JPS6016392A - Cover device for robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot that automatically performs welding or painting work on products during a production process, for example. The present invention relates to a cover device that closes an opening that inevitably occurs to prevent dust from entering the interior.

Figure 1 is an overall perspective view of the robot, and Figure 2 is an enlarged sectional view of the joints of a conventional robot. a base, (3) a first arm pivotally attached to the robot body (2) so as to be rotatable within a predetermined angular range; a second arm (5) rotatably pivoted on a pivot (4) within the
) is a fingertip pivotally attached to the free end of the second arm (4) so as to be rotatable within a predetermined angular range.

Next, in FIG. 2, (6) has one end fixed to a predetermined position of the first arm (3) with a set screw (7), and the other end fixed to a predetermined position of the second arm (4). screw (8)
The first arm (3) and the second arm (4) are fixed by
) is a telescopic and bendable bellows that closes the opening of the joint with the second arm (4). When the rollers (9) rotate, each roller (9) moves along the arc-shaped guide 00 formed on the first arm (3), so that the bellows (6) smoothly expands, contracts, and bends, and the second arm (4)
As described above, the conventional robot cover device is configured to close the opening between the first arm and the arm (3) caused by the rotation of the second arm (4). The opening created at the joint with the first arm (3) is closed by a bellows (6), but this bellows (6) is constructed by finely bending in a zigzag shape. ) is extremely thick in the contracted state, and the space for accommodating it in the arm becomes large, making it difficult to make the arm compact and, moreover, making it expensive.

This invention has been made with attention to this point, and by using a flexible sheet that is stretchable and bendable in place of a conventional bellows that requires a considerable amount of space as a cover device, it is possible to accommodate the cover device. The present invention aims to provide a cover device for a robot that takes up less space, has a smaller arm, and reduces costs.

That is, FIG. 6 shows one embodiment of this invention,
(11) has one end fixed to a predetermined position of the second arm (4) with a set screw σ2 to close the opening of the joint between the first arm (3) and the second arm (4). In a flat flexible sheet, the free end of the flexible sheet aη is
When the second arm (4) rotates, it bends or expands and contracts along the arc-shaped guide C13 formed on the first arm (3), and the relationship between the second arm (4) and the first arm that occurs when the second arm (4) rotates is bent or expanded. The opening is configured to close the opening. In addition, as the above-mentioned flexible seam (11), for example, Teflon (
synthetic resin (polymerized tetrafluoroethylene) sheet, or urethane (compound of carbamic acid and alcohol) sheet,
Alternatively, use thin steel sheets.

As described above, the present invention enables rotation of the second arm (4) by means of a flexible sheath (11) fixed at one end to one of the second arms (4) which are pivotably connected to each other. The device is designed to close the opening that sometimes occurs at the joint with the first arm (3), and since the cover device that closes the opening is a flat flexible sheet that can be bent or expanded, it is different from the conventional bellows. As such, it does not require a large accommodation space in the arm, and has the excellent effect of making the arm smaller and reducing costs.

Note that FIG. 4 and FIG. 5 both show other embodiments of the present invention, and in FIG. This shows the case in which it not only rotates as
If it is fixed to →, even if the second arm (4) rotates, the flexible sheet a1) will not be provided on the first arm (3),
It moves along the spherical guide (11) and closes the opening of the first arm (3) and the second arm (4). This shows a case where the rotation angle is extremely large, and the flexible seat torque υ is fixed to the second arm (4) via the hinge α.If configured in this way, the second arm (4) ), it is possible to close the opening between the first arm (3) and the second arm (4) even if the rotation angle is large.

[Brief explanation of drawings]

FIG. 1 is a perspective view of the entire robot, FIG. 2 is a sectional view of essential parts showing a conventional robot cover device, FIG. 6 is a sectional view of essential parts showing an embodiment of the present invention, FIGS. FIG. 5 is a sectional view of essential parts showing another embodiment of the present invention. In the drawing, (1) is the base, (2) is the robot body, (3)
is the first arm, (4) is the second arm, (11) is the flexible sheet, (c) is the set screw, a3 is the guide, ◇→ is the bearing,
0→ is a hinge. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Masuo Oiwa Figure 4 Figure 5

Claims (4)

[Claims] (1) A flexible arm with one end fixed to either the first arm, which is pivotably attached to the robot body, or the second arm, which is pivotably attached to the first arm. 1. A cover device for a robot, characterized in that, when one arm rotates, an opening created at a joint with the other arm is closed by a flexible sheet. (2) Teflon or urethane as a flexible sheet,
The cover device for a robot according to claim 1, characterized in that a sheet made of either steel or steel is used. (3) A cover device for a robot according to claim 1, characterized in that the other arm is configured to rotate on its own axis by means of a bearing mounted on one arm. (4) The robot cover device according to claim 1, wherein one end of the flexible sheet is fixed to one arm via a hinge.