JPH0129503B2 - - Google Patents
Info
- Publication number
- JPH0129503B2 JPH0129503B2 JP60077199A JP7719985A JPH0129503B2 JP H0129503 B2 JPH0129503 B2 JP H0129503B2 JP 60077199 A JP60077199 A JP 60077199A JP 7719985 A JP7719985 A JP 7719985A JP H0129503 B2 JPH0129503 B2 JP H0129503B2
- Authority
- JP
- Japan
- Prior art keywords
- weight
- propylene
- ethylene
- arm
- tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- ADCOVFLJGNWWNZ-UHFFFAOYSA-N antimony trioxide Chemical compound O=[Sb]O[Sb]=O ADCOVFLJGNWWNZ-UHFFFAOYSA-N 0.000 claims description 18
- 239000011342 resin composition Substances 0.000 claims description 14
- 229920001577 copolymer Polymers 0.000 claims description 13
- 229920001971 elastomer Polymers 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims description 12
- 229920001384 propylene homopolymer Polymers 0.000 claims description 11
- -1 polypropylene Polymers 0.000 claims description 10
- HQQADJVZYDDRJT-UHFFFAOYSA-N ethene;prop-1-ene Chemical group C=C.CC=C HQQADJVZYDDRJT-UHFFFAOYSA-N 0.000 claims description 9
- 239000004743 Polypropylene Substances 0.000 claims description 8
- 229920005674 ethylene-propylene random copolymer Polymers 0.000 claims description 8
- 229920001155 polypropylene Polymers 0.000 claims description 8
- YUAPUIKGYCAHGM-UHFFFAOYSA-N 1,2-dibromo-3-(2,3-dibromopropoxy)propane Chemical compound BrCC(Br)COCC(Br)CBr YUAPUIKGYCAHGM-UHFFFAOYSA-N 0.000 claims description 3
- JHJUYGMZIWDHMO-UHFFFAOYSA-N 2,6-dibromo-4-(3,5-dibromo-4-hydroxyphenyl)sulfonylphenol Chemical compound C1=C(Br)C(O)=C(Br)C=C1S(=O)(=O)C1=CC(Br)=C(O)C(Br)=C1 JHJUYGMZIWDHMO-UHFFFAOYSA-N 0.000 claims description 2
- 238000002156 mixing Methods 0.000 description 16
- 238000005452 bending Methods 0.000 description 13
- 230000006378 damage Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000008188 pellet Substances 0.000 description 4
- QQONPFPTGQHPMA-UHFFFAOYSA-N propylene Natural products CC=C QQONPFPTGQHPMA-UHFFFAOYSA-N 0.000 description 4
- 125000004805 propylene group Chemical group [H]C([H])([H])C([H])([*:1])C([H])([H])[*:2] 0.000 description 4
- VGGSQFUCUMXWEO-UHFFFAOYSA-N Ethene Chemical compound C=C VGGSQFUCUMXWEO-UHFFFAOYSA-N 0.000 description 3
- 239000005977 Ethylene Substances 0.000 description 3
- 239000004594 Masterbatch (MB) Substances 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 3
- 239000003063 flame retardant Substances 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000013329 compounding Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000001746 injection moulding Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- ZQBAKBUEJOMQEX-UHFFFAOYSA-N phenyl salicylate Chemical compound OC1=CC=CC=C1C(=O)OC1=CC=CC=C1 ZQBAKBUEJOMQEX-UHFFFAOYSA-N 0.000 description 2
- FEXBEKLLSUWSIM-UHFFFAOYSA-N 2-Butyl-4-methylphenol Chemical compound CCCCC1=CC(C)=CC=C1O FEXBEKLLSUWSIM-UHFFFAOYSA-N 0.000 description 1
- 229920003171 Poly (ethylene oxide) Polymers 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 150000003973 alkyl amines Chemical class 0.000 description 1
- 239000003963 antioxidant agent Substances 0.000 description 1
- 239000002216 antistatic agent Substances 0.000 description 1
- 229920005601 base polymer Polymers 0.000 description 1
- CJZGTCYPCWQAJB-UHFFFAOYSA-L calcium stearate Chemical compound [Ca+2].CCCCCCCCCCCCCCCCCC([O-])=O.CCCCCCCCCCCCCCCCCC([O-])=O CJZGTCYPCWQAJB-UHFFFAOYSA-L 0.000 description 1
- 239000008116 calcium stearate Substances 0.000 description 1
- 235000013539 calcium stearate Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007865 diluting Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229920005676 ethylene-propylene block copolymer Polymers 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000006082 mold release agent Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229960000969 phenyl salicylate Drugs 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920005629 polypropylene homopolymer Polymers 0.000 description 1
- 229920005604 random copolymer Polymers 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Compositions Of Macromolecular Compounds (AREA)
Description
[産業上の利用分野]
この発明は、産業ロボツト用外被管に関し、さ
らに詳しく言うと、産業用ロボツトにおける関節
等の屈曲、回動部あるいはアーム部等を被覆し、
前記関節部内の配線、機械部品等を保護し、また
アーム部の屈曲回動動作による人身事故の防止を
有効に防止することのできる産業ロボツト用外被
管に関する。 [従来の技術およびその問題点] 近年、産業界に進出する産業用ロボツトには、
その進歩、進出に伴い種々の問題点が生ずる。 たとえば、産業ロボツトのある種のものは、高
熱雰囲気下で作業する。その場合、産業ロボツト
は高熱あるいは高温から保護されねばならない。 この産業用ロボツトの故障部分は、先ず第一
に、アーム関節部等の回動部、屈曲部である。こ
の回動部、屈曲部の間隙から塵埃、水等が関節部
内に侵入して関節部内の錆の発生、ケーブルの破
損等が生じるのであるからアームの関節部もまた
有効に保護されねばならない。 アーム部は、通常、金属製の保護部材でおおわ
れているのであるが、アームの回動半径内で作業
する人員にこのアームが衝突したりする人身事故
の危険もある。 この発明は前記事情に基づいてなされたもので
ある。 すなわち、この発明の目的は、難燃性、耐熱性
を有することにより産業ロボツトを高熱あるいは
高温から保護し、また、引つ張り強さや耐屈曲疲
労性に優れることにより、複雑な形状の産業ロボ
ツトの外表面、あるいはアーム部の関節部を被覆
して産業ロボツト内部の保護を図ると共に周辺の
作業員の保護をも図るのに好適な産業ロボツト用
外被管を提供することにある。 前記目的を達成するために、この発明者が鋭意
研究したところ、プロピレンホモ重合体とエチレ
ン―プロピレンランダム共重合体との混合物また
はプロピレンホモ重合体に、特定のエチレン―プ
ロピレン二元共重合体ゴムと特定の配合割合でテ
トラプロモビスフエノールSのビス(2,3―ジ
ブロモプロピル)エーテル[略称:DPTBS]と
三酸化アンチモンとを配合してなるポリプロピレ
ン組成物を用いて蛇腹状に成形して得た管体は、
前記目的を達成することができることを見出しこ
の発明に到達した。 [前記問題点を解決するための手段] 前記目的を達成するためのこの発明のは、プロ
ピレンホモ重合体50〜95重量%とエチレン―プロ
ピレンランダム共重合体5〜50重量%とからなる
ポリプロピレン混合物またはプロピレンホモ重合
体60〜86.5重量%と、ムーニー粘度が30以上であ
るエチレン―プロピレン二元共重合体ゴム3〜20
重量%、テトラブロモビスフエノールSのビス
(2,3―ジブロモプロピル)エーテル8.5〜15重
量%と、三酸化アンチモン2〜10重量%とを有す
る樹脂組成物で蛇腹状に成形してなることを特徴
とする産業ロボツト用外被管である。 前記プロピレンホモ重合体としては、実質的に
アイソタクチツク構造を有する結晶性のポリプロ
ピレンホモ重合体が好適である。 前記エチレン―プロピレンランダム共重合体と
しては、エチレンを0.3〜8重量%含有する結晶
性重合体が好ましい。 本発明において注目す可きことは、前記エチレ
ン―プロピレンランダム共重合体の代りにエチレ
ン―プロピレンブロツク共重合体を配合してもこ
の発明の目的を達成することができず、むしろ難
燃性が低下すると共にブリードアウトが激しくな
ることである。難燃性が低下すると、産業ロボツ
ト外被管としてこの樹脂組成物を使用した場合、
産業ロボツトを高温環境下に置くことができなく
なるし、ブリードアウトが生じると、アーム間接
部内の各種部品の故障の原因になる。 ベースポリマーとして前記プロピレンホモ重合
体とエチレン―プロピレンランダム共重合体との
混合物を使用する場合、その配合割合は、プロピ
レンホモ重合体が50〜95重量%、エチレン―プロ
ピレンランダム共重合体が5〜50重量%である。
このエチレン―プロピレンランダム共重合体の配
合量が5重量%よりも少ないと、特にこれを配合
する効果がなく、50重量%よりも多いと配合量の
増加に比例した効果が得られない。 また、前記プロピレンホモ重合体とエチレン―
プロピレンランダム共重合体とのポリプロピレン
混合物またはプロピレンホモ重合体の配合量が前
記60重量%よりも少ないと樹脂組成物の成形加工
性が不良となり、したがつて、産業ロボツト用外
被管の作成が困難になり、また配合量が86.5重量
%よりも多いと難燃性、耐熱性が低下することと
なり、このような樹脂組成物を産業ロボツト用外
被管に成形しても前記のような不都合を生じる。 前記エチレン―プロピレン二元共重合体ゴム
は、エチレンとプロピレンとのランダム二元共重
合体であつて通常EPMと称するエラストマーで
ある。本発明では、この二元共重合体ゴムを配合
することが重要であり、たとえばエチレンとプロ
ピレンと他のモノマーとからなる三元共重合体ゴ
ムを配合しても耐屈曲疲労性を改善した樹脂組成
物を得ることができない。 また、本発明において重要なことは、前記エチ
レン―プロピレン二元共重合体ゴムは、そのムー
ニー粘度が30以上であることを要する。このムー
ニー粘度が30よりも小さいと、成形品の表面にブ
リードアウトが発生する。ブリードアウトの発生
についての不都合は前述の通りである。なお、こ
のエチレン―プロピレン二元共重合体ゴムのムー
ニー粘度が30以上である限り、樹脂組成物の流動
性を改善するために、ムーニー粘度が30よりも小
さいエチレン―プロピレン二元共重合体ゴムを混
合しても良い。この場合、ムーニー粘度が30より
も小さいエチレン―プロピレン二元共重合体ゴム
と、ムーニー粘度が30以上であるエチレン―プロ
ピレン二元共重合体ゴムの配合比は、重量比で
1:9〜5:5が適当である。 前記DPTBSおよび三酸化アンチモンは難燃剤
として配合するものであるが、この難燃剤の代り
に他の難燃剤を使用しても、大きな難燃性、耐熱
性、小さな熱伝導率、大きな引つ張り強さ、引つ
張り伸びを有する成形品が得られないことは注目
すべきことである。 DPTBSの配合割合は8.5〜15重量%、好ましく
は9〜12重量%であり、三酸化アンチモンの配合
割合は、2〜10重量%、好ましくは3〜7重量%
であるのが良い。 また、前記DPTBSの配合量が8.5重量%よりも
少なく、三酸化アンチモンの配合量が2重量%よ
りも少ないと、この樹脂組成物による産業ロボツ
ト用外被管の難燃性が低下し、DBTBSの配合割
合が15重量%よりも多く、三酸化アンチモンの配
合割合が10重量%よりも多いとこの樹脂組成物の
引張強さや衝撃強度が低下したりする。 この発明における樹脂組成物は、前記各成分を
前記配合割合で配合することにより得ることがで
きる。 また、この発明における樹脂組成物は、十分な
難燃性、耐熱性、大きな引つ張り強さ、引つ張り
伸び、衝撃強度を阻害しない限り、他の添加剤た
とえば2,6―ジ―t―ブチル―p―クレゾール
等の酸化防止剤、フエニルサリシレート等の紫外
線吸収剤、ポリオキシエチレンアルキルアミン等
の帯電防止剤、ステアリン酸カルシウム等の滑
剤、離型剤等を適宜量で含んでいても良い。 この発明における前記樹脂組成物に関し、前記
各成分の配合の順序には制限がない。 また配合の方法としは、通常の樹脂組成物を製
造する際の通常の配合方法を採用することがで
き、たとえば、ポリプロピレン成分(プロピレン
ホモ共重合体、ポリプロピレン混合物)その他の
各成分を予備混合しておき、得られた予備混合物
をさらに混練する方法、前記ポリプロピレン成分
に高配合量でDPTBSおよび三酸化アンチモンを
配合してマスタバツチ組成物を製造しておき、こ
のマスタバツチ組成物にポリプロピレン成分およ
びエチレン―プロピレン二元共重合体ゴムを配合
して、この発明で規定する配合割合になるまで前
記マスタバツチ組成物を希釈する方法等が挙げら
れる。 配合は、たとえば、リボンブレンダー、タンブ
ルミキサー、ヘンシエルミキサー、オープンロー
ル、バンバリーミキサー、単軸スクリユー押出し
機、2軸スクリユー押出し機、単軸往復動スクリ
ユー混練機等により行なうことができる。 このようにして得られる樹脂組成物は、押出成
形法により蛇腹状の管体に好適に成形することが
できる。 第1図に示すように、この蛇腹状の管体1で産
業ロボツトのたとえばアーム2の関節部3を被覆
すると、この管体1は大きな難燃性、耐熱性を有
しているので、この産業ロボツトを高温の場所に
設置しても、管体1内は管体1外のような高温に
至らず、また関節部3内の導電線、ケーブル等の
被覆部材が容易に溶融したり発火したりせず、し
かも、この管体1はその素材である樹脂組成物自
体が大きな引つ張り強さおよび耐屈曲疲労性を有
することと蛇腹状であることと相まつて、この管
体1は、アーム2の回動、屈曲等の複雑な動きに
追随し、しかも容易に破損しない。さらに、この
管体1は、前記アーム2の関節部3、第2図に示
すようにアーム2の本体部に装着しておくと、作
業者の指その他の身体部を前記関節部3の間隙に
挟む事故、回動するアーム2に衝突しても作業者
が大怪我をする等の事故を防止することができ
る。したがつて、この管体1は産業ロボツト用外
被管3として好適に使用し得るのである。 [発明の効果] この発明によると、高度の難燃性を有すると共
に大きな耐屈曲疲労性を有し、しかも引張強さ、
衝撃強度、耐熱性、ブリード性がバランスよく優
れている樹脂組成物を利用してこれを蛇腹状の管
体に成形し、この管体を産業ロボツト用外被管と
して、産業ロボツトのアーム関節部、アーム本
体、その他の各部に装着すると、内部に収納した
導電線、ケーブル等を外部の熱や火炎から保護す
ることができると共にこれらの導電線、ケーブル
その他の部品を外部よりの衝撃から保護すること
ができ、また周辺の金属部品に対するブリードア
ウトによる悪影響を防止することができ、産業ロ
ボツトの外表面を柔軟な蛇腹状の管体が被覆する
ので、作業者に対する事故を防止することができ
る、好適な産業ロボツト用外被管を提供すること
ができる。 [実施例] 次にこの発明の実施例および比較例を示してこ
の発明を更に具体的に説明する。なお、この発明
は、この実施例に限定されないことは言うまでも
ない。 (実施例1〜6、比較例1〜11) 第1表に示す配合組成にて、ナカタニ機械(株)製
の50ミリ単軸押出し機によりペレツトを得た。こ
のペレツトを、東芝機械(株)製の6オンス射出成形
機により、200〜230℃の加熱条件下で混練してペ
レツトを得た。このペレツトを、東芝機械(株)製の
6オンス射出成形機により、200〜210℃の加熱条
件下でテストピースを作成した。このテストピー
スにつき、UL―94規格に従つて難燃性を評価し、
またASTM D―648に従つて熱変形温度を策定
してこれにより耐熱性を評価し、ASTMC―177
に従つて熱伝導率を測定した。さらに、前記テス
トピースを用いてASTM D―638に従つて引つ
張り試験をして引つ張り強さおよび引つ張り伸び
を測定し、ASTM D―256に従つてアイゾツト
衝撃強度(ノツチ付き、ノツチなし)を測定し、
下記の方法に従つて耐屈曲疲労性を評価した。 すなわち、第3図に示すように、最大外径Dが
170mm、最小外径dが140mm、管体の厚みtが0.3
mm、蛇腹の山部分の幅Mが20mm、蛇腹の谷部分の
幅Vが15mm、全長Lが100m/mである管体を、
第4図に示すように、水平に広げたり、両端部を
相対接合して環状に曲げたりの繰り返しを行な
い、第4図中の印で示す中央部の破壊情況を、
屈曲回数で評価した。 結果を第1表に示す。 なお、第1表におけるDPTBSは、次の構造を
有し、丸菱油化(株)製の商品名「ノンネンPR―2」
である。 また、比較例6では、DPTBSの代りに次の構
造を有し、帝人化成(株)製の商品名「FG3100」を
使用した。
らに詳しく言うと、産業用ロボツトにおける関節
等の屈曲、回動部あるいはアーム部等を被覆し、
前記関節部内の配線、機械部品等を保護し、また
アーム部の屈曲回動動作による人身事故の防止を
有効に防止することのできる産業ロボツト用外被
管に関する。 [従来の技術およびその問題点] 近年、産業界に進出する産業用ロボツトには、
その進歩、進出に伴い種々の問題点が生ずる。 たとえば、産業ロボツトのある種のものは、高
熱雰囲気下で作業する。その場合、産業ロボツト
は高熱あるいは高温から保護されねばならない。 この産業用ロボツトの故障部分は、先ず第一
に、アーム関節部等の回動部、屈曲部である。こ
の回動部、屈曲部の間隙から塵埃、水等が関節部
内に侵入して関節部内の錆の発生、ケーブルの破
損等が生じるのであるからアームの関節部もまた
有効に保護されねばならない。 アーム部は、通常、金属製の保護部材でおおわ
れているのであるが、アームの回動半径内で作業
する人員にこのアームが衝突したりする人身事故
の危険もある。 この発明は前記事情に基づいてなされたもので
ある。 すなわち、この発明の目的は、難燃性、耐熱性
を有することにより産業ロボツトを高熱あるいは
高温から保護し、また、引つ張り強さや耐屈曲疲
労性に優れることにより、複雑な形状の産業ロボ
ツトの外表面、あるいはアーム部の関節部を被覆
して産業ロボツト内部の保護を図ると共に周辺の
作業員の保護をも図るのに好適な産業ロボツト用
外被管を提供することにある。 前記目的を達成するために、この発明者が鋭意
研究したところ、プロピレンホモ重合体とエチレ
ン―プロピレンランダム共重合体との混合物また
はプロピレンホモ重合体に、特定のエチレン―プ
ロピレン二元共重合体ゴムと特定の配合割合でテ
トラプロモビスフエノールSのビス(2,3―ジ
ブロモプロピル)エーテル[略称:DPTBS]と
三酸化アンチモンとを配合してなるポリプロピレ
ン組成物を用いて蛇腹状に成形して得た管体は、
前記目的を達成することができることを見出しこ
の発明に到達した。 [前記問題点を解決するための手段] 前記目的を達成するためのこの発明のは、プロ
ピレンホモ重合体50〜95重量%とエチレン―プロ
ピレンランダム共重合体5〜50重量%とからなる
ポリプロピレン混合物またはプロピレンホモ重合
体60〜86.5重量%と、ムーニー粘度が30以上であ
るエチレン―プロピレン二元共重合体ゴム3〜20
重量%、テトラブロモビスフエノールSのビス
(2,3―ジブロモプロピル)エーテル8.5〜15重
量%と、三酸化アンチモン2〜10重量%とを有す
る樹脂組成物で蛇腹状に成形してなることを特徴
とする産業ロボツト用外被管である。 前記プロピレンホモ重合体としては、実質的に
アイソタクチツク構造を有する結晶性のポリプロ
ピレンホモ重合体が好適である。 前記エチレン―プロピレンランダム共重合体と
しては、エチレンを0.3〜8重量%含有する結晶
性重合体が好ましい。 本発明において注目す可きことは、前記エチレ
ン―プロピレンランダム共重合体の代りにエチレ
ン―プロピレンブロツク共重合体を配合してもこ
の発明の目的を達成することができず、むしろ難
燃性が低下すると共にブリードアウトが激しくな
ることである。難燃性が低下すると、産業ロボツ
ト外被管としてこの樹脂組成物を使用した場合、
産業ロボツトを高温環境下に置くことができなく
なるし、ブリードアウトが生じると、アーム間接
部内の各種部品の故障の原因になる。 ベースポリマーとして前記プロピレンホモ重合
体とエチレン―プロピレンランダム共重合体との
混合物を使用する場合、その配合割合は、プロピ
レンホモ重合体が50〜95重量%、エチレン―プロ
ピレンランダム共重合体が5〜50重量%である。
このエチレン―プロピレンランダム共重合体の配
合量が5重量%よりも少ないと、特にこれを配合
する効果がなく、50重量%よりも多いと配合量の
増加に比例した効果が得られない。 また、前記プロピレンホモ重合体とエチレン―
プロピレンランダム共重合体とのポリプロピレン
混合物またはプロピレンホモ重合体の配合量が前
記60重量%よりも少ないと樹脂組成物の成形加工
性が不良となり、したがつて、産業ロボツト用外
被管の作成が困難になり、また配合量が86.5重量
%よりも多いと難燃性、耐熱性が低下することと
なり、このような樹脂組成物を産業ロボツト用外
被管に成形しても前記のような不都合を生じる。 前記エチレン―プロピレン二元共重合体ゴム
は、エチレンとプロピレンとのランダム二元共重
合体であつて通常EPMと称するエラストマーで
ある。本発明では、この二元共重合体ゴムを配合
することが重要であり、たとえばエチレンとプロ
ピレンと他のモノマーとからなる三元共重合体ゴ
ムを配合しても耐屈曲疲労性を改善した樹脂組成
物を得ることができない。 また、本発明において重要なことは、前記エチ
レン―プロピレン二元共重合体ゴムは、そのムー
ニー粘度が30以上であることを要する。このムー
ニー粘度が30よりも小さいと、成形品の表面にブ
リードアウトが発生する。ブリードアウトの発生
についての不都合は前述の通りである。なお、こ
のエチレン―プロピレン二元共重合体ゴムのムー
ニー粘度が30以上である限り、樹脂組成物の流動
性を改善するために、ムーニー粘度が30よりも小
さいエチレン―プロピレン二元共重合体ゴムを混
合しても良い。この場合、ムーニー粘度が30より
も小さいエチレン―プロピレン二元共重合体ゴム
と、ムーニー粘度が30以上であるエチレン―プロ
ピレン二元共重合体ゴムの配合比は、重量比で
1:9〜5:5が適当である。 前記DPTBSおよび三酸化アンチモンは難燃剤
として配合するものであるが、この難燃剤の代り
に他の難燃剤を使用しても、大きな難燃性、耐熱
性、小さな熱伝導率、大きな引つ張り強さ、引つ
張り伸びを有する成形品が得られないことは注目
すべきことである。 DPTBSの配合割合は8.5〜15重量%、好ましく
は9〜12重量%であり、三酸化アンチモンの配合
割合は、2〜10重量%、好ましくは3〜7重量%
であるのが良い。 また、前記DPTBSの配合量が8.5重量%よりも
少なく、三酸化アンチモンの配合量が2重量%よ
りも少ないと、この樹脂組成物による産業ロボツ
ト用外被管の難燃性が低下し、DBTBSの配合割
合が15重量%よりも多く、三酸化アンチモンの配
合割合が10重量%よりも多いとこの樹脂組成物の
引張強さや衝撃強度が低下したりする。 この発明における樹脂組成物は、前記各成分を
前記配合割合で配合することにより得ることがで
きる。 また、この発明における樹脂組成物は、十分な
難燃性、耐熱性、大きな引つ張り強さ、引つ張り
伸び、衝撃強度を阻害しない限り、他の添加剤た
とえば2,6―ジ―t―ブチル―p―クレゾール
等の酸化防止剤、フエニルサリシレート等の紫外
線吸収剤、ポリオキシエチレンアルキルアミン等
の帯電防止剤、ステアリン酸カルシウム等の滑
剤、離型剤等を適宜量で含んでいても良い。 この発明における前記樹脂組成物に関し、前記
各成分の配合の順序には制限がない。 また配合の方法としは、通常の樹脂組成物を製
造する際の通常の配合方法を採用することがで
き、たとえば、ポリプロピレン成分(プロピレン
ホモ共重合体、ポリプロピレン混合物)その他の
各成分を予備混合しておき、得られた予備混合物
をさらに混練する方法、前記ポリプロピレン成分
に高配合量でDPTBSおよび三酸化アンチモンを
配合してマスタバツチ組成物を製造しておき、こ
のマスタバツチ組成物にポリプロピレン成分およ
びエチレン―プロピレン二元共重合体ゴムを配合
して、この発明で規定する配合割合になるまで前
記マスタバツチ組成物を希釈する方法等が挙げら
れる。 配合は、たとえば、リボンブレンダー、タンブ
ルミキサー、ヘンシエルミキサー、オープンロー
ル、バンバリーミキサー、単軸スクリユー押出し
機、2軸スクリユー押出し機、単軸往復動スクリ
ユー混練機等により行なうことができる。 このようにして得られる樹脂組成物は、押出成
形法により蛇腹状の管体に好適に成形することが
できる。 第1図に示すように、この蛇腹状の管体1で産
業ロボツトのたとえばアーム2の関節部3を被覆
すると、この管体1は大きな難燃性、耐熱性を有
しているので、この産業ロボツトを高温の場所に
設置しても、管体1内は管体1外のような高温に
至らず、また関節部3内の導電線、ケーブル等の
被覆部材が容易に溶融したり発火したりせず、し
かも、この管体1はその素材である樹脂組成物自
体が大きな引つ張り強さおよび耐屈曲疲労性を有
することと蛇腹状であることと相まつて、この管
体1は、アーム2の回動、屈曲等の複雑な動きに
追随し、しかも容易に破損しない。さらに、この
管体1は、前記アーム2の関節部3、第2図に示
すようにアーム2の本体部に装着しておくと、作
業者の指その他の身体部を前記関節部3の間隙に
挟む事故、回動するアーム2に衝突しても作業者
が大怪我をする等の事故を防止することができ
る。したがつて、この管体1は産業ロボツト用外
被管3として好適に使用し得るのである。 [発明の効果] この発明によると、高度の難燃性を有すると共
に大きな耐屈曲疲労性を有し、しかも引張強さ、
衝撃強度、耐熱性、ブリード性がバランスよく優
れている樹脂組成物を利用してこれを蛇腹状の管
体に成形し、この管体を産業ロボツト用外被管と
して、産業ロボツトのアーム関節部、アーム本
体、その他の各部に装着すると、内部に収納した
導電線、ケーブル等を外部の熱や火炎から保護す
ることができると共にこれらの導電線、ケーブル
その他の部品を外部よりの衝撃から保護すること
ができ、また周辺の金属部品に対するブリードア
ウトによる悪影響を防止することができ、産業ロ
ボツトの外表面を柔軟な蛇腹状の管体が被覆する
ので、作業者に対する事故を防止することができ
る、好適な産業ロボツト用外被管を提供すること
ができる。 [実施例] 次にこの発明の実施例および比較例を示してこ
の発明を更に具体的に説明する。なお、この発明
は、この実施例に限定されないことは言うまでも
ない。 (実施例1〜6、比較例1〜11) 第1表に示す配合組成にて、ナカタニ機械(株)製
の50ミリ単軸押出し機によりペレツトを得た。こ
のペレツトを、東芝機械(株)製の6オンス射出成形
機により、200〜230℃の加熱条件下で混練してペ
レツトを得た。このペレツトを、東芝機械(株)製の
6オンス射出成形機により、200〜210℃の加熱条
件下でテストピースを作成した。このテストピー
スにつき、UL―94規格に従つて難燃性を評価し、
またASTM D―648に従つて熱変形温度を策定
してこれにより耐熱性を評価し、ASTMC―177
に従つて熱伝導率を測定した。さらに、前記テス
トピースを用いてASTM D―638に従つて引つ
張り試験をして引つ張り強さおよび引つ張り伸び
を測定し、ASTM D―256に従つてアイゾツト
衝撃強度(ノツチ付き、ノツチなし)を測定し、
下記の方法に従つて耐屈曲疲労性を評価した。 すなわち、第3図に示すように、最大外径Dが
170mm、最小外径dが140mm、管体の厚みtが0.3
mm、蛇腹の山部分の幅Mが20mm、蛇腹の谷部分の
幅Vが15mm、全長Lが100m/mである管体を、
第4図に示すように、水平に広げたり、両端部を
相対接合して環状に曲げたりの繰り返しを行な
い、第4図中の印で示す中央部の破壊情況を、
屈曲回数で評価した。 結果を第1表に示す。 なお、第1表におけるDPTBSは、次の構造を
有し、丸菱油化(株)製の商品名「ノンネンPR―2」
である。 また、比較例6では、DPTBSの代りに次の構
造を有し、帝人化成(株)製の商品名「FG3100」を
使用した。
【表】
第1図は産業ロボツトの関節部にこの産業ロボ
ツト用外被管を装着した状態を示す断面図、第2
図は産業ロボツトのアーム部にこの産業ロボツト
用外被管を装着した状態を示す斜視図、第3図は
耐屈曲疲労性の評価行なうときに用いた管体の寸
法を示す側面図、および第4図は耐屈曲疲労性を
評価する方法を示す説明図である。 1……管体、2……アーム、3……関節部、4
……産業ロボツト用外被管。
ツト用外被管を装着した状態を示す断面図、第2
図は産業ロボツトのアーム部にこの産業ロボツト
用外被管を装着した状態を示す斜視図、第3図は
耐屈曲疲労性の評価行なうときに用いた管体の寸
法を示す側面図、および第4図は耐屈曲疲労性を
評価する方法を示す説明図である。 1……管体、2……アーム、3……関節部、4
……産業ロボツト用外被管。
Claims (1)
- 1 プロピレンホモ重合体50〜95重量%とエチレ
ン―プロピレンランダム共重合体5〜50重量%と
からなるポリプロピレン混合物またはプロピレン
ホモ重合体60〜86.5重量%と、ムーニー粘度が30
以上であるエチレン―プロピレン二元共重合体ゴ
ム3〜20重量%、テトラブロモビスフエノールS
のビス(2,3―ジブロモプロピル)エーテル
8.5〜15重量%と、三酸化アンチモン2〜10重量
%とを有する樹脂組成物で蛇腹状に成形してなる
ことを特徴とする産業ロボツト用外被管。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7719985A JPS61235446A (ja) | 1985-04-11 | 1985-04-11 | 産業ロボツト用外被管 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7719985A JPS61235446A (ja) | 1985-04-11 | 1985-04-11 | 産業ロボツト用外被管 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61235446A JPS61235446A (ja) | 1986-10-20 |
JPH0129503B2 true JPH0129503B2 (ja) | 1989-06-12 |
Family
ID=13627151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP7719985A Granted JPS61235446A (ja) | 1985-04-11 | 1985-04-11 | 産業ロボツト用外被管 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61235446A (ja) |
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JPS5974141A (ja) * | 1982-10-19 | 1984-04-26 | Chisso Corp | 難燃性樹脂組成物 |
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