JP5470547B2 - Protective cover for work robot - Google Patents

Description

  The present invention relates to a work robot protective cover that covers a work robot that performs operations such as painting and welding in a factory and protects a main body from dirt caused by the work.

  Some work robots that perform painting and welding are covered with a protective cover for the work robot in order to prevent stains such as scattered high-temperature sparks, scattered machine oil, and scattered paint. In particular, for work robots working in an environment where high-temperature working oil, welding sparks, paint splashes, etc. are scattered, dirt may adhere to moving parts such as joints, which may cause failure and protect from dirt It is necessary to cover with a cover. In order to obtain durability against high temperatures, such a conventional protective cover for a working robot uses a rigid and non-stretchable woven material such as a fire fighting suit. The joint portion of the work robot is made to follow the movement of the joint using a complicated and heavy bellows method in order to cope with bending and stretching. Furthermore, in order to match the shape of the robot, sewing is performed by connecting and switching fabrics, and complicated design and manufacturing methods are used to correspond to the shape and operation of the work robot. The protective cover for the work robot is expensive. The problem is that the weight is heavy and the durability is as short as about one year. In view of this, there has been proposed a protective cover for a working robot made of a knitted fabric having flexibility and stretchability so that the structure of the protective cover for the working robot is made simpler and can cope with the movement of the joint.

  For example, a protective cover for a painting work robot disclosed in Patent Document 1 is formed in a circular shape by circular knitting knit using synthetic fiber yarn, and the circumferential direction of the main part is seamless. The circular knitted knit is made of a material having flame retardancy and antistatic properties. This protective cover for the robot for painting work has no sewing line in the length direction, so that the robot will not get caught even if it repeats the movement of the painting work and can hold a large amount of paint mist. The occurrence of defects can be reduced.

  Moreover, the robot currently disclosed by patent document 2 is entirely covered with the cover comprised with soft materials, such as cloth. The cover is made of a waterproof or flame retardant material, and a metal foil such as copper or aluminum or a braided material such as aluminum is attached to the entire inner surface or a part thereof.

  In addition, the protective cover for the working robot disclosed in Patent Document 3 has a cylindrical shape made of circular knitting knit, and a pair of openings having a predetermined length along the longitudinal direction at the middle portion thereof And an open fastener sewn in the opening. After covering the work robot with the opening closed, the slider of the open fastener is moved to open the pair of openings, and the open fastener elements sewn in the openings are opposed to each other. Lock each other. Thereby, it separates into two cylinders in a cylindrical intermediate part. According to this protective cover for a working robot, by inserting two separate cylinders into the arm body and the hose body, respectively, into the working robot in which the arm body and the hose body are separated from each other in parallel. The movement of the arm body and hose body can be easily confirmed from the outside.

JP 2008-30186 A JP 2005-199385 A Utility Model Registration No. 3141165

  In the case of the above-described background art, a working robot composed of a plurality of movable parts is covered with one part, which is large and takes time to attach and detach. In addition, since a large space is provided so that the working robot moves smoothly, the appearance is not good, and the weight is heavy, and there is a possibility that a load is applied when the working robot is operated. In addition, since a large area of fabric is used, the unit price is high, and the entire work robot is covered with a single part. It was a wasteful thing.

  The present invention has been made in view of the above-mentioned problems of the background art, is easy to attach to a work robot, and can be partially exchanged according to the degree of dirt. The purpose is to provide a protective cover.

The present invention relates to a protective cover for the working robot to cover and protect the outer surface of the working robot, a fixed portion and a movable portion of the working robot, and is formed in a shape to cover each part of the joints connecting them, each It comprises a knitted covering cloth composed of warp knitting or weft knitting covering each part of the fixed part and the movable part separated by a joint, and the covering cloth comprises a fabric made of the knitted cloth containing glass fiber, Each part is made into a predetermined shape, a stretchable film is laminated on the surface, a sleeve covering the joint is provided at a predetermined edge, and the covering of each part of the work robot is covered with the cover. the fabric is mounted, the said respective portions between the respective joints of the covering fabric the working robot, covering in each separate said covering fabric, said sleeve covering the joint between the respective parts, the joint Both sides of the positioned extending from said cover cloth covering each site, is the working protective cover robot to cover the joint are overlapped with each other

  In particular, the covering cloth is divided by joint portions of the robot, and the end portions of the covering cloth are overlapped and covered at each joint portion.

  A film having water and oil repellency, stretchability and flame resistance is laminated on the covering cloth. Furthermore, the covering cloth is knitted with flame retardant fibers such as glass fibers and synthetic fibers. The synthetic fiber is, for example, a polyester fiber. Further, it may be 100% glass fiber.

  The work robot in the present invention refers to an automatic machine that performs work with movement, and is not limited to a human-type or arm-like robot, but includes movable parts of various automatic work machines.

  The protective cover for the working robot of the present invention is made by combining small parts divided for each part such as a joint of the working robot, and each part is made of a stretchable cloth made of knitting, Easy to attach to and detach from the working robot. In addition, it is attached to each part of the work robot, can reliably follow the movement of the work robot, and the joint is also reliably covered. Moreover, it is not necessary to provide a space for following the movement of the work robot, and the manufacturing cost can be reduced by making the fabric with a minimum area. Moreover, since it is lightweight, the load of a working robot is light.

It is a disassembled perspective view of the protective cover for working robots of one Embodiment of this invention. It is a perspective view which shows the use condition of the protective cover for work robots of this embodiment. It is a perspective view of the work robot which attaches the protective cover for work robots of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 show an embodiment of the present invention. As shown in FIG. 1, a protective cover 10 for a working robot according to this embodiment includes a first cover 12, a second cover 14, A third cover 16 and a fourth cover 18 are formed. The first cover 12, the second cover 14, the third cover 16, and the fourth cover 18 are all made by cutting and sewing a fabric that is a flat knitted knit or a warp knitted knit into a predetermined shape. The fiber of the flat knitting or warp knitting is made of glass fiber, and may be 100% glass fiber or glass fiber mixed with polyester fiber or the like. The knitting method is, for example, a smooth knitting (rubber knitting). On the surface of each of the first cover 12, the second cover 14, the third cover 16, and the fourth cover 18, films having water and oil repellency, stretchability, and flame resistance are laminated. This film is made of, for example, urethane. By combining a smooth knitted or Milan knitted film with a stretch flameproof film, the fabric can be stretched to about 50%.

  As shown in FIG. 1, the first cover 12 includes a substantially rectangular bottom surface 20, a side surface 22 in which a semicircular portion and a rectangular protruding portion protruding in one direction are integrally provided, and a substantially symmetrical shape with the side surface 22. The side surface 24 and the belt-shaped upper surface 28 having a fixed width attached between the side surfaces 22 and 24 are sewn together. A circular through hole 30 is provided at the center of the bottom surface 20, and a sleeve 32 is provided on the periphery of the through hole 30 so as to protrude outward with a constant width. A circular through hole 34 is provided at the center of the semicircular portion of the side surface 22, and a sleeve 36 is provided at the peripheral portion of the through hole 34 so as to protrude outward with a constant width. The side surface 22 is provided with a cutting line 38 continuous from the position near the bottom surface 20 of the peripheral edge of the through hole 34 to the bottom surface 20. The cutting line 38 continues to the bottom surface 20 and continues to the through hole 30. In the sleeve 32 of the through hole 30, a portion facing the cutting line 38 is broken, and surface fasteners 39 are attached to side edges on both sides of the cutting line 38. Also on the sleeve 36, a surface fastener 39 that is engaged with the second cover 14 is attached.

  As shown in FIG. 1, the second cover 14 has a side surface 40 that is long in one direction, and the width of the side surface 40 is narrow near the middle and widens toward both ends, and both ends are formed in a semicircular shape. Has been. A belt-like side face 42 having a constant width is provided around the peripheral edge of the side face 40. A side surface 44 having substantially the same shape as the side surface 40 is provided at the end of the side surface 42 opposite to the side surface 40. A cutting line 46 is provided along the longitudinal direction at the center of the side surface 44, one end of the cutting line 46 reaches the vicinity of the end of the side surface 44, and the other end is the end opposite to the side surface 44. , Crosses the side surface 42 and reaches the side surface 40, and extends from the end of the side surface 40 toward the center of a predetermined length. In the vicinity of both end portions of the side surface 44, through holes 48 that are continuous with the cutting line 46 are respectively provided. A cover member (not shown) that covers the cutting line 46 is provided between the pair of through holes 48. Further, a sleeve 50 is provided on the outer periphery of the pair of through holes 48 so as to protrude outward with a constant width. Each sleeve 50 is broken at a portion facing the cutting line 46. Near the center of the side surface 44, a pair of string bodies 51 are provided on both side edges of the cutting line 46. A hook-and-loop fastener 49 is also attached to one side edge of the cutting line 46 and the covering member and engages with each other. One sleeve 50 is also provided with a hook-and-loop fastener 49 that is engaged with the first cover 12, and the respective sleeves are overlapped with the sleeves 36 and 66 of the first cover 12 and the third cover 16.

  As shown in FIG. 1, the third cover 16 is provided with a rectangular top surface 52 and a bottom surface 54 and four side surfaces 56, 58, 60, and 62 that are sewn together. A circular through-hole 64 is provided at the center of the side surface 56, and a sleeve 66 is provided at the periphery of the through-hole 64 so as to protrude outward with a constant width. The side surface 62 that intersects the side surface 56 at a right angle is provided with a through hole 68 at a position slightly closer to the upper surface 52 than the center of the side surface 62, and protrudes outward with a constant width at the peripheral edge of the through hole 68. A sleeve 70 is provided. The side surface 62 is provided with a cutting line 72 continuous from the position near the top surface 52 of the peripheral edge of the through hole 68 to the top surface 52. The cutting line 72 is continuous with the upper surface 52, is continuous with the side surface 58 that is transverse and parallel to the side surface 62, extends downward substantially perpendicularly to the vicinity of the center of the side surface 58, and horizontally To the side surface 56. Further, the side surface 56 extends in the horizontal direction and continues to the through hole 64. The portions of the sleeves 66 and 70 of the through holes 64 and 68 facing the cutting line 72 are broken. The cutting line 72 is provided with a cover member (not shown) that covers the cutting line 72. A hook-and-loop fastener 73 is attached to one side edge of the cutting line 72 and the covering member, and engages with each other. Also on the sleeve 66, a hook-and-loop fastener 73 engaged with the second cover 14 is attached, and is attached to be overlapped with each other.

  As shown in FIG. 1, the fourth cover 18 is formed in a cylindrical shape. One end of the fourth cover 18 in the longitudinal direction is an opening 81, and the opposite end is closed by a side surface 82. A circular through-hole 84 is provided at the center of the side surface 82, and a sleeve 86 is provided at the periphery of the through-hole 84 so as to protrude outward with a constant width. A cylindrical first side surface 76 is provided on the side surface 82 via an annular connecting member 74. A cylindrical second side surface 80 is provided on an end portion of the first side surface 76 opposite to the side surface 82 via an annular connecting member 78. The second side surface 80 is formed by sewing a large number of parts or connecting them with a surface fastener 87 so as to be suitable for the shape and operation of a work unit 90a of the work robot 90 described later. The end of the second side 80 opposite to the first side 76 is an opening 81 and is inserted into the through hole 68 of the third cover 16. The diameter of the second side surface 80 is narrowed toward the opening 81. The side surface 82 is provided with a cutting line 88 continuous from the position near the lower edge of the through hole 84 to the boundary line with the first side surface 76. The cutting line 88 passes through the connecting member 74, the first side surface 76, the connecting member 78, and the second side surface 80 and reaches the opening 81. A portion of the sleeve 86 of the through hole 84 facing the cutting line 88 is broken, and a covering member (not shown) that covers the cutting line 88 is attached to one side edge of the cutting line 88. A hook-and-loop fastener 87 is attached to the other side edge portion of the cutting line 88 and the covering member, and engages with each other. The opening 81 overlaps the sleeve 70 of the third cover 16 and covers the joint without gaps.

  Next, a method of using the work robot protective cover 10 will be described. The work robot protective cover 10 is attached to, for example, the work robot 90 shown in FIG. Here, the work robot 90 will be described. In the working robot 90, a first motor unit 94 is provided on a turntable 92 attached to a base (not shown), and a first arm 96 is rotatably provided on the first motor unit 94. A second motor unit 98 is provided at the tip of the first arm 96. The second motor unit 98 is provided with a second arm 100 so as to be rotatable. A shaft member 102 is provided at the tip of the second arm 100, and the shaft member 102 projects outward from the second arm 100 and rotates around the shaft. A coating device and a welding device (not shown) are attached to the tip of the shaft member 102.

  Then, the first cover 12 of the work robot protective cover 10 is placed on the first motor portion 94 of the work robot 90. At this time, the cutting line 38 of the first cover 12 is opened, the first motor part 94 is put inside, the turntable 92 is inserted into the through hole 30 formed in the bottom surface 20, and the through hole formed in the side surface 22. A shaft member (not shown) for operating the first arm 96 is inserted into 34. Then, each surface fastener 39 is closed.

  Next, the second cover 14 of the work robot protective cover 10 is placed on the first arm 96. At this time, the cutting line 46 of the second cover 14 is opened, the first arm 96 is put inside, and the end portion where the cutting line 46 is formed on the side surface 40 is located at the end portion close to the first motor portion 94. In other words, it is positioned below. A shaft member continuous with the first motor portion 94 is inserted into the through hole 48 positioned below, and a shaft member continuous with the second motor portion 98 is inserted into the through hole 48 positioned above. In this state, each surface fastener 49 is closed. Further, the pair of string bodies 51 are tied together, and the second cover 14 is locked to the first arm 96. Then, the sleeves 36 and 50 are overlapped and closed.

  Next, the third motor cover 98 is put on the third cover 16 of the work robot protective cover 10. At this time, the cutting line 72 continuous to the side surface 62, the upper surface 52, the side surface 58, and the side surface 56 is opened and the second motor part 98 is inserted inside. The shaft member to be inserted is inserted, and the second arm 100 is inserted into the through hole 68 formed in the side surface 62. Each surface fastener 73 is closed and the sleeves 50 and 66 are overlapped and closed.

  Next, the fourth cover 18 of the work robot protective cover 10 is placed on the second arm 100 and the shaft member 102. At this time, the cutting line 88 continuous to the side surface 82 and the first side surface 76 is opened, the second arm 100 and the shaft member 102 are inserted inside, and the base end portion of the second arm 100 is inserted into the opening 81, The sleeve 70 provided in the through hole 68 of the three cover 16 is positioned inside. Further, the tip of the shaft member 102 is inserted into the through hole 84. A coating device, a welding device, or the like (not shown) is attached to the distal end portion of the shaft member 102, and is attached to the outside of the through hole 84 of the fourth cover 18.

  In this way, the work robot protective cover 10 is attached to the entire work robot 90, and the work robot 90 is operated to perform painting work and welding work. Later, paint for coating, welding sparks, etc. jump to the protective cover 10 for the working robot and the surface of the working robot 90 becomes dirty, but the inside and joints of the working robot 90 are protected.

  According to the protective cover 10 for the working robot of this embodiment, the first cover 12, the second cover 14, the third cover 16, and the fourth cover 18 that are divided for each joint of the working robot 90 are combined. Since the member is made of stretchable cloth, it can be easily attached to and detached from the work robot 90.

  According to the protective cover for the working robot of this embodiment, there is no need for a space for attaching / detaching the protective cover 10 for the working robot and an extra space for following the movement of the working robot 90, and the waste of the fabric is reduced. Manufacturing costs can be reduced. Furthermore, the weight is reduced, the burden on the work robot 90 can be reduced, and energy can be saved. Since the sewing is performed according to the shape of the work robot 90, the shape is not wasted and the weight can be reduced. It can be used properly, such as using a material that stretches only for joints with large bends.

  In addition, the 4th cover 18 etc. which are easy to get dirty are changed frequently, and the parts with little dirt can be used for a long time, and only the necessary parts are exchanged according to the degree of dirt and breakage. Can be maintained. The work robot protective cover 10 is attached in close contact with the work robot 90 and has a design that gives a good appearance, a slim and novel impression. In addition, the operation of the work robot 90 can be easily confirmed.

  Furthermore, since a stretchable flameproof film is laminated on the surface of the knitted fabric, it can be safely used without penetrating even if a spark or the like flies. By combining a smooth knitting and a stretch flameproof film, the elongation of the fabric can be reduced to about 50%, and both heat resistance and stretchability can be achieved. Since it is highly stretchable, it can be made into a simple shape close to a straight shape, and even a simple shape can sufficiently cope with the movement of the joint portion and the like, and does not require a folding structure such as bellows or bellows, and can be reduced in weight. It is possible to cope with bending, refraction, and bending of the work robot 90 up and down, left and right, and a simple structure is obtained.

  Since the film is laminated on the surface of the knitted fabric, dirt, oil, mist, etc. can be shut out without penetrating into the knitted fabric. Since dirt is difficult to be attached, an increase in weight due to the adhesion of dirt can be reduced. Since the fiber of the knitted fabric uses glass fiber, it has high heat resistance and oil resistance at a low cost. For example, even if an aluminum melt is attached during welding, the fiber is not melted and is safe.

  The work robot protective cover of the present invention is not limited to the above-described embodiment, and the number and shape of parts can be changed in accordance with the number and shape of the movable parts and rotating shafts of the work robot. . For example, a 6-axis robot can be configured with 4 parts. The flame-retardant fiber of the knitted fabric may be other than glass fiber, flame-retardant aramid fiber or fluorine fiber may be used, and various flame-retardant processed yarns can be used. In addition to the method of laminating a film on a knitted fabric, a resin coating may be applied. Further, a film may be laminated on the inside of the knitted fabric. Heat resistance can be further improved by laminating a film on the inner side.

10 Protective cover for work robot 12 First cover 14 Second cover 16 Third cover 18 Fourth cover 20, 54, 76 Bottom surface 22, 24, 26, 40, 42, 44, 56, 58, 60, 62, 82 Side 28, 52 Upper surface 30, 34, 48, 64, 68, 84 Through hole 32, 36, 50, 66, 70, 86 Sleeve 38, 46, 72, 88 Cutting line 51 String 90 Work robot

Claims (3)

In the protective cover for the work robot that covers and protects the outer surface of the work robot,
Warp knitting that is formed in a shape that covers each part of the fixed part and the movable part of the work robot , and each joint that connects them, and covers each part of the fixed part and the movable part that are separated by each joint. Or a knitted covering fabric consisting of weft knitting,
The covering cloth is made of a knitted fabric containing glass fibers in a predetermined shape for each part, a stretchable film is laminated on the surface, and the joint is formed on a predetermined edge. A covering sleeve is provided,
The covering cloth is attached to each part of the work robot, and each covering cloth covers the parts between the joints of the working robot with the separate covering cloths, and the parts between the parts. A protective cover for a working robot , wherein the sleeve covering the joint is positioned to extend from the covering cloth that covers the portions on both sides of the joint, and is overlapped to cover the joint .   The protective cover for a work robot according to claim 1, wherein the film of the covering cloth is a film having water and oil repellency, stretchability and flame resistance. The protective cover for a work robot according to claim 1 or 2, wherein the covering cloth is knitted from glass fibers and synthetic fibers.

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