JPH0413117Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to an industrial robot whose internal equipment is protected from, for example, water, paint, etc. by a cover.

“Conventional technology” Conventionally, for example, in industrial robots, the fifth
As shown in the figure and FIG. 6, the base 1 and this base 1
In order to protect the part between the rotating parts 2 provided above from water, paint, etc.
A column 3 rotatably provided on the column 3 and an arm (not shown) rotatably provided on the column 3 are covered by a flexible cover 4. The lower part of the cover 4 is generally shaped like a large skirt so as to cover the base 1.

``Problem that the invention aims to solve'' However, in such conventional industrial robots, the rotation of the support 3 and the arm increases the gap between the lower part of the cover 4 and the base 1, causing water to leak. , it becomes very easy for paint etc. to enter, and the lower part of the cover 4 tends to get entangled with the base 1, the rotating part 2, etc. when the rotating part 2, the support 3, the arm, etc. rotate.
There was a problem that durability was compromised.

The object of the present invention is to provide an industrial robot that solves the above-mentioned problems of conventional industrial robots.

"Means for Solving the Problems" The present invention has the following configuration to achieve the above object. That is, an industrial robot having a column movably provided on a rotating part of a base includes a cover that covers the column and a base collar that covers the base, and a lower opening end of the cover. The inner cover part is branched into an outer cover part and an inner cover part, and the inner cover part is fixed to the rotating part of the base, and the opening upper end of the base collar is connected to the inner cover part and the outer cover part of the cover. inserted in between.

"Operation" Since the inner cover part is fixed to the rotating part of the base, the cover will not be pulled upward even if the rotating part rotates or the support provided on the rotating part operates. Therefore, there is no gap between the cover and the base collar whose opening upper end is inserted between the inner cover part and the outer cover part of the cover, and the lower end of the base collar. There is no gap between the parts and the installation surface. Further, the gap between the cover and the base collar and the base and the rotating part does not increase.

Furthermore, since the structure is such that the open upper end of the base collar is inserted between the inner cover part and the outer cover part of the cover, only the cover needs to be fixed to the rotating part.

"Embodiment" An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. Reference numeral 11 in FIG. 1 is a base of an industrial robot, and a rotary part 12 is rotatably provided on the upper part of the base 11. 13 is a rotating shaft, and 14 is a bearing. A support column 15 is rotatably provided in the rotating part 12. 16 is a bearing that supports the shaft of the support column 15.

In addition, the joint section composed of the base 11, the rotating part 12, the rotating shaft 13, the bearings 14, 16, and the support column 15 is connected to the support column 15 and an arm (not shown) rotatably connected to the support column 15. It is covered by the lower part of the cover 17 which covers the

The cover 17 is formed into a cylindrical shape from a flexible resin material, and has a stepped cylindrical collar (base collar) 18 at its lower part. The lower side (one end side) of the cover 17 has an inner cover part 19 and an outer cover part 2.
The upper end 18a of the collar 18 is removably fitted between the inner cover part 19 and the outer cover part 20 in light contact with each other, and is sandwiched between the inner cover part 19 and the outer cover part 20. There is. The inner diameter of the upper end portion of the collar 18 is slightly larger than the outer diameter of the base portion 12a of the rotating portion 12. The collar 18 covers the outer periphery of the base 11 so as to surround the outer periphery of the base 11, so that the collar 18 does not come off the base 11.

The lower end of the inner cover part 19 is connected to the rotating part 1 of the base 11.
The lower part of the outer cover part 20 is extended to cover the upper part of the collar 18, and the lower end of the outer cover part 20 is fixed to the base part 12a of the collar 18 as shown in FIG. It is lightly contacted with the portion 18b. Note that the collar 18 is a part of the outer cover portion 20.

Further, a collar 21 having an L-shaped cross section is fixed to the upper surface of the base 11 so as to be concentric with the rotating part 12 . The outer diameter of the cylindrical portion 21a of the collar 21 is smaller than the outer diameter of the base portion 12a of the rotating portion 12.

As described above, the collars 18 and 21, the inner cover part 19, and the outer cover part 20 constitute a labyrinth seal structure that prevents water, paint, etc. from entering the equipment of an industrial robot. Note that the collar 21 may be attached to the cover 17 instead of being fixed to the base 11.

Therefore, when using an industrial robot configured as described above, the rotating part 12 and the support 1
5. Even when the arm etc. rotate, the inner cover part 19 of the cover 17 is fixed to the rotating part 12, and the outer cover part 20 and collar 18 (this collar 18 is a part of the outer cover part 20). ) is the rotating part 12,
Since the labyrinth seal structure covers the base 11 and is configured in the rotating part 12 portion, the gap between the base 11 and the cover 17 is not enlarged, and the cover 17 is sealed inside the cover 17. It prevents water, paint, etc. from entering the cover 17, protects the equipment inside the cover 17 from an atmosphere of water, paint, etc.
7 will not get entangled with the base 11. Therefore, the durability of industrial robots is improved.

Further, the cover 17 includes the rotating part 12 and the support column 1.
5. Since it covers the arm, these bases 11,
If the paint pipe installed along the rotating part 12 or the support column 15 is damaged, paint will be scattered, or if the spring (not shown) installed along the support support 15 is broken, this spring prevent it from scattering.

In addition, in the case where the industrial robot is configured to be operated by hydraulic drive, the cover 17 will not cover the base 11, the rotating part 12, and the support column 1 even if the outside temperature drops.
5. This cover 17 covers the arm etc.
This keeps industrial robots warm and prevents the viscosity of hydraulic drive oil from increasing, thereby preventing a decrease in work efficiency.

Also, the cover 1 is connected via the pipe 22 shown in FIG.
By operating an air purge mechanism that blows air into the cover 7, dew condensation on the equipment inside the cover 17 is prevented.

Furthermore, by operating this air purge mechanism, air pressure is created within the cover 17, increasing the effect of the air damper and improving safety.

In the above embodiment, the cover 17 is provided with the collar 18, and the base 11 or the cover 17 is provided with the collar 21, but the invention is not limited to this. For example, as shown in FIG. The lower end of the cover part 32 is connected to the base part 1 of the rotating part 12.
2a, and the lower end side of the outer cover part 33 may be extended to the lower end of the base 11, so that the same effect as in the previous embodiment can be achieved.

"Effect of the invention" According to the invention, since the inner cover part is fixed to the rotating part of the base, the cover will not be pulled upward even if the rotating part rotates or the support provided on the rotating part operates. Therefore, there is no gap between the cover and the base collar whose opening upper end is inserted between the inner cover part and the outer cover part of the cover. There is no gap between the lower end of the base collar and the installation surface. Therefore, these covers and base collars can completely prevent water, paint, etc. from entering the inside, and protect the internal equipment from the atmosphere of water, paint, etc. In addition to this, the gap between the cover and base collar and the base and rotating parts, etc. will not expand, so the cover and base collar will become entangled with these bases, rotating parts, columns, etc. Things will disappear. Therefore, the durability of the industrial robot is improved, and since no special waterproof structure is required, the structure of the robot can be simplified and costs can be reduced.

Further, since the structure is such that the open upper end of the base collar is inserted between the inner cover part and the outer cover part, only the cover needs to be fixed to the rotating part. Therefore, the working time for attaching the cover and base collar can be shortened.

[Brief explanation of the drawing]

Figures 1 to 3 show one embodiment of the present invention. Figure 1 is a vertical sectional view of the main part, Figure 2 is an enlarged sectional view of the main part, and Figure 3 is when the support is tilted. FIG. 4 is a vertical cross-sectional view of the main part showing another embodiment of the present invention, and FIGS. 5 and 6 show a conventional industrial robot. FIG. 5 is a vertical cross-sectional view of the main part, and FIG. 6 is a vertical cross-sectional view of the main part showing a state in which the support column is tilted. DESCRIPTION OF SYMBOLS 11... Base, 12... Rotating part, 15... Support column, 17, 31... Cover, 18, 21... Collar, 19, 32... Inner cover part, 20, 33...
...Outer cover part.

Claims (1)

[Claims for Utility Model Registration] An industrial robot having a column movably provided on a rotating part of a base, comprising: a cover that covers the column; and a base collar that covers the base; The lower end of the opening of the cover is branched into an outer cover part and an inner cover part, and the inner cover part is fixed to the rotating part of the base, and the upper end of the opening of the base collar is connected to the inner cover part of the cover. An industrial robot characterized by being inserted between an outer cover portion and an outer cover portion.