JPH06792A - Internal pressure system for industrial robot - Google Patents

Abstract

PURPOSE:To improve the reliability as the internal pressure system of an industrial robot by providing a protective circuit not damaging pressure detectors with the pressure at the time of a scavenging action performed before the industrial robot is excited on the pressure detectors. CONSTITUTION:Pressure detectors 4a, 4b for monitoring the pressure of an internal pressure chamber 2 formed in an industrial robot 100 are provided. A valve 9 is provided between the internal pressure chamber 2 and the pressure detectors 4a, 4b, and the air or inert gas at the time of scavenging is discharged to the outside by the valve 9 not through the pressure detectors 4a, 4b. Even if the pressure for scavenging is set to a value exceeding the allowable upper limit value of the pressure detectors 4a, 4b, the pressure detectors 4a, 4b are not damaged. The reliability as the internal pressure system of the industrial robot 100 can be remarkably improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot that is used in an explosive environment such as for painting, and the inside of the industrial robot is filled with air or an inert gas [gas]. It relates to a system for adjusting pressure.

[0002]

2. Description of the Related Art As a conventional example of this kind, for example, in an industrial robot 100 whose appearance is shown in FIG. 2, gas of a system for adjusting the internal pressure of the air or an inert gas filled in the robot is used. A systematic diagram is shown in FIG. In FIG. 3, for example, a supply source 3 for supplying air or an inert gas to the internal pressure chambers 2 (2a to 2d) configured inside the industrial robot 100 as shown in FIG. Supplied from pressure source 4 and pressure detectors 4a and 4b for detecting pressure drop due to damage etc. in 2d) and promptly taking safety measures such as stopping power supply to the industrial robot 100. The pressure regulator 5 that regulates the pressure of air or inert gas to the pressure for scavenging the internal pressure chamber 2, and the pressure of air or inert gas supplied to the internal pressure chamber 2 is detected by the pressure detectors 4a and 4b. A pressure regulator 6 for adjusting the pressure to a possible range, a valve 7 for controlling the direction of the air or the inert gas whose pressure is regulated by the pressure regulator 5, and driven by the air or the inert gas. An electromagnetic valve 8 that controls the drive of the valve 7, and And a pressure regulator 11 for adjusting the pressure of air or an inert gas for driving the valve 7 of the above, and by giving a signal to the electromagnetic valve 8 from the operation section of the controller 100a,
Air or an inert gas adjusted to a pressure for scavenging, or air or an inert gas adjusted to a range detectable by the pressure detectors 4a and 4b is supplied to the internal pressure chamber 2. Further, 13a, 13d, 13f are check valves for preventing backflow of air or inert gas, and 14 is connected to the above-mentioned individual devices so that air or inert gas does not leak to the outside and its internal pressure is sufficient. It is a tube that forms a flow-resistant passage. Then, each of the pressure detectors 4a and 4b is provided with an adjusting mechanism that can artificially preset the pressure detection value (threshold value). The pressure adjuster 6 has an adjusting mechanism capable of artificially setting a pressure adjustment value (threshold value) in advance, and also has a filter for filtering dust or the like at the inlet of the air or the inert gas. In the illustrated state in which the inlet of the valve 7 is connected to the inner chamber, the air or the inert gas having a regulated pressure from the pressure regulator 6 is blocked from flowing by the valve 7, and the inlet is located in the upper chamber. When it is connected to the check valve 13c, it flows to the check valve 13c, and when the inlet is connected to the lower chamber, it flows to the pressure regulator 5. The internal structure of the pressure regulator 11 is the same as that of the pressure regulator 6 described above. Solenoid valve 11
In the state shown in the figure in which the inlet is connected to the inner chamber, air or an inert gas at a regulated pressure from the pressure regulator 11 is blocked from flowing by the valve 13, and the inlet is connected to the upper chamber. During this time, the chamber above the valve 7 is connected to the pressure regulator 5 and is circulated to the check valve 13c to scavenge the internal pressure chamber 2. Further, when the inlet is connected to the lower chamber, the lower chamber of the valve 7 is connected to the pressure regulator 5 and circulated to the pressure regulator 6,
The inside of the internal pressure chamber 2 is configured to have a pressure value that can be detected by the pressure detectors 4a and 4b.

[0003]

However, in the internal pressure system according to the prior art as described above, since the pressure detectors 4a and 4b are installed immediately after the internal pressure chamber 2, a high pressure is required for scavenging. When air or an inert gas whose pressure is adjusted is supplied to the internal pressure chamber 2, there is a drawback that the pressure detectors 4a and 4b are applied with a pressure exceeding an allowable upper limit value and may be damaged. Here, in the present invention, in view of the problems of these conventional examples, the pressure for scavenging is controlled by the pressure detector 4a,
It is an object of the present invention to provide an internal pressure system in which the pressure detectors 4a and 4b are not likely to be damaged even when set to a value exceeding the allowable upper limit value of 4b.

[0004]

In order to achieve the above-mentioned object, the present invention is for coating or work equivalent thereto,
In an industrial robot used in an environment where explosive gas is present, a pressure detector that monitors the pressure of an internal pressure chamber formed inside the industrial robot is scavenging performed before energizing the industrial robot. An internal pressure system for an industrial robot characterized by having a protection circuit that is not damaged by the pressure during operation. Furthermore, a valve is provided between the internal pressure chamber and the pressure detector, and a pipe leading to this pressure detector is provided. A pipe line capable of directly discharging air or an inert gas to the outside is formed in parallel with the passage, and the above valve and air or an inert gas whose pressure is adjusted to the internal pressure chamber for scavenging, or The industrial robot according to the preceding paragraph, wherein the valves for controlling so that the air or the inert gas whose pressure is adjusted are supplied within the range detectable by the pressure detector of 1. It is an internal pressure system.

[0005]

According to the present invention constructed as described above, the air or the inert gas at the time of scavenging is discharged to the outside without passing through the pressure detector by the valve provided between the internal pressure chamber and the pressure detector. Therefore, even if the pressure for scavenging is set to a value exceeding the allowable upper limit value of the pressure detector, there is no possibility that the pressure detector will be damaged.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An internal pressure system for an industrial robot according to an embodiment of the present invention will be described below with reference to the configuration diagram shown in FIG. In all the drawings, the same symbols represent the same or corresponding members. The internal pressure system 1 of the industrial robot 100 includes an internal pressure chamber 2 (2a to 2d) configured inside the industrial robot 100 and an air or inert gas supply for supplying air or an inert gas to the internal pressure chamber 2. Source 3
And pressure detectors 4a, 4b for detecting a pressure drop due to damage to the internal pressure chamber 2 and promptly taking safety measures such as stopping the power supply to the industrial robot 100, and a supply source of air or an inert gas. Pressure regulator 5 for adjusting the pressure of the air or the inert gas supplied from 3 to the pressure for scavenging the internal pressure chamber 2, and the pressure detector for the pressure of the air or the inert gas supplied to the internal pressure chamber 2. The pressure regulator 6 regulates the pressure within a range detectable by 4a and 4b, and the direction of the air or the inert gas whose pressure is regulated by the pressure regulator 5 is controlled and driven by the air or the inert gas. Valve 7 and an electromagnetic valve 8 that controls the drive of the valve 7,
A valve 9 for controlling the direction of the air or the inert gas that has passed through the internal pressure chamber 2, an electromagnetic valve 10 for controlling the drive of this valve 9, and a valve 7 and the air or the inert gas for driving the valve 9 Pressure regulator for adjusting pressure 11
It consists of and. The solenoid valve 8 has a controller
By giving a signal from an operation unit (not shown) of 100a, the pressure in the internal pressure chamber 2 is adjusted to air or an inert gas adjusted to the pressure for scavenging, or within a range detectable by the pressure detectors 4a, 4b. Conditioned air or inert gas is supplied, and the solenoid valve 10 also has a controller 100a.
By turning on / off a signal from the operation unit of the, the flow direction of the air or the inert gas that has passed through the internal pressure chamber 2 is controlled to the pressure detectors 4a, 4b side and the side that directly discharges to the outside of the internal pressure system 1. It Also, the solenoid 8 of the electromagnetic valve 8
Signals are simultaneously applied to Y and the electromagnetic valve 10 by a signal line 12. Further, 13b and 13f are check valves for preventing backflow of air or inert gas. Further, in the state shown in the drawing in which the inlet of the electromagnetic valve 10 is connected to the upper chamber, the air or the inert gas at the adjusted pressure from the pressure regulator 11 is blocked from flowing by the electromagnetic valve 10, and the signal line 12 When the solenoid is excited by the signal from the inlet, the inlet is connected to the lower chamber, and the air or the inert gas having the regulated pressure from the pressure regulator 11 causes the valve 9 to move to the pressure detector 4 opposite to that shown in the drawing.
Connect to a, 4b side. Furthermore, the valve 9 is an electromagnetic valve 10.
The inlet and upper and lower chambers are connected by air or an inert gas with a regulated pressure from. The operation of each part of the internal pressure system of the industrial robot according to the present invention configured as described above will be briefly described. As shown in FIG. 1, the air or the inert gas supplied from the air or the inert gas supply source 3 is adjusted by the pressure adjuster 5 to the pressure at the time of the scavenging operation and sent to the valve 7. next,
By supplying a scavenging operation signal to the solenoid 8x of the electromagnetic valve 8 from the operation unit of the controller 100a (not shown), air or an inert gas is sent from the valve 7 to the internal pressure chamber 2 while maintaining the pressure during the scavenging operation. The explosive gas that has entered the inside of the internal pressure chamber 2 is scavenged and released to the outside of the internal pressure system 1 through the valve 9. Also, at this time, since the air or the inert gas for scavenging does not flow to the pressure detectors 4a, 4b side by the valve 9, the pressure value is set to a value exceeding the allowable upper limit value of the pressure detectors 4a, 4b. Even if this happens, there is no risk of damage to the pressure detectors 4a, 4b.
Next, when the scavenging is completed, the signal of the scavenging operation, which has been given to the solenoid 8x of the electromagnetic valve 8 until now, is turned off, and instead, the signal is given to the solenoid 8Y of the electromagnetic valve 8 and the electromagnetic valve 10 through the signal line 12. , Air or an inert gas is sent from the valve 7 to the pressure regulator 6, and the pressure is adjusted within a range that can be detected by the pressure detectors 4a and 4b, and then sent to the internal pressure chamber 2 and the inside of the internal pressure chamber 2. Holds the internal pressure of. Then, the air or the inert gas that has passed through the internal pressure chamber 2 is supplied from the valve 9 to the pressure detector 4 this time.
It is sent to a and 4b, and by monitoring the pressure, the internal pressure chamber 2
It is possible to detect a pressure drop due to damage to the industrial robot 100 and promptly take a safe action such as stopping the energization of the industrial robot 100.

[0007]

As described above, the internal pressure system of the industrial robot according to the present invention includes a valve provided immediately after the internal pressure chamber and air or an inert gas adjusted to the pressure for scavenging in the internal pressure chamber. , Or a valve for controlling the supply of air or inert gas whose pressure is adjusted within the range that can be detected by the pressure detector, so that it can be driven at the same time. Since the active gas is released directly from the internal pressure chamber to the outside without passing through the pressure detector, even if the pressure value during scavenging is set higher than the upper limit of the pressure detector, the pressure detector will never be damaged. Since there is no fear of this, there is a particular effect that the reliability of the internal pressure system of the industrial robot is significantly improved.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall mechanical configuration and a part of an electric control system according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a conceptual form of an internal pressure system of an industrial robot applied as an embodiment of the present invention.

FIG. 3 is a diagram showing a mechanical configuration and an electrical control system of a conventional example.

[Explanation of symbols]

 1 Industrial Robot Internal Pressure System 2 Internal Pressure Chamber 3 Air or Inert Gas Supply Source 4a Pressure Detector 4b Pressure Detector 5 Pressure Regulator 6 Pressure Regulator 7 Valve 8 Electromagnetic Valve 9 Valve 10 Electromagnetic Valve 11 Pressure Regulator 12 Signal line 13a Check valve 13b Check valve 13c Check valve 13d Check valve 13e Check valve 13f Check valve 14 Tube 14a Gas passage

Claims (2)

[Claims] 1. An industrial robot used for painting or work equivalent thereto in an environment in which an explosive gas exists, and a pressure for monitoring a pressure of an internal pressure chamber formed inside the industrial robot. An internal pressure system for an industrial robot, wherein the detector has a protection circuit that is not damaged by pressure during scavenging operation performed before energizing the industrial robot. 2. A valve is provided between the internal pressure chamber and the pressure detector, and in parallel with the pipe leading to the pressure detector, a pipe is provided which can directly discharge air or an inert gas to the outside. Air or inert gas adjusted to the pressure for scavenging, or air or inert gas whose pressure is adjusted to a range detectable by the pressure detector is supplied to the valve and the internal pressure chamber. 2. The internal pressure system for an industrial robot according to claim 1, wherein the valves for controlling as described above are simultaneously driven.