JPH0577194A - Explosion-proof construction of industrial robot - Google Patents

Abstract

PURPOSE:To realize explosion-proof construction of an electrically driven revolute robot, hardly suffer damage from robot action, and minimize the possibility of limiting robot action. CONSTITUTION:A first arm 22 provided on a base 21 is equipped with a bellows- shaped first jacket body 60, and a second arm 23 provided on the first arm 22 is equipped with a bag-shaped second jacket body 80. Space S1 between the first arm 22 and the first jacket body 60, and also space S2 between the second arm 23 and the second jacket 80 are supplied with protective gas whose pressure is higher than the outside pressure. The base side end of the first jacket body 60 is fixed to the first arm 22 while its second-arm-side end is fixed to the first arm 22 or the second arm 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot explosion-proof structure, and more particularly, to an industrial robot explosion-proof structure suitable for an electric articulated robot used in an explosive atmosphere such as thinner.

[0002]

2. Description of the Related Art The explosion-proof structure of an industrial robot has an explosion-proof case in which parts requiring explosion-proof, such as an electric motor for driving and a sensor for detecting the position, are individually housed in the case. By keeping the pressure inside the explosion-proof case higher than the external pressure,
It is common to prevent surrounding explosive gas from entering the explosion-proof case.

However, in this explosion-proof structure, there is a problem that it is necessary to provide a pipe for each explosion-proof case. Therefore, the base and the articulated robot body mounted on the base are made of flexible bags. There has been proposed a technique for covering and filling the inside of the bag with a protective gas having a pressure higher than the atmospheric pressure (Japanese Patent Laid-Open No. HEI 2-
83192).

In addition, as a dustproof and dripproof structure for an industrial robot, a plurality of arms of the industrial robot are covered with a flexible airtight hood, and a wrist is covered with a bellows hood so that the inside of the arm and the bellows are covered. There has been proposed a technique for supplying a dry pressurized gas into a cylindrical hood (Japanese Patent Laid-Open No. 62-630).
88 publication). The bellows-shaped hood is rotatably attached to the output operation member attached to the tip of the wrist through a bearing.

[0005]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the conventional explosion-proof structure disclosed in Japanese Patent Laid-Open No. 92, the bag cannot follow the movement of the robot, and there is a problem in that the bag is easily pulled and collided with the arm or bitten into the joint portion, and is easily damaged. .. In particular, the bag body that covers the first arm attached to the base has a wide range of motion of the first arm, and thus there is a great concern.

Further, if the pressure of the protective gas decreases for some reason, the bag cannot maintain its expanded shape, resulting in further damage.

Further, there is a problem that the action of the robot may be restricted when the internal pressure acts on the bag.

The technique disclosed in Japanese Patent Laid-Open No. 62-63088 described above does not have an explosion-proof structure, but prevents dust, cleaning water, machine oil, etc. from entering the sliding parts and rotating parts of the robot, as well as the electric system. It has a dustproof and dripproof structure. For this reason,
This technology cannot be directly applied to the explosion-proof structure.

Therefore, an object of the present invention is to provide an explosion-proof structure for an industrial robot that is capable of explosion-proofing an electric articulated robot and is not easily damaged by the operation of the robot.

Another object of the present invention is to provide an explosion-proof structure for an industrial robot that is extremely unlikely to restrict the operation of the robot.

[0011]

An industrial robot explosion-proof structure according to the present invention comprises a first arm provided on a base,
In an explosion-proof structure of an industrial robot having a second arm attached to the first arm, a plurality of annular aggregates are connected by a flexible sheet material and fixing members are attached to both ends, In addition, a bellows-shaped first casing mounted so as to cover the first arm, a bag-shaped second casing covered so as to cover the second arm, the first arm and the first casing. 1 Protective gas for supplying a protective gas having a pressure higher than the pressure outside the first and second casings to the space between the casings and the space between the second arm and the second casing. The first casing has a fixing member on the base side fixed to the first arm, and a fixing member on the second arm side includes at least the first arm and the second arm. It is characterized by being fixed to one.

The fixing member on the second arm side of the first casing is preferably fixed to the second arm.

Further, it is preferable that the first casing is composed of two parts having different diameters, and a part having a larger diameter of the two parts is arranged on the base side. It is preferable that the arm is slackened and attached, and the base side portion of the first casing is pulled to the second arm side.

The sheet material of the first casing is preferably formed of a flame-retardant flexible material reinforced with a woven or non-woven fabric of non-combustible fibers, and the non-combustible fibers are carbon fibers, glass fibers, ceramic fibers. It is preferable to use at least one selected from the above and metal fibers or a composite material thereof.

The second casing has a transmission line outlet near the neutral position of the robot, and the transmission line is pulled out from the inside of the second casing through the transmission line outlet. Is preferred. In that case, it is preferable to provide an opening / closing means that enables access to the transmission line inside.

[0016]

When the first arm makes a rotary motion about its major axis on the base, the first bellows-like outer jacket makes a rotary motion therewith, so that the rotary motion does not cause twisting. .. Further, when the first arm makes a swinging motion with its lower end serving as a fulcrum on the base, since the first casing has a bellows shape, it bends or bends accordingly and absorbs the motion. Therefore, it is possible to prevent the first casing from being forcibly pulled or colliding with the first arm due to the swinging motion.

Further, the second casing is a bag-like member if necessary,
It is bag-shaped with an external material such as lacing material, and is attached to the outside of the second arm, which has a smaller range of motion than the first arm, so the second arm is forced to pull the second jacket by the movement of the second arm. There is little risk of being hit or colliding with the second arm.

Therefore, the first and second casings are less likely to be damaged by the movement of the first and second arms.

On the other hand, since the first casing has a bellows shape or an outside, the shape can be maintained even when the pressure of the protective gas decreases. As a result, even in such a case, it is not likely to be damaged.

The second casing cannot maintain its shape when the pressure of the protective gas decreases. However, since it is provided outside the second arm, which has a narrower range of motion than the first arm, the point that it is less likely to be damaged remains unchanged.

Furthermore, since the first arm having a wide range of motion is covered with the first bellows-shaped outer cover and the second arm having a narrow range of motion is covered with the second bag-shaped outer cover, the movement of the robot is prevented. Less likely to constrain.

[0022]

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, this does not limit the present invention.

1 to 3 show an embodiment of an explosion-proof structure for an industrial robot according to the present invention. FIG. 1 is a side view showing a state in which the first and second casings of the robot are cut out, FIG. 2 is a side view showing an outer shape of the robot, and FIG. 3 is a diagram showing the first and second casings of the robot. It is a rear view of the removed state.

(Overall Structure of Robot) This robot 10
Is a 6-axis control articulated robot, which comprises a main body 20 and a hand 40, and is controlled by a robot controller (not shown). The main body 20 has a first arm 22 installed on a base 21 and a second arm 23 connected to the first arm 22, and a wrist 24 is attached to the tip of the second arm 23. A hand 40 is attached to the wrist 24 via a hand connecting member 25.

The upper part of the base 21 rotates about a first axis A1 which is vertically provided, and the first arm 22 and the parts beyond it rotate about a second axis A2 which is horizontally provided. .. The second arm 23 and the parts beyond it pivot around a horizontally provided third axis A3. The wrist 24 and the parts beyond it rotate about the fourth axis A4 and pivot about the fifth axis A5. The hand 40 rotates about the sixth axis A6.

(Robot body) The base 21 is connected to one end of a pipe 31 for supplying pressurized air into the base 21, and a harness box 30 to which a harness H1 for driving an electric motor is connected is attached. is there. The other end of the pipe 31 is connected to the pressurized air source P. The harness box 30 includes electric motors M1, M2, M3 for driving each axis,
Cables (not shown) connected to M4, M5, and M6 are connected.

Inside the base 21, an electric motor M1 for driving the first shaft and a pressure switch (not shown) for detecting the air pressure inside the base 21 are provided. When the pressure switch detects a decrease in pressure, the robot 10 automatically stops its operation. The pressurized air supplied to the inside of the base 21 is a bellows-shaped first member mounted on the outside thereof.
A balloon is blown into the space S1 between the jacket 20 and a part of the balloon,
It leaks from the gap between the lower fixing member 66 of the first casing 20 and the first arm 22. The electric motor M1 is cooled by flowing pressurized air.

The first arm 22 is covered with a first bellows-like outer jacket 60 mounted on the outside thereof. The lower end of the first casing 60 is joined to the lower fixing member 66 fixed to the first arm 22, and the upper end thereof is joined to the upper fixing member 65 fixed to the second arm 23. For this reason, when the first arm 22 and the portion beyond it rotate about the vertical first axis A1, the first casing 60 rotates accordingly. As a result, the first outer casing 60 is not twisted by the rotation of the first arm 22.

When the second arm 23 and the portion beyond it swings around the horizontal second axis A2, the upper fixing member 65 fixed to the second arm 23 swings accordingly. The first casing 60 is curved or bent accordingly. However, since the first casing 60 has a bellows shape, it can flexibly cope with it, and further, does not restrict the operation of the robot 10.

On the rear side of the first arm 22, three bars 2 are provided.
A link consisting of 6, 27 and 28 is provided. The base end of the lower bar 26 is fixed to the first arm 22, and the base end of the upper bar 28 is fixed to the second arm 23. Both ends of the bar 27 swing at the tips of both bars 26 and 28. Connected possible.

The bar 27 is provided with a protector 32 for protecting the first outer casing 60, which prevents the first outer casing 60 from coming into contact with the first arm 22 when the first arm 22 is inclined. As shown in FIG. 7, the protector 32 has an arc-shaped protection bar 32b that follows the cylindrical shape of the first casing 60.
And a mounting bar 32a whose lower end is joined to its central portion. The protection bar 32b is joined to the bar 27 by a mounting bar 32a so as to be substantially horizontal. When the first arm 22 swings forward with respect to the vertical direction and the central portion of the first casing 60 is displaced forward due to the inertia at that time, the central portion moves ahead of the first arm 22 and the central portion of the protective bar 32b. Abut. Thus, the first outer cover 60 of the first
Contact with the arm 22 is prevented.

Although the protector 32 is provided only on the rear side of the first arm 22 in this embodiment, it may be provided on the front side as well. Further, the protector 32 may be omitted.

On the left and right sides of the first arm 22, an electric motor M2 for driving the second axis and an electric motor M3 for driving the third axis are provided.
Is attached. Both electric motors M2 and M3 have a space S
1 and is cooled by the pressurized air flowing in the space S1.

The second arm 23 has a box portion 23a near the joint with the first arm 22, and an electric motor M4 for driving the fourth axis and an electric motor for driving the fifth axis are provided outside the box portion 23a. M5 and an electric motor M6 for driving the sixth axis are attached. A relay box 29 is attached near the tip of the second arm 23. Relay box 29
Is for relaying a plurality of cables C for transmitting control signals to and from the hand 40 and a harness H2 connected to a hand control device (not shown).

The second arm 23 is covered with a bag-shaped second casing 80 attached to the outside thereof. This second
The outer cover 80 covers almost the entire surface of the second arm 23 excluding the front end thereof, and its base end is joined to the upper fixing member 65 to which the upper end of the first outer cover 60 is joined, and its front end is , Is joined to the end fixing member 84 attached near the tip of the second arm 23. The electric motors M4, M5, M6 and the relay box 29 are housed inside the second casing 80. The harness H2 is drawn upward from the upper surface of the second casing 80, and the cable C is drawn to the hand 40 side through the end fixing member 84.

Since the second casing 80 is joined to the upper fixing member 65 and the end fixing member 84, the second arm 2
It does not deform depending on the movement of 3 itself. However, since the harness H2 is pulled out through the hole formed on the upper surface of the outer cover 80, the harness H2 may be pulled by the harness H2 and be slightly deformed.

In this embodiment, the cable outlet of the second jacket 80 is formed so as to be located near the center of the robot 10 when the robot 10 is in the neutral position. The deformation amount of the body 80 is small.

The wrist 24 and the hand 40 are not covered by the outer cover 80. The electric motors M5 and M6 for driving the fifth shaft and the sixth shaft are housed in the second casing 80, and as will be described later, the driving means of the hand 40 is only the air motor 47 and the air cylinder 48. Therefore, even if these are exposed, there is no problem with the explosion-proof performance.

(Hand) The hand 40 is configured such that a plug is screwed into the filling hole of the drum and the plug screwed into the filling hole is removed. In FIG. 1, 4
Reference numeral 1 is a connection bar connected to the hand connection member 25, 42 is a holding member for holding the slider 43, 43 is a slider that allows the air driver 47 and the gripper 46 to be displaced,
44 is an air driver 47, a gripper 46, an air cylinder 4
8 is a support plate for supporting 8 or the like, 45 is a gripper for gripping the plug by the gripping claw 46, 47 is an air driver for rotating the plug by engaging an engaging member (not shown), 48
Is an air cylinder for moving the sensor for detecting the plug position. The cable C connected to a sensor for detecting a plug position, a sensor for detecting a plug tightening torque, or the like is drawn into the inside of the second casing 80 through the end fixing member 84 and connected to the relay box 29. ing.

(First Enclosure) FIG. 4 is a front view of a half section showing a detailed structure of the first outer body 60, and FIG. 6 is a partially enlarged sectional view thereof.

As shown in FIGS. 4 and 6, the first casing 60 is composed of a bellows-shaped taper portion 60a provided on the upper side and a bellows-shaped straight portion 60b provided on the lower side. The diameter of the straight portion 60b is larger than the diameter of the lower end portion (maximum diameter portion) of the tapered portion 60a. This is determined in consideration of the configuration and movement mode of the first arm 22.

Both the taper portion 60a and the straight portion 60b are composed of a plurality of aggregates 61 made of metal rings which are coaxially arranged at intervals, and a sheet material 62 having airtightness and flexibility. There is. As shown in FIG.
The sheet material 62 is formed on the outside of the plurality of aggregates 61 by the aggregates 6
After arranging so as to cover 1, the aggregate 61 is wound from the outside and sewn. Therefore, the seam 75 is formed on the inner side in the radial direction of each aggregate 61, and the aggregate 61 is not exposed from the sheet material 62.

A joining member 74 made of a metal ring is provided at the joining portion between the taper portion 60a and the straight portion 60b. This joining member 74, as shown in FIG.
It has a diameter substantially the same as the diameter of the aggregate 61 at the lower end of the straight portion 60b. The joining member 74 covers the sheet material 62 of the tapered portion 60a from above the joining member 73, and also covers the connecting sheet material 62 from below, so that both sheet materials 62 are radially outside and inside the joining member 74. Sewn to each other. Therefore, the seam 76 is formed on the outer side and the inner side in the radial direction of the joining member 73. Reference numeral 77 is a seam between the connecting sheet material 62 and the straight portion 60a.

A metal annular flange 63 having a plurality of bolt holes 63a is attached to the upper end of the tapered portion 60a. The flange 63 is formed by winding the upper end portion of the sheet material 62 around this and then sewing the same.
When 0 is attached to the first arm 22, it is joined to the upper fixing member 65.

A metal annular flange 64 having a plurality of bolt holes 64a is also attached to the lower end of the straight portion 60b. The flange 64 is formed by winding the upper end portion of the sheet material 62 around it and then sewing the same, and when the first casing 60 is attached to the first arm 22, the lower fixing member 6 is attached.
It is joined to 6.

The aggregate 61 may be of any strength as long as it has strength to withstand the external force acting on its own weight, but is made of metal, preferably stainless steel wire. The sheet material 62 may have the same strength, flexibility and airtightness,
It can be formed from metal mesh, metal foil, cloth made of inorganic fibers or organic fibers, and the like. However, it is preferably formed from a flame-retardant flexible material reinforced with non-combustible fibers. In this case, the non-combustible fiber may be mixed with the soft material as it is, a woven or non-woven fabric of the non-combustible fiber may be embedded in the soft material, or may be layered and then bonded to the layer of the soft material. Moreover, you may use them as a composite material.

The non-combustible fiber is preferably a non-combustible inorganic fiber such as carbon fiber, metal fiber (eg, aluminum, stainless steel, copper, iron), glass fiber, ceramic fiber and the like.

As the flame-retardant soft material, fluororubber such as Viton (trademark) and Kallets (trademark) is preferable.

In order to improve wear resistance, it is preferable to form an outer covering material layer having excellent wear resistance on the outer surface and / or the inner surface of the sheet material 62. Examples of the outer jacket material include flame-retardant nylon resin.

On the outer surface of the straight portion 60b, a plurality of locking members 72 are attached near the upper end.
The lower end of the rope 73 is locked to 2 (see FIG. 2).
The upper end of the rope 73 is locked to a locking tool 71 attached to the upper fixing member 65. In addition, the first casing 6
The total height of 0 is slightly longer than the distance between the upper and lower fixing members 65 and 66, and the straight portion 60b is slack. With this configuration, the straight portion 60b is connected to the rope 73.
Since it is held by being pulled up a little from the lowest position, the straight portion 60b is likely to be displaced, and as a result, when the first arm 22 swings, the straight portion 60b is moved.
It is possible to effectively prevent b from being forcibly pulled or colliding with the first arm 22.

(Second Jacket) FIG. 5 is a schematic perspective view showing the detailed structure of the second jacket 80.

The second casing 80 has a bag-shaped main body 80a formed so as to cover almost the entire surface of the second arm 23 except for the distal end portion thereof, and a cylinder projectingly formed on the upper surface of the main body 80a. And a harness-drawing portion 80b. Both the main body portion 80a and the harness pull-out portion 80b are formed of the same sheet material having airtightness and flexibility as the sheet material 62 of the first outer casing 60.

The main body 80a comprises the latter half, that is, the box portion 23a of the second arm 23 and the electric motors M4, M5, M.
The portion that covers 6 is formed to be larger than the front half portion, that is, the portion that covers the front portion of the box portion 23a of the second arm 23. Further, openings 81 and 82 are provided respectively on the lower surface of the latter half portion and the front surface of the first half portion, and a metal flange 81a is attached to the opening 81. This flange 81
Has the same diameter as the upper flange 63 of the first casing 60, and is joined to the upper fixing member 65. A flange is not provided in the opening 82, and the opening 82 is directly wound around the end fixing member 84 attached near the tip of the second arm 23, and is tightened and fixed by the band 86.

The harness pull-out portion 80b is provided so as to come close to the neutral position of the robot 10 when it is mounted. Therefore, when the harness H2 is pulled out from the inside of the second casing 80 via the harness pull-out portion 80b, the bending or bending of the harness H can be minimized by the operation of the robot 10. This is to prevent the life of the harness H from being shortened.

A fastener 83 is provided on the upper surface of the main body 80a from the opening 82 in the front half of the main body 80a to the tip of the harness lead-out portion 80b. The fastener 83 is provided for opening and closing the upper surface of the main body 80a so that it is convenient for maintenance / inspection of the relay box 29 attached to the second arm 23 and for changing the connection between the cable C and the harness H2 connected to the relay box 29. Is possible. When the fastener 83 is provided, the pressurized air inside leaks out, but it can be suppressed by providing the backing sheet on the fastener 83, and the internal pressure does not decrease. Therefore, the explosion-proof performance will not be affected.

(Joining of the first casing and the second casing) The joining of the upper fixing member 65 and the lower fixing member 66 of the first casing 60 and the upper fixing member 65 of the second casing 80. The end fixing member 84 is joined to the end fixing member 84 as follows.

As shown in FIGS. 8 and 9, the flange 63 at the upper end of the first casing 60 is brought into contact with the lower surface of the upper fixing member 65, and the flange 81 of the second casing 80 is arranged at the upper side. The upper surface of the fixing member 65 is contacted. After that, the bolts 69 are passed through the bolt holes provided in them, and the nuts 70 are tightened and fixed. The first and second casings 60, 80 fixed in this way communicate with each other via their flanges 63, 81 and the central through hole of the upper fixing member 65.

Further, as shown in FIG. 10, the first casing 6
After the flange 64 at the lower end of 0 is brought into contact with the flange portion 66a of the lower fixing member 66, the bolt 69 is passed through the bolt holes provided in them and the nut 70 is tightened and fixed.

The upper fixing member 65 is fixed to the box portion 23a of the second arm 22 via a mounting bracket 67 (see FIG. 8), and is joined to the second arm 22 via a mounting bracket 68. It is fixed to the bar 28 (see FIG. 9). The lower fixing member 66 is fixed to the outer peripheral surface of the first arm 22 near the lower end thereof.

As shown in FIG. 11, the end fixing member 84 is fixed by penetrating the second arm 23 and has a through hole 85a for inserting a cable. The through hole 85a is filled with a silicone rubber filling material 85, and the cable C connected to the relay box 29 is drawn out to the hand 40 side through the filling material 85.

The end of the second casing 80 on the side of the opening 82 is wound around the end fixing member 84, then a metal band 86 is wound around the end fixing member 84, and then tightened by a tightening metal fitting 87. It is fixed.

(Operation of Robot) When the robot 10 having the above configuration is operated, pressurized air is supplied from the pressurized air source P through the pipe 31 into the base 21. The pressurized air supplied into the base 21 passes through the inside of the base 21 to generate the first air.
It is blown into the space S1 between the arm 22 and the first casing 60. At this time, the motor M1 for driving the first shaft is cooled by the flowing pressurized air.

Since the space S1 communicates with the space S2 between the second casing 80 and the second arm 23, the pressurized air in the space S1 enters the space S2. At this time, the motors M2, M for driving the second to sixth axes are driven by the flowing pressurized air.
Air cooling of 3, M4, M5, M6 is performed. Thus
Spaces S1 and S2, that is, the first arm 22 and the second arm 2
The circumference of 3 is filled with pressurized air.

The pressurized air in the spaces S1 and S2 mainly consists of the joint between the lower fixing member 66 and the first arm 22, the cable pull-out portion 80b of the second casing 80, and the harness H2.
It gradually leaks to the outside through the gap between and. Also,
A joint between the first casing 60 and the upper and lower fixing members 65, 66,
It also leaks from the joint between the second casing 80 and the fixing members 65 and 84, and the gap between the filler 85 of the end fixing member 84 and the cable C.

As described above, the inside of the base 21 and the internal spaces S1 and S2 of the first casing 60 and the second casing 80 are
Since it is filled with the pressurized air having a pressure higher than the atmospheric pressure, the explosive gas in the surroundings is prevented from entering the inside of the base 21 and both outer casings 60, 80. Therefore, a desired explosion-proof function can be obtained.

In the embodiment described here, the hand 40 is not attached to the outer cover, but only the air motor 47 and the air-operated gripper 45 are attached to the hand 40, which impairs the explosion-proof function. Does not occur.

In this robot 10, when the first arm 22 or the second arm 23 tilts while the robot 10 is operating, the first casing 60 keeps a distance from the first arm 22 and responds to the tilt. Bends or bends flexibly. Therefore, there is no possibility that the first outer casing 60 collides with the first arm 22 and is damaged. Further, even if the second arm 23 is tilted, the second casing 80 does not deform, so there is no risk of the second casing 23 colliding with the second arm 22 and being damaged. As a result, it is possible to obtain an explosion-proof structure for the electric articulated robot 10 that is extremely unlikely to be damaged by its operation.

Further, in this robot 10, since the first casing 60 has a bellows shape, an external force does not act on the first arm 22 due to its internal pressure. On the other hand, since the bag-shaped second casing 80 is attached so as not to include joints, the second casing 80 and the first arm 23 and the first arm 23 are not affected by the internal pressure.
No external force is exerted on the arm 22. As a result, the operation of the robot 10 is not restricted by providing both outer casings 60 and 80.

In the above embodiment, the upper fixing member 65
Is fixed to the second arm 23, it may be fixed to the first arm 22 and an inert gas may be used as a protective gas. Further, although the above embodiment is applied to the articulated robot, the present invention can be applied to other robots. Furthermore, if necessary, an outer cover that covers the hand 40 may be further provided.

In the above embodiment, the bellows-shaped first jacket 60 is used.
Although it has a cylindrical shape, it may have a rectangular tubular shape, and the essential point is that it be a tubular shape. In addition, the bag-shaped second casing 80 may be provided with an aggregate.

[0071]

According to the explosion-proof structure of the industrial robot of the present invention, it is possible to prevent the explosion of the electric articulated robot, it is hard to be damaged by the operation of the robot, and the operation of the robot is likely to be restricted. There is an effect that it decreases.

When the fixing member on the side of the second arm of the first casing is fixed to the second arm, the second casing is not deformed by the movement of the first arm, and the internal pressure of the second casing causes the second casing to be deformed. Since the operation of the two arms is not restricted, there is no fear that the second casing restricts the operation of the robot.

When the first casing is composed of two parts having different diameters, and the part with the larger diameter of the two parts is arranged on the base side, the first casing collides with the first arm. There is almost no fear, and there is an effect that the first casing is more difficult to be damaged.

When the first casing is slackened and attached to the first arm and the base side portion of the first casing is pulled toward the second arm side, the base side portion of the first casing is It floats, so that the base-side portion of the first casing is pulled and extended in response to the swing of the first arm,
It is possible to prevent the outer cover from being forcibly pulled or colliding with the first arm. As a result, the first casing is less likely to be damaged.

If the sheet material of the first casing is made of a flame-retardant flexible material reinforced with non-combustible fibers, the durability of the first casing can be increased without restricting the operation of the robot.

If the non-combustible fiber is at least one selected from carbon fiber, glass fiber, ceramic fiber and metal fiber or a composite material thereof, it is possible to shield electromagnetic waves.

The second casing has a transmission line outlet near the neutral position of the robot, and when the transmission line is pulled out from the inside of the second casing through the transmission line outlet, The transmission line can be arranged inside the second casing without passing through the inside of the main body of the robot. Further, unlike a transmission line derived from the back of the robot, the transmission line does not swing around due to the rotation operation of the robot, and damage to the transmission line or a cutting accident can be prevented.

Further, when the second casing is provided with an opening / closing means for allowing access to the transmission line inside the second casing, maintenance / inspection of the transmission line and insertion of a new signal line are facilitated.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of an industrial robot explosion-proof structure of the present invention in a state in which first and second casings of the robot are cut away.

FIG. 2 is a side view showing an outer shape of the robot shown in FIG.

FIG. 3 is a rear view of the robot of FIG. 1 with first and second casings removed.

FIG. 4 is a front view, in half section, showing the detailed structure of the first casing.

FIG. 5 is a schematic perspective view showing a detailed configuration of a second casing.

FIG. 6 is a partially enlarged sectional view of a first casing.

FIG. 7 is a perspective view of a protector that protects a first casing.

FIG. 8 is a partially enlarged cross-sectional view of a tip side end portion of the upper fixing member, showing a mounting state of the first casing and the second casing to the upper fixing member.

FIG. 9 is a partially enlarged cross-sectional view of a proximal end portion of the upper fixing member, showing how the first outer casing and the second outer casing are attached to the upper fixing member.

FIG. 10 is a partial enlarged cross-sectional view of the lower fixing member, showing how the first casing is attached to the lower fixing member.

FIG. 11 is a partially enlarged front view of the end fixing member, showing how the second casing is attached to the end fixing member.

[Explanation of symbols]

 10 Industrial Robot 20 Main Body 21 Base 22 First Arm 23 Second Arm 23a Box Part 24 Wrist 25 Hand Connection Member 26, 27, 28 Bar 29 Relay Box 30 Harness Box 31 Pressurized Air Supply Pipe 32 First Outer Jacket Body protector 32a Mounting bar 32b Protective bar 40 Hand 60 First casing 60a Tapered part 60b Straight part 61 Aggregate 62 Sheet material 63 Annular flange 63a Bolt hole 64 Annular flange 64a Bolt hole 65 Upper fixing member 66 Lower fixing Members 67, 68 Mounting brackets 69 Bolts 70 Nuts 71, 72 Locking tools 73 Rope 74 Joining members 75, 76, 77 Seams 80 Second casing 80a Main body 80b Harness drawer 81, 82 Opening 81a Flange 83 Fastener 84 End fixed part 85 filler 85a holes 86 band 87 fastening bracket for cable insertion M1, M2, M3, M4, M5, M6 electric motor C signal cable H1 motor drive harness H2 control signal harness

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tadanori Goto 4-13-1, Higashimachi, Hitachi City, Ibaraki Prefecture Hitachi Chemical Co., Ltd. Yamazaki Factory

Claims (8)

[Claims] 1. An industrial robot explosion-proof structure comprising a first arm provided on a base and a second arm attached to the first arm, wherein a plurality of annular aggregates are made of flexible material. A bellows-like first outer casing that is connected to the sheet material and has fixing members attached to both ends and that is attached so as to cover the first arm; and a bag that is attached so as to cover the second arm. A second outer casing, a space between the first arm and the first outer casing, and a space between the second arm and the second outer casing in the first and second outer casings. A protective gas supply means for supplying a protective gas having a pressure higher than the pressure outside the body, and the first casing has the first fixing member on the base side.
An explosion-proof structure for an industrial robot, characterized in that it is fixed to an arm and a fixing member on the side of the second arm is fixed to at least one of the first arm and the second arm. 2. The explosion-proof structure for an industrial robot according to claim 1, wherein a fixing member on the second arm side of the first casing is fixed to the second arm. 3. The industry according to claim 1, wherein the first casing is composed of two parts having different diameters, and a part having a larger diameter of the two parts is arranged on the base side. Explosion-proof structure of the robot. 4. The first casing is attached to the first arm so as to be slack, and the base side portion of the first casing is pulled toward the second arm. 1. The explosion-proof structure of the industrial robot according to 1. 5. The sheet material of the first casing is formed of a flame-retardant flexible material reinforced with non-combustible fibers.
Explosion-proof structure of the industrial robot described in. 6. The explosion-proof structure for an industrial robot according to claim 5, wherein the non-combustible fiber is at least one selected from carbon fiber, glass fiber, ceramic fiber and metal fiber or a composite material thereof. 7. The second outer casing has a transmission line outlet near the neutral position of the robot, and the transmission line is pulled out from the inside of the second outer casing through the transmission line outlet. The explosion-proof structure for an industrial robot according to claim 1, wherein the explosion-proof structure is possible. 8. The explosion-proof structure for an industrial robot according to claim 7, wherein the second casing is provided with opening / closing means that enables access to the transmission line inside the second casing.