JPS61222566A - Painting robot apparatus - Google Patents
Painting robot apparatusInfo
- Publication number
- JPS61222566A JPS61222566A JP60067082A JP6708285A JPS61222566A JP S61222566 A JPS61222566 A JP S61222566A JP 60067082 A JP60067082 A JP 60067082A JP 6708285 A JP6708285 A JP 6708285A JP S61222566 A JPS61222566 A JP S61222566A
- Authority
- JP
- Japan
- Prior art keywords
- painting
- booth
- chamber
- robot
- pressure
- 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.)
- Granted
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
- B05B12/32—Shielding elements, i.e. elements preventing overspray from reaching areas other than the object to be sprayed
- B05B12/34—Shielding elements, i.e. elements preventing overspray from reaching areas other than the object to be sprayed movable relative to the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本＠明に自動車の車体の塗ｉＭ＃に匣用する塗装ロボッ
ト！Ｉ＋ｔｖｃＦＪＡするものである・従来の技術
この種υ＊獲ロボット装置に一般に、塗装ブースと、塗
装ロボットとからなっていて、廐塗装ロゲットで前記ａ
１裂ブース内に収容し九目動車の皿体等の被塗装物のｍ
＊ｖ行うようになっている。[Detailed Description of the Invention] Industrial Application Book @A painting robot for car body painting iM#! I + tvcFJA - Conventional technology This kind of υ * capture robot equipment generally consists of a painting booth and a painting robot, and the painting robot has the above-mentioned a.
The objects to be coated, such as the plate bodies of Kummoku trains, are housed in the 1-fiber booth.
*v is supposed to be done.
塗装ブース内で被Ｖａ！！！物のｌ！！！裂を行うのに
、工場内の雰囲気中に浮遊している謳埃等が塗Ｊｊｌ＆
面に付着するのｔ防止し％また塗料に含ま几ている有機
溶剤が工場内に拡散するのｔ防止するｔめである。Received Va in the paint booth! ! ! l of things! ! ! During the cracking process, the dust floating in the atmosphere inside the factory is coated.
This is to prevent the paint from adhering to surfaces and to prevent the organic solvents contained in the paint from diffusing into the factory.
発明が解決しようとする間嵯点
ところで第６図に示したように従来の塗装ロボット装置
ｌにあってｒｘ、ｍ裂ブース２内に塗装ロボット３ｒ設
置し、該塗装ロボット３による被癩張物４の塗装を塗装
ブース２内で行うようになってい７ｔ７ｔめ１次に述べ
る工うな問題点かあつ几。By the way, as shown in FIG. 6, in the conventional painting robot apparatus 1, a painting robot 3r is installed in the rx and m crack booth 2, and the painting robot 3 removes the leprosy material. 4 is to be done in the painting booth 2, and there is a problem with the process described below.
Ｉｌ＋塗装ロボット３’ｌ収容する九めめ装ブース２が
大型になる。The ninth booth 2, which accommodates the Il+painting robot 3'l, will be larger.
（２）＠装ブース２内に塗装ロボツ）３１配置する几め
、 ｍａ：Ｉ＆ロボット３１）所謂防爆認定品でなけｎ
ばならず、一般の塗装ロボットに較べてコストが高くな
る。(2) @Painted robot (31) in installation booth 2, ma: I&Robot (31) Must be a so-called explosion-proof certified product.
However, the cost is higher than that of general painting robots.
本発明は上記従来の問題点を解決することを目的として
為さ′ｎ友ものである。゛
問題点を解決するｔめの中段
１、塗装ブース１）／）壁面に後記する塗装ロボットの
アームを塗装ブースｌ内に挿入する切欠部を設ける。The present invention has been made to solve the above-mentioned conventional problems.゛To solve the problem tth middle stage 1, painting booth 1)/) A notch is provided on the wall surface for inserting the arm of the painting robot, which will be described later, into the painting booth 1.
ｚ塗装ロボット２のアームおよび該アームの先端に設は
九塗装ガンを前記切欠部から塗装ブースｌ内に挿入する
。The arm of the z-painting robot 2 and the 9-painting gun installed at the tip of the arm are inserted into the painting booth l through the notch.
λ前記アームおよびその先端に設けた塗装ガンを操作す
る塗装ロボット２のガ、ン・アームｆｆｉ動操作部を塗
装ブースの壁面の外側に設置する。The gun arm ffi movement control section of the painting robot 2 that operates the arm and the painting gun provided at its tip is installed outside the wall of the painting booth.
表前記憶装ブースの＠面の内側に、前記切欠部とアーム
周面の間欠密封するフレキシブルブースを取付ける。A flexible booth is installed inside the @ side of the front storage booth to intermittently seal the notch and the circumferential surface of the arm.
翫前記フレキシブルブースと連通させ友状態で。Connect with the flexible booth and make friends.
前記塗装ロボットのガン・アーム駆動操作部を収容する
カバーを塗装ブースの壁面の外側に取付ける。A cover that accommodates the gun arm driving operation section of the painting robot is attached to the outside of the wall of the painting booth.
６６前記フレキシブルブースとカバーによって構成さｎ
几チャンバ内の圧力を上げる給気装置ｋ１ｍ！装ブース
の外部に設ける。66 Consisting of the flexible booth and cover n
Air supply device k1m to increase the pressure inside the chamber! installed outside the installation booth.
７、チャンバ内に、チャンバ内圧を検出する圧力センサ
を設ける。7. A pressure sensor is provided in the chamber to detect the chamber internal pressure.
＆前記圧力センナで検出さｎ７を圧力信号に基づいて、
前記ガン・アーム駆ｌＩ２＋操作部および給気装置の駆
動制御を行つ制御装置ｔ−塗装ブース十の外部に設け４
．。& Based on the pressure signal n7 detected by the pressure sensor,
A control device (t) for controlling the drive of the gun arm driver (112) and the operating section and air supply device (4) provided outside the painting booth (11);
．． .
作用
前記ｍｓ、ｖａ置で空気ｔ−榔襞ロボット収容チャンバ
に供給して、Ｉ［チャンバ内の気圧を塗装ブース内の気
圧よりも高くして、該塗装ブース内の塗料から発生する
引火性切スがチャンバ内に侵入するの會防止すると共に
、万一、フレキシブルブースやカバーが破損して、チャ
ンバ内圧が設定置以下になり、塗装ブース内の引火性ガ
スがチャンバ内に流入して来る虞が生じると、前記圧力
センサと制御装置でガン・アーム駆動操作部と給気装置
の作動を停止し、ｃｆＬらガン・アーム駆動部と給気装
置とから発する火花が引火性ガスに引火して起る爆発４
を未然に防止するのである。Air is supplied to the robot housing chamber at the ms, va position to make the pressure inside the chamber higher than the pressure inside the coating booth to remove flammable gas generated from the paint inside the coating booth. This prevents gas from entering the chamber, and also prevents the possibility that in the unlikely event that the flexible booth or cover is damaged, the chamber internal pressure drops below the set level and flammable gas from inside the coating booth flows into the chamber. When this occurs, the pressure sensor and control device stop the operation of the gun arm drive operation section and the air supply device, and sparks emitted from the cfL gun arm drive section and the air supply device ignite the flammable gas. Explosion that occurs 4
It is to prevent this from happening.
実施例 久に本発明の実施例を図面を参照して説明する。Example Embodiments of the present invention will now be described with reference to the drawings.
第１〜４図に本発明の第１）！施例を示す。図において
１は本発明の塗装ロボツＭｔｅ置、２ト３ｒｌＣＩｍ装
ロボット＊ｄｘｔ−構成する塗装ブースと塗装ロボット
である。Figures 1 to 4 show the first aspect of the present invention! An example is shown. In the figure, reference numeral 1 denotes a painting robot Mte equipment, 2 to 3 rlCIm equipment robot *dxt-, and a painting booth and a painting robot according to the present invention.
前記塗装ブース２は自動車の車体等の被塗装物４を収容
できる大きさに形成されていると共に。The painting booth 2 is formed in a size that can accommodate an object 4 to be painted, such as an automobile body.
その壁面５にａ切欠部６が形成さ１ている。A notch 6 is formed in the wall surface 5.
１几前記塗装ロボット３ぼ完膚に塗装ガンフを設けたア
ーム８と、こ１ら塗装ガン７およびアーム８１：を操作
するガン・アーム駆動操作部９とからなっていて、前記
塗装ガン７とアーム８に前記切欠部６から塗装ブース２
円に挿入さｎ、ガン・アーム駆動操作部９は塗装ブース
２の壁面５の外側に設置されている。1. The painting robot 3 is made up of an arm 8 with a painting gun completely attached to it, and a gun/arm drive operation section 9 for operating the painting gun 7 and the arm 81. 8 from the notch 6 to the painting booth 2
The gun arm drive operating section 9 is installed on the outside of the wall surface 5 of the painting booth 2.
ｌＯは前ｅ切欠部６を密封するフレキシブルブースであ
り、該フレキシブルブース１０ｒＪ、ゴムやプラスチッ
ク等の軟性材にエフ蛇腹状に作られていて、ａ！！ブー
ス２内において切欠部６とアーム８の周面との間を密封
し、塗装ブース２内の引火性ガス等が外部に洩ｎないよ
うにしていると共に。lO is a flexible booth that seals the front e notch 6, and the flexible booth 10rJ is made of a flexible material such as rubber or plastic in a bellows shape, and a! ! The space between the notch 6 and the peripheral surface of the arm 8 is sealed in the booth 2 to prevent flammable gas and the like from leaking outside.
塗装ブース２Ｐ′３において塗装ガン７やアーム８を自
由に動かすことができるようにしている。The painting gun 7 and arm 8 can be freely moved in the painting booth 2P'3.
１）に前記め装ロボット３のガン・アーム駆動操作部９
のカバーであり、該カバー１）Ｈ前記フレキシブルブー
スｌＯと連通させた状態で塗装ブース５！の壁Ｉｉ［Ｔ
５の外側に取付けら几ていて、ガン・アーム駆動操作部
９ｔ−１密閉している。1) the gun arm drive operation section 9 of the loading robot 3;
The cover 1)H is connected to the coating booth 5! in communication with the flexible booth lO. wall Ii [T
5, and the gun arm drive operation section 9t-1 is sealed.
ｌｓａ前記フレキシブルブース１０とカバーｌｌに工っ
て構成さｒＬ几チャンバ１３内の圧力を上げる給気装置
であり、該給気装置１２は塗装ブース２の外部に設けら
れていて、圧縮空気を送り込むことにより前記チャンバ
１３内の気圧を上げるようになっている。lsa An air supply device built into the flexible booth 10 and the cover 11 to increase the pressure inside the chamber 13. The air supply device 12 is provided outside the painting booth 2 and supplies compressed air. This increases the air pressure inside the chamber 13.
１４は前記チャンバ１３１ＦＪ（Ｑ圧力を検出する圧力
センサであり、該圧力センナ１４μカバー１）内に取付
けらｎている。Reference numeral 14 denotes a pressure sensor that detects the Q pressure, and is installed in the chamber 131FJ (the pressure sensor 14μ cover 1).
１５ｉ前記圧カセンサ１４で検出さｆＬ７を圧力信号に
基づいて、前記ガン・アーム駆動操作部９およびｌｉＩ
気装置１２０駆動制−を行つ劃−装置である。15i Based on the pressure signal fL7 detected by the pressure sensor 14, the gun arm drive operation section 9 and liI
This is a pneumatic device that controls the drive of the pneumatic device 120.
第４図は制御装置１５のｇ１）！施例の７ａ−チャート
であり、該実施例においてチャンバ内圧Ｐがチャンバ内
下限圧力ＰＬ （チャンバ内圧’ｋ 一定［以上に保持
させる九めの給気装置作動下限圧力）ニジも小さいとき
に給気１）ｄｔ２が作動して圧縮空気ｔチャンバ１３円
に送り込む。そしてチャンバ内圧Ｐがチャンバ内上限圧
力Ｐｕ（塗装ブース耐圧力エフも低い値で給気袋Ｔｆｔ
−停止させる圧力）と同等になると給気装置１２の作動
を停止させる。Fig. 4 shows g1) of the control device 15)! This is a chart of Example 7a, and in this example, the air supply is performed when the chamber internal pressure P is also small. 1) dt2 operates and sends compressed air into the t-chamber 13 yen. Then, the chamber internal pressure P is the chamber internal upper limit pressure Pu (the painting booth pressure resistance F is also a low value, and the air supply bag Tft is
- the pressure to be stopped), the operation of the air supply device 12 is stopped.
ま九給気装置１２およびガン・アーム駆動操作部９の作
動時において、フレキシブルブース１０’Ｐカバー１）
が破損するなどしてチャンバ内圧Ｐがチャンバ内下限々
界圧力Ｐ／ （！装ブーツ内の空気がチャンバ円に流入
するのｔ防止するｔめの最低限の圧力であり少なくとも
塗装ブーツ内圧と同等の圧力）以下になると６ｍロボッ
ト３のガン・アーム駆動操作部９の作動を停止させ、４
発の危険を除去すると共に警報を発する工うになってい
る。When the air supply device 12 and the gun arm drive operation section 9 are activated, the flexible booth 10'P cover 1)
If the inside pressure of the chamber is damaged, the lower limit pressure inside the chamber P/ pressure), the operation of the gun arm drive operation section 9 of the 6m robot 3 is stopped, and the
The system is designed to eliminate the danger of fire and to issue a warning.
第５図は制御装置１）５の第２ｊ！施例の２０−チャー
トであり、該実施例においてはチャンバ１３のリークを
検出するタイマ機構を組込んだ場＠−を示し、 ＃［製
置停止後にチャンバ内圧Ｐがチャンバ内下限圧力ＰＬに
なるまでの時間でと、自然リークにエフチャンバ円圧Ｐ
がチャンバ内下限圧力ＰＬになるまでの時間ｔ２比較演
算し１時間ｔが時間Ｔエフも大きい場合にａチャンバ１
３（具体的にはフレキシブルブースｌＯ−？カバーｌり
の破損等によるリークがあるものとして塗装ロボット３
のガン・アーム駆動操作＠９の作動を停止させる工うに
なってＡる。FIG. 5 shows the second j! of the control device 1)5. This is a chart of Example 20, in which a timer mechanism for detecting leakage in the chamber 13 is installed, and #[Chamber internal pressure P becomes chamber internal lower limit pressure PL after production is stopped. In the time up to natural leakage, the F-chamber circular pressure P
Compare and calculate the time t2 until the chamber internal pressure reaches the lower limit pressure PL, and if 1 hour t is also large, then a chamber 1
3 (Specifically, if there is a leak due to damage to the flexible booth lO-? cover, etc., paint robot 3
The operation of the gun arm drive operation @9 is now stopped.
発明の詳細
な説明したように本発明に、塗装ロボット３のガン・ア
ーム駆動操作部９に−ａ！！ブース２の外部に配置して
、該駆動操作部９ｔフレキシブルブース１０とカバー１
）とで形成さｎるチャンバ１３内に収容し、該チャンバ
１３円に給気装置１２で圧縮空気を送り込む構成とし九
ので次に述べるような効果がある。DETAILED DESCRIPTION OF THE INVENTION As described above, in the present invention, the gun arm drive operation section 9 of the painting robot 3 -a! ! Arranged outside the booth 2, the drive operation section 9t flexible booth 10 and cover 1
), and compressed air is fed into the chamber 13 by an air supply device 12, thereby producing the following effects.
ｉｌｌ塗装ロボット３０本体部ともいうべきガン・アー
ム駆動操作部’１ｍ装ブース２外に配置するので塗装ブ
ース２を小型化することができる。また人間が中に入っ
て１！！装作業を行う既存の塗装ブース２を使用しての
ロボット化も可能になる。Since the gun arm drive operation section, which can also be referred to as the main body of the ill painting robot 30, is located outside the 1 m booth 2, the painting booth 2 can be made smaller. Another human enters! ! It is also possible to use the existing painting booth 2 for painting work to create a robot.
（２）塗装ロボット３自体の防漏化が不要になる。(2) It becomes unnecessary to make the painting robot 3 itself leak-proof.
従って他工糧で！帛してい友非防爆ロゲットの流用や、
塗装ロボットの選定が容易になる。Therefore, use other methods! Diversion of non-explosion proof loggets,
Selection of a painting robot becomes easier.
第１図に本発明の塗装ロボット装置の断面図。
第り図ａ賛邪の拡大図、第３図にフレキシブルブースの
一部切欠斜視図、第４図および第５図に制御装置のフロ
ーチャート図、第６図に従来の塗装ロボット装置の断面
図である。
ｌ・・・ｍ装ロボット装置、２・・・塗装ブース、３・
・・塗装ロボット、４・・・被部張物、５・・・塗装ブ
ースの壁面、６・・・切欠部、７・・・１！装ガン、８
・・・アーム、９・・・ガン・アーム駆動操作部、１０
・・・フレキシブルブース、１）・・・カバー、１２・
・・給気装置、１３・・・チャンバ、１４・・・圧力セ
ンサ、１５・・・制御装置。
第２図
第３図
第４図
、、１５FIG. 1 is a sectional view of the painting robot device of the present invention. Figure 3 is a partially cutaway perspective view of the flexible booth, Figures 4 and 5 are flowcharts of the control device, and Figure 6 is a cross-sectional view of the conventional painting robot device. be. l... m-equipped robot device, 2... painting booth, 3...
...painting robot, 4...covering material, 5...painting booth wall, 6...notch, 7...1! Loaded gun, 8
...Arm, 9...Gun arm drive operation section, 10
...Flexible booth, 1)...Cover, 12.
...Air supply device, 13...Chamber, 14...Pressure sensor, 15...Control device. Figure 2, Figure 3, Figure 4, 15
Claims (1)
の壁面に設けた切欠部から、先端に塗装ガンを設けたア
ームを前記塗装ブース内に挿入する一方、これら塗装ガ
ンおよびアームを操作するガン・アーム駆動操作部が前
記塗装ブースの壁面外に設置されている塗装ロボットと
、前記塗装ブースの壁面内側に設けられていて、前記切
欠部とアーム周面の間を密封しているフレキシブルブー
スと、該フレキシブルブースと連通された状態で、前記
塗装ブースの壁面外側に設けられていて、前記塗装ロボ
ットのガン・アーム駆動操作部を収容しているカバーと
、該カバーと前記フレキシブルブースによつて構成され
たチャンバ内の圧力を上げる給気装置と、前記チャンバ
内の圧力を検出する圧力センサと、該圧力センサで検出
された圧力信号に基づいて、前記ガン・アーム駆動操作
部および給気装置の駆動制御を行う制御装置とを備えて
なる塗装ロボット装置。(1) A painting booth that accommodates objects to be painted, and an arm equipped with a painting gun at the tip inserted into the painting booth through a notch provided in the wall of the painting booth, while operating these painting guns and arms. A painting robot having a gun arm drive operation unit installed outside the wall of the painting booth, and a flexible robot installed inside the wall of the painting booth and sealing between the notch and the circumferential surface of the arm. a booth, a cover that is provided on the outside of the wall surface of the painting booth in communication with the flexible booth and that houses a gun arm drive operation section of the painting robot; an air supply device for increasing the pressure in the chamber, a pressure sensor for detecting the pressure in the chamber, and a pressure signal detected by the pressure sensor for controlling the gun arm drive operating section and the air supply. A painting robot device comprising a control device that controls the drive of a gas device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60067082A JPS61222566A (en) | 1985-03-29 | 1985-03-29 | Painting robot apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60067082A JPS61222566A (en) | 1985-03-29 | 1985-03-29 | Painting robot apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61222566A true JPS61222566A (en) | 1986-10-03 |
| JPH041669B2 JPH041669B2 (en) | 1992-01-13 |
Family
ID=13334595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60067082A Granted JPS61222566A (en) | 1985-03-29 | 1985-03-29 | Painting robot apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61222566A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02293903A (en) * | 1989-05-08 | 1990-12-05 | Mitsubishi Electric Corp | Cad/cam device |
| US5014644A (en) * | 1989-05-23 | 1991-05-14 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for coating automotive body |
| JPH0356665U (en) * | 1989-09-29 | 1991-05-30 | ||
| EP1122039A1 (en) * | 2000-02-02 | 2001-08-08 | KUKA Roboter GmbH | Multi-axis robot enclosed in a hermetic casing |
| EP1127664A1 (en) * | 2000-02-21 | 2001-08-29 | SCHLICK-Roto-Jet Maschinenbau GmbH | Working chamber with an automatically sealable opening for the insertion of a manipulator arm |
| JP2013157561A (en) * | 2012-01-31 | 2013-08-15 | Yaskawa Electric Corp | Carrier robot |
| EP3498438A4 (en) * | 2016-08-12 | 2020-04-01 | Kawasaki Jukogyo Kabushiki Kaisha | Isolator system |
-
1985
- 1985-03-29 JP JP60067082A patent/JPS61222566A/en active Granted
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02293903A (en) * | 1989-05-08 | 1990-12-05 | Mitsubishi Electric Corp | Cad/cam device |
| US5014644A (en) * | 1989-05-23 | 1991-05-14 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for coating automotive body |
| JPH0356665U (en) * | 1989-09-29 | 1991-05-30 | ||
| EP1122039A1 (en) * | 2000-02-02 | 2001-08-08 | KUKA Roboter GmbH | Multi-axis robot enclosed in a hermetic casing |
| EP1127664A1 (en) * | 2000-02-21 | 2001-08-29 | SCHLICK-Roto-Jet Maschinenbau GmbH | Working chamber with an automatically sealable opening for the insertion of a manipulator arm |
| JP2013157561A (en) * | 2012-01-31 | 2013-08-15 | Yaskawa Electric Corp | Carrier robot |
| US8992160B2 (en) | 2012-01-31 | 2015-03-31 | Kabushiki Kaisha Yaskawa Denki | Transfer robot |
| EP3498438A4 (en) * | 2016-08-12 | 2020-04-01 | Kawasaki Jukogyo Kabushiki Kaisha | Isolator system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH041669B2 (en) | 1992-01-13 |
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