direction at a temperature of 20 ° C., a relative humidity of 40% RH, and an applied voltage of 1000 V is 2.2 × 10 ⁸ Ω, and the width direction is 6.0. × 10 ⁹ Ω.
(6) Robot protective cover test The protective cover obtained as described above was attached to the painting robot shown in FIG. As a result, it was easy to attach and detach, and the work time was 5 to 10 minutes compared to the conventional work of winding a film (40 to 50 minutes). In addition, since there is no sewing line in the length direction, there was no problem of being caught even if the robot repeatedly moved by painting work. In addition, since a large amount of paint mist can be retained, the occurrence of product defects due to paint dripping can be reduced. In addition, since it has flame retardancy and antistatic properties, it was not charged by static electricity. Furthermore, since the protective cover was dyed red, it could be easily discriminated when the paint splashes adhered, and it could be replaced, washed and reused.

(Example 2)
(1) Knitting knitting Polyester filament false twisted yarn (48 filaments, total fineness 167 dtex, titanium oxide 0.5 wt% added yarn), round S twisted yarn and Z twisted yarn alternately during false twisting Supplied to a knitting machine and knitted into a tengu structure (flat knitting). The size was set to a width D of 1.5 m and a length of L 60 m with the cylindrical object placed on a flat place.
(2) High-level dyeing process An aqueous solution in which 0.6 g / liter of the scouring agent SC-1103 is dissolved is prepared from the above knitted fabric and treated in a high-pressure liquid dyeing machine at 130 ° C. for 40 minutes in the same manner as in Example 1. It was washed with water, dehydrated and once dried.

  Next, an aqueous solution containing 10 wt% of “Fran JP-40” manufactured by Daiwa Chemical Industry as a flameproofing agent and 0.5 wt% of “Sunstat ES-15” manufactured by Sanyo Chemical Industries, Ltd. as an antistatic processing agent was prepared. Then, the dyed knitted fabric was immersed in this, and was squeezed using a mangled pad so that the pickup rate was 80 wt%. After that, it was dried, and a 105 cm wide frame was passed through the inside of the round knit so that it was not twisted.

The size thus obtained was 1 m in width D and 45 m in length L in FIG. 1 in a state where the cylindrical object was placed on a flat surface as it was. The number of courses of the obtained knitting was 48 / inch, the number of wales was 41 / inch, and the basis weight was 165 g / m ² .
(3) Elongation rate of knitting The elongation rate based on the above-mentioned JIS L1018B method was 40% in the vertical direction and 100% in the transverse (circumferential) direction. Further, the elastic modulus of elongation was 90% in the vertical direction and 82% in the lateral (circumferential) direction.
(4) Flame retardancy of knitted fabric The flame retardancy of the knitted fabric was as shown in Table 2 below.

(5) Antistatic property of knitted fabric The antistatic property of knitted fabric was measured in accordance with JIS L1094B method, temperature 20 ° C., relative humidity 65% RH, using rotary static tester, 400 rpm, and friction cloth using cotton. As a result, the charged voltage in the vertical direction was 6V, and the charged voltage in the transverse direction was 3V.

Further, in accordance with JIS L1094-1997 reference method, the surface leakage resistance value in the vertical direction at a temperature of 20 ° C., a relative humidity of 40% RH, and an applied voltage of 1000 V is 2.9 × 10 ⁸ Ω, and the width direction is 2.5. × 10 ⁹ Ω.
(6) Robot protective cover test The protective cover obtained as described above was attached to the painting robot shown in FIG. As a result, it was easy to attach and detach, and the work time was 5 to 10 minutes compared to the conventional work of wrapping wrap (40 to 50 minutes). Since this protective cover has no sewing line in the length direction, there was no problem of being caught even if the robot repeatedly moved by the painting work. Furthermore, it has high liquid retention and can hold a large amount of paint mist, so that the occurrence of product defects due to paint spilling can be reduced. Moreover, since the antistatic property was imparted, it was not charged by static electricity. Furthermore, it has high safety because it has flame resistance. They could also be washed and reused.

(Example 3)
(1) Knitting knitting Polyester filament drawn yarn (raw yarn, 48 filaments, total fineness 167 dtex, titanium oxide additive-free yarn: super bright yarn) is fed to a circular knitting machine and knitted into a tense structure (flat knitting) . The size was set to a width D of 1.5 m and a length of L 60 m with the cylindrical object placed on a flat place.
(2) High-level dyeing process An aqueous solution in which 0.6 g / liter of the scouring agent SC-1103 is dissolved is prepared from the above knitted fabric and treated in a high-pressure liquid dyeing machine at 130 ° C. for 40 minutes in the same manner as in Example 1. It was washed with water, dehydrated and once dried.

  Next, an aqueous solution containing 10 wt% of “Fran JP-40” manufactured by Daiwa Chemical Industry as a flameproofing agent and 0.5 wt% of “Sunstat ES-15” manufactured by Sanyo Chemical Industries, Ltd. as an antistatic processing agent was prepared. Then, the dyed knitted fabric was immersed in this, and was squeezed using a mangled pad so that the pickup rate was 80 wt%. After that, it was dried, and a 105 cm wide frame was passed through the inside of the round knit so that it was not twisted.

The size thus obtained was 1 m in width D and 45 m in length L in FIG. 1 in a state where the cylindrical object was placed on a flat surface as it was. The number of courses of the obtained knitting was 48 / inch, the number of wales was 41 / inch, and the basis weight was 165 g / m ² .
(3) Elongation rate of knitting The elongation rate based on the above-mentioned JIS L1018B method was 40% in the vertical direction and 100% in the transverse (circumferential) direction. Further, the elastic modulus of elongation was 90% in the vertical direction and 82% in the lateral (circumferential) direction.
(4) Flame retardancy of knitted fabric The flame retardancy of the knitted fabric was as shown in Table 3 below.

(5) Antistatic property of knitted fabric The antistatic property of knitted fabric was measured in accordance with JIS L1094B method, temperature 20 ° C., relative humidity 65% RH, using rotary static tester, 400 rpm, and friction cloth using cotton. As a result, the charged voltage in the vertical direction was 6V, and the charged voltage in the transverse direction was 3V.

Further, in accordance with JIS L1094-1997 reference method, the surface leakage resistance value in the vertical direction at a temperature of 20 ° C., a relative humidity of 40% RH, and an applied voltage of 1000 V is 2.9 × 10 ⁸ Ω, and the width direction is 2.5. × 10 ⁹ Ω.
(6) Robot protective cover test The protective cover obtained as described above was attached to the painting robot shown in FIG. As a result, it was easy to attach and detach, and the work time was 5 to 10 minutes compared to the conventional work of wrapping wrap (40 to 50 minutes). Since this protective cover has no sewing line in the length direction, there was no problem of being caught even if the robot repeatedly moved by the painting work. Furthermore, it has high liquid retention and can hold a large amount of paint mist, so that the occurrence of product defects due to paint spilling can be reduced. Moreover, since the antistatic property was imparted, it was not charged by static electricity. Furthermore, it has high safety because it has flame resistance. In addition, this protective cover is not completely transparent but is transparent enough to observe the inside, and can observe the movement of the machine inside the painting robot, the paint tube and the air tube, and check the paint supply status. It was. It could also be washed and reused.

Example 4
In this embodiment, an example of a plurality of protective covers made up of parts of a plurality of sizes that fits the shape and size of the painting 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, a tip protection cover 21 for covering the vicinity of the paint injection port of the painting work robot was created by 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 upper end of the fray is a fray-preventing edge 22 by high-frequency fusion processing with a fusion width of 5 mm. By fusing, it is not frayed from the end and fiber waste is not generated. The bottom side was bag-sewn and rubber 23 was inserted.

  Next, as shown in FIG. 8, an intermediate protective cover 24 for covering the movable part of the intermediate part of the painting 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 upper end of the fray is a fray-preventing edge 22 by high-frequency fusion processing with a fusion width of 5 mm. The bottom side was sewn with a bag and a string 25 was used as a fixing means.

  Next, as shown in FIG. 9, a body protection cover 26 for covering the body portion of the painting robot was created with a circular knitting machine. The size was 1200 mm wide and 2000 mm long when folded as shown in FIG. The upper end of the fray is a fray-preventing edge 22 by high-frequency fusion processing with a fusion width of 5 mm. The bottom side was sewn with a bag and a string 25 was used as a fixing means. Furthermore, the separation part 27 was created with a length of 900 mm from the upper right, and the separation part 27 was stopped by a button 29 or a hook. The buttons 29 and 29 are fixed to the string 30 and are fixed in the button holes 28 and 28. When separating, the buttons 29 and 29 are removed from the body protection cover 26. 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 be fixed to a metal such as a housing of a robot and a robot, and even a complicated shape can be fixed without slack. The magnet can also be removed when washing.

  The tip protection cover 21, the intermediate protection cover 24, and the body protection cover 26 created as described above were placed on the painting work robot 10 as shown in FIG. Since the protective covers 21, 24 and 26 are configured to fit the shape and size of the painting work robot 10, there is no protective space and the robot arm can move freely as shown in FIG. We were able to. Reference numerals 31 a to 31 d are electric wires connected to the painting work robot 10. Using the separation part 27 shown in FIG. 9, the protective cover 26 could be covered without moving the positions of the electric wires 31a to 31d.

FIG. 1 is a perspective view showing a protective cover in one embodiment of the invention. FIG. 2 is a perspective view showing a protective cover according to another embodiment of the present invention. FIG. 3 is a schematic perspective view in which a protective cover according to an embodiment of the present invention is mounted on a robot. FIG. 4 is a plan view showing the knitting structure of one embodiment of the present invention. FIG. 5 is a process diagram showing knitting of one embodiment of the present invention. FIG. 6 is a process diagram showing loop formation of a knitted fabric in one embodiment of the present invention. FIG. 7 is a plan view showing a tip protective cover for covering the vicinity of a paint injection port of a painting work robot in Embodiment 4 of the present invention. FIG. 8 is a plan view showing an intermediate protective cover of a painting work robot in Embodiment 4 of the present invention. FIG. 9 is a plan view showing a body protective cover for a painting robot according to a fourth embodiment of the present invention. FIG. 10 is a plan view showing a protective cover for covering the entire painting work robot in Embodiment 4 of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Protective cover 3, 4 Cylindrical knitting 10 Painting work robot 11 Machine base 12 Rotating base 13 Arm 14 Joint 15 Coating spray 21 Tip protection cover 22 Fray prevention edge 23 by high frequency fusion processing 23 Rubber 24 Intermediate protection cover 25 String 26 Botie protection Cover 27 Separating part 28, 28 Button hole 29, 29 Button 30 Button string 31a-31d Electric wire

Claims (9)

A protective cover that covers the painting robot,
The protective cover consists of parts of multiple sizes that fit the shape and size of the painting robot body including the arm, and is composed of a circular knitted knit using synthetic fiber yarn in a cylindrical shape. The direction is seamless,
The synthetic fiber yarn is a multifilament false twisted yarn made of synthetic fiber,
The circular knitted knit is a protective cover for a painting work robot characterized by having an elongation percentage based on JIS L1018B method (constant load method) of 15% or more in the vertical direction and 50% or more in the circumferential direction.   The protective cover for a painting work robot according to claim 1, wherein the circular knitted fabric is dyed, has a dyeing temperature of 130 ° C or higher, and has a dyeing finish width of 30 to 60% of the knitting width to develop stretchability. .   The painting work robot according to claim 1 or 2, wherein the circular knitted knit is a single knit tentacle structure in which S-twisted false-twisted yarn and Z-twisted false-twisted yarn made of synthetic fibers are alternately arranged. Protective cover. The circular knitting knit having a basis weight painting work robot protective cover according to claim 1 which is 80 g / m ² or more 320 g / m ² or less.   The protective cover for a painting work robot according to claim 1, wherein the protective cover has flame retardancy and / or antistatic properties.   The protective cover for a painting work robot according to claim 1, wherein the synthetic fiber is a polyester fiber or a polyamide fiber.   The protective cover for a painting work robot according to claim 1, wherein the synthetic fiber is made of a transparent filament that does not contain titanium oxide. The said protective cover is a protective cover for coating work robots in any one of Claims 1-7 which has a fixing means by a string, rubber | gum, a button, a hook, a hook, a magnet, a fastener, or a hook-and-loop fastener further . The protective cover for a painting work robot according to any one of claims 1 to 8, wherein an end of the protective cover is subjected to fraying prevention processing by fusion processing .

Images