200902260 九、發明說明 【發明所屬之技術領域】 本發明是關於以水密、氣密或防塵等爲目的之各種箱 體的外罩安裝構造’特別是關於應用在產業用機械人的外 罩安裝構造。 【先前技術】 第3圖爲可應用習知技術及本發明的產業用機械人圖 ’ （a)圖爲側面圖’ （b)圖爲平面圖。第4圖爲習知技 術的外罩安裝構造圖’（a )圖爲要部平剖圖，（b )圖爲 局部放大圖。 一般產業用機械人’例如具有第2圖所示的構成。 第2圖及第3圖中’圖號丨爲機械人，圖號2爲固定 底座，圖號3爲旋繞底座’該旋繞底座3具有機械臂支撐 部3 a的同時，可朝箭頭符號a所示方向旋轉地連結在上 述固定底座2。圖號4爲機械臂，例如是由第1手臂4a和 第2手臂4b構成’上述第1手臂4a是連結在上述機械臂 支撐部3 a成可朝箭頭符號b方向傾斜活動，上述第2手 臂4b是連結在上述第1手臂4a前端部成可朝箭頭符號所 示方向傾斜活動’再加上，前端部具有連接成可朝箭頭符 號E所示方向旋轉的凸緣5 3。 以箱體爲構成的例如上述第2手臂4 b，如第3圖所示 ’是於側部具有開口部4ba，以可螺合在第2手臂4b所設 置之螺栓孔7的螺栓8安裝平板狀外罩6使外罩6覆蓋著 200902260 上述開口部4ba。 在對上述第2手臂4b安裝上述外罩6時，在上述外 罩6和第2手臂4b之間推壓夾持密封件等密封構件9藉 此密封上述開口部4ba的周圍。另，上述外罩6和上述密 封構件9設有螺栓穿通孔〗〇、 產業用機械人1’習知是採上述外罩6的安裝構成進 行由外罩6覆蓋開口部4 b a的密封（例如專利文獻1 )。 〔專利文獻1〕日本特開平U-33973號公報 【發明內容】 〔發明欲解決之課題〕 然而，上述習知的外罩安裝構造有下述問題。 即，在箱體（機械臂）和外罩之間夾著密封構件，以 螺栓鎖緊箱體和外罩，當老化造成密封構件耗損時，該老 化的耗損就會造成螺栓鬆動，導致密封效果消失的同時， 造成上述外罩固定的不穩定。 本發明是爲了解決上述問題而爲的發明，目的是提供 一種即使老化造成密封構件耗損，螺栓也不會鬆動，並且 持續具有密封效果的外罩安裝構造，與使用該外罩安裝構 造之機械臂及產業用機械人。 〔用以解決課題之手段〕 爲了解決上述問題’本發明是構成以下所述° 申請專利範圍第1項記載的外罩安裝構造之發明是一 -5- 200902260 種具有：具開口部的箱體；形成在上述開口部周圍的複數 個螺栓孔；及對應上述螺栓孔設有螺栓穿孔的外罩，構成 爲將穿通在上述外罩螺栓穿通孔的螺栓螺合在上述箱體的 螺栓孔使覆蓋在上述箱體開口部的上述外罩安裝在上述箱 體的外罩安裝構造，其特徵爲，具有：套入著螺合於上述 箱體螺栓孔的上述螺栓，圓筒部一方端面抵接於上述箱體 的同時，設置在上述圓筒部另一方端面的凸片部由上述螺 栓鎖緊推壓的帶凸片套環；覆蓋著上述開口部，形成在上 述箱體螺栓孔對應的位置，具有上述套環圓筒部穿通用套 環穿通孔的外罩；具有上述套環圓筒部穿通用套環穿通孔 ，被推壓夾持在上述箱體和上述外罩之間的密封構件；及 比上述密封構件的老化還慢，並且具彈性，具有上述套環 圓筒部穿通用套環穿通孔，被推壓夾持在上述套環凸片部 和上述外罩之間的橡膠墊圏。 申請專利範圍第2項記載的發明，其特徵爲，上述橡 膠墊圈的厚度是形成比上述密封構件的厚度還厚。 申請專利範圍第3項記載之產業用機械人機械臂的發 明是於形成爲f目體的手臂的至少一部份具有開口部，以外 罩覆蓋著上述開口部的產業用機械人之機械臂中，其特徵 爲’上述外罩是使用申請專利範圍第]項或第2項記載的 外罩安裝構造安裝在上述機械臂。 申請專利範圍第4項記載之產業用機械人的發明是於 具有連結成轉動自如的複數個機械臂的產業用機械人中， 其特徵爲’上述機械臂是以申請專利範圍第2項記載的機 -6 - 200902260 械臂構成。 〔發明效果〕 根據本發明，可獲得下述效果。 根據申請專利範圍第1項記載的發明時，因套環的圓 筒部一方端部是抵接在上述箱體的同時，設置在上述圓筒 部另一方端面的凸片部是由上述螺栓鎖緊推壓著，所以即 使密封構件老化耗損，上述外罩對上述套環的推壓力還是 不變。因此，螺栓不會鬆動。此外，上述外蓋是由比上述 密封構件的老化還慢，並且具彈性的橡膠墊圈持續推壓著 ’所以即將上密封構件老化耗損，但上述外罩推壓上述密 封構件的推壓力不會因此消失。因此，上述外罩是長期間 推壓著密封構件，維持上述箱體開口部的水密或氣密性， 能夠有效執行防塵等。 根據申請專利範圍第2項記載的發明時，橡膠墊圈的 厚度是形成比上述密封構件的厚度還厚，因此能夠以較大 的彈力推壓外罩，長時間將外罩推壓在其與密封構件之間 ，因此能夠防止外罩偏離箱體。 根據申請專利範圍第3項記載的發明時，可提供一種 能夠防止外罩安裝在箱體時螺栓鬆動及能夠防止外罩偏離 箱體的產業用機械人機械臂。 根據申請專利範圍第4項記載的發明時，可提供一種 能夠防止外罩安裝在箱體時螺栓鬆動及能夠防止外罩偏離 箱體的產業用機械人。 200902260 【實施方式】 〔發明之最佳實施形態〕 以下，根據圖面進行本發明的實施例說明。 實施例 第1圖爲表示本發明實施例的外罩安裝構造圖，（a )圖爲要部平剖圖，（b)圖爲局部放大圖° 本發明產業用機械人的基本構成是和習知相同，如第 2(a) 、 （b)圖所示。不同的部份是在於外罩的安裝構 造，針對此說明如下述。 習知技術中，在外罩6和第2手臂（箱體）4b之間夾 著密封構件，直接以螺栓8將外罩6鎖緊在第2手臂4b， 但於本發明中，並非如此安裝，而是將外罩6隔著帶凸片 的套環1 2和橡膠墊圈1 3和密封構件9安裝在第2手臂4b 〇 上述帶凸片的套環12是形成圓筒形狀，只在圓筒部 1 2 a單側端部設有凸片部1 2 b。上述橡膠墊圈1 3，例如是 形成爲環狀，於中央部份設有套環穿通孔1 3 a。 上述密封件9，其形狀是配合上述開口部4ba的周緣 形狀形成，配合設置在上述開口部4ba周圍複數處的螺栓 孔7位置設有套環穿通孔9a。 此外’上述外罩6 ’例如是形成平板狀，和上述密封 構件9相同地配合設置在上述開口部4 b a周圍複數處的螺 200902260 栓孔7位置設有套環穿通孔6a。 上述外罩6安裝在第2手臂4b時，進行下述步驟。 首先，將螺栓8穿通在圓筒狀的套環12，於該狀況時 ，以凸片部1 2 b位於螺栓8頭側進行穿通。 其次，將上述橡膠墊圈13的套環穿通孔13a套在上 述套環12的圓筒部12a外圍面，使上述橡膠墊圈13抵接 於套環12的凸片部12b。 接著，將上述外罩6的套環穿通孔6a同樣套在上述 套環12的圓筒部12a外圍面，使上述外罩6抵接於上述 橡膠墊圈13。 其次，將上述密封構件9的套環穿通孔9 a同樣套在 上述套環12的圓筒部12a外圍面，使上述密封構件9抵 接於上述外罩6。 於該狀態下，將上述螺栓8螺合於上述第2手臂4b 的螺栓孔7，用上述螺栓8逐漸鎖緊設置在上述套環12的 圓筒部12a的凸片部12b，使上述套環12的圓筒部12的 凸片部相反側端部強力抵接於上述第2手臂4b。 當上述螺栓8逐漸鎖緊上述套環12的圓筒部12a的 凸片部12b時，上述套環12的凸片部12b和第2手臂4b 之間會逐漸變窄，凸片部1 2b會將上述橡膠墊圈1 3朝外 罩6推壓，此外，受到上述橡膠墊圈13推壓的上述外罩6 會將密封構件9朝第2手臂4b推壓。如此一來，上述開 口部4ba的周圍就會形成密封使開口部4ba密閉著。 上述外罩6，因是由比上述密封構件9的老化還慢並 -9- 200902260 且具彈力的橡膠墊圈1 3持續推壓著，所以即使上述密封 構件9老化耗損，但上述外罩6推壓上述密封構件9的推 壓力不會因此消失。特別是，如第3圖所示，當上述橡膠 墊圈13的厚度形成比上述密封構件9的厚度還厚時，能 夠大幅抵消上述密封構件9老化造成的耗損量，能夠長久 維持上述橡膠墊圈1 3的推壓力。此外，上述螺栓8並不 是直接鎖在會老化的上述密封構件9等，而是鎖在壽命長 的套環1 2，所以上述螺栓8不會鬆動。 因此’能夠長久維持上述外罩6覆蓋著開口部4ba時 的水密、氣密或防塵等效果。 於上述的實施例’上述外罩6是形成爲可覆蓋著上述 第2手臂4b側面全體的構成，但也可以是上述第2手臂 4 b形成有局部性開口’將外罩形成爲可覆蓋著該局部性開 口部的外罩構成。 此外’上述的實施例是於上述第2手臂4b形成有開 口部4ba ’但也可於第1手臂4a形成有開口部4ba，或也 可於其他的部份形成有開口部4ba。即，只要是形成在機 器臂或底座等箱體上的開口部使用外罩覆蓋的構成即可。 另，上述螺栓8亦包括螺絲類。 〔產業上之可利用性〕 本發明是關於以水密、氣密或防塵等爲目的之各種箱 體的外罩安裝構造’特別是應用在產業用機械人的外罩安 裝構造’可利用在長期間維持水密或氣密能夠達到有效防 -10- 200902260 麈等效果的外罩安裝構造與使用該外罩安裝構造的機械臂 及產業用機械人的製造、提供領域。 【圖式簡單說明】 第1圖爲表示本發明實施例的外罩安裝構造圖，（a )圖爲要部平剖圖，（b)圖爲局部放大圖。 第2圖爲表示本發明另一實施壢的外罩安裝構造局部 放大圖。 第3圖爲可應用習知技術及本發明的產業用機械人圖 ，（a)圖爲側面圖，（b)圖爲平面圖。 第4圖爲習知技術的外罩安裝構造圖，（a)圖爲要 部平剖圖，（b )圖爲局部放大圖。 【主要元件符號說明】 1 :機械人 2 :固定底座 3 :旋繞底座 3 a :機械臂支撐部 4 :機械臂 4a :第1手臂 4b :第2手臂 4ba :開口部 5 :手腕 5a :凸緣 -11 - 200902260 6 :外罩 6a :套環穿通孔 7 :螺栓孔 8 :螺栓 9 :密封構件 9a =套環穿通孔 1 0、1 1 :螺栓穿通孔 1 2 :套環 1 2 a :圓筒部 1 2 b :凸片部 13 :橡膠墊圈 1 3 a :套環穿通孔 -12 -。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 [Prior Art] Fig. 3 is an industrial robot figure to which the prior art and the present invention can be applied. (a) is a side view. (b) is a plan view. Fig. 4 is a view showing a structure of a cover mounting structure of the prior art. Fig. 4(a) is a plan view of a main portion, and Fig. 4(b) is a partially enlarged view. The general industrial robot ' has the configuration shown in Fig. 2, for example. In Fig. 2 and Fig. 3, 'the figure number is a robot, the figure 2 is a fixed base, and the figure 3 is a spiral base'. The winding base 3 has a mechanical arm support portion 3a, and can be pointed at the arrow symbol a. The fixed base 2 is coupled to the display in a rotational direction. 4 is a robot arm, for example, constituted by the first arm 4a and the second arm 4b. The first arm 4a is coupled to the arm support portion 3a so as to be tiltable in the direction of the arrow symbol b, and the second arm is 4b is connected to the front end portion of the first arm 4a so as to be tiltable in the direction indicated by the arrow symbol. Further, the front end portion has a flange 53 which is connected to be rotatable in the direction indicated by the arrow E. For example, the second arm 4 b having the casing as shown in FIG. 3 has an opening 4ba at the side, and the plate is attached to the bolt 8 of the bolt hole 7 provided in the second arm 4b. The outer cover 6 covers the opening 6ba of the cover 20902260. When the outer cover 6 is attached to the second arm 4b, a sealing member 9 such as a sealing member is pressed between the outer cover 6 and the second arm 4b to thereby seal the periphery of the opening 4ba. In addition, the outer cover 6 and the sealing member 9 are provided with a bolt through hole, and the industrial robot 1' is a seal that covers the opening 4 b by the outer cover 6 by the attachment structure of the outer cover 6 (for example, Patent Document 1) ). [Patent Document 1] Japanese Laid-Open Patent Publication No. H-33973-A SUMMARY OF THE INVENTION [Problems to be Solved by the Invention] However, the above-described conventional cover mounting structure has the following problems. That is, a sealing member is interposed between the casing (mechanical arm) and the outer cover, and the casing and the outer cover are locked by bolts. When the sealing member is worn out due to aging, the wear of the aging causes the bolt to loosen, resulting in the disappearance of the sealing effect. At the same time, the above-mentioned outer cover is unstable. The present invention has been made to solve the above problems, and an object of the invention is to provide an outer cover mounting structure which has a sealing effect even if the sealing member is worn out due to aging, and which has a sealing effect, and a mechanical arm and industry using the outer cover mounting structure. Use robots. [Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention is a casing having a cover portion according to the first aspect of the invention. a plurality of bolt holes formed around the opening; and a cover provided with a bolt through hole corresponding to the bolt hole, wherein a bolt penetrating through the through hole of the cover bolt is screwed into a bolt hole of the case to cover the case The outer cover of the body opening is attached to the outer cover mounting structure of the casing, and is characterized in that the bolt is screwed into the bolt hole of the casing, and one end surface of the cylindrical portion abuts against the casing a tab collar that is disposed on the other end surface of the cylindrical portion and that is pressed by the bolt; and the opening is formed at a position corresponding to the bolt hole of the casing, and has the collar circle a sleeve wearing a universal collar through hole; the sleeve having a cylindrical portion penetrating through the universal collar through hole, being pressed and clamped between the box and the outer cover And a member that is slower than the aging of the sealing member and has elasticity, and has the above-mentioned collar cylindrical portion penetrating the universal collar through-hole, and is pressed against the rubber pad between the collar tab portion and the outer cover Hey. The invention according to claim 2, wherein the rubber gasket has a thickness which is thicker than a thickness of the sealing member. The invention of the industrial robot arm according to the third aspect of the invention is that the at least one portion of the arm formed as the f-body has an opening, and the outer cover covers the opening of the mechanical robot of the industrial robot. It is characterized in that the above-mentioned outer cover is attached to the above-mentioned robot arm using the outer cover mounting structure described in the second or second aspect of the patent application. The industrial robot according to the fourth aspect of the patent application is an industrial robot having a plurality of robot arms that are rotatably coupled, and is characterized in that the mechanical arm is the second item of the patent application scope. Machine-6 - 200902260 Arm frame. [Effect of the Invention] According to the present invention, the following effects can be obtained. According to the invention of the first aspect of the invention, the one end portion of the cylindrical portion of the collar abuts against the casing, and the tab portion provided on the other end surface of the cylindrical portion is locked by the bolt Pressing firmly, even if the sealing member is worn out, the pressing force of the above-mentioned cover to the above-mentioned collar is not changed. Therefore, the bolts will not loosen. Further, the outer cover is slower than the aging of the sealing member, and the elastic rubber gasket is continuously pressed. Therefore, the upper sealing member is aged and worn, but the pressing force by which the outer cover presses the sealing member does not disappear. Therefore, the outer cover presses the sealing member for a long period of time, and maintains the watertightness or airtightness of the opening of the casing, thereby effectively performing dustproof or the like. According to the invention of the second aspect of the invention, since the thickness of the rubber gasket is formed to be thicker than the thickness of the sealing member, the outer casing can be pressed with a large elastic force, and the outer casing can be pressed against the sealing member for a long time. Therefore, it is possible to prevent the outer cover from being deflected from the case. According to the invention of the third aspect of the invention, it is possible to provide an industrial robot arm capable of preventing the bolt from being loosened when the outer cover is attached to the casing and preventing the outer casing from deviating from the casing. According to the invention of the fourth aspect of the invention, it is possible to provide an industrial robot capable of preventing the bolt from being loosened when the outer cover is attached to the casing and preventing the outer casing from deviating from the casing. [Embodiment] BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described based on the drawings. Embodiment 1 is a view showing a structure for attaching a cover of an embodiment of the present invention, wherein (a) is a plan view of a main part, and (b) is a partially enlarged view. The basic structure of the industrial robot of the present invention is conventional. The same, as shown in Figures 2(a) and (b). The different parts are in the mounting structure of the outer cover, and the description is as follows. In the prior art, a sealing member is interposed between the outer cover 6 and the second arm (case) 4b, and the outer cover 6 is directly locked to the second arm 4b by the bolt 8, but in the present invention, it is not so installed. The cover 6 is attached to the second arm 4b via the collar 1 2 with the tab and the rubber gasket 13 and the sealing member 9. The collar 12 having the tab is formed into a cylindrical shape, only in the cylindrical portion 1 The 2 a side end portion is provided with a tab portion 1 2 b. The rubber gasket 13 is formed, for example, in a ring shape, and a collar through hole 1 3 a is provided in a central portion. The seal member 9 is formed in a shape that fits the peripheral edge of the opening portion 4ba, and is provided with a collar through hole 9a at a position of a bolt hole 7 provided at a plurality of places around the opening portion 4ba. Further, the above-mentioned outer cover 6' is formed in a flat plate shape, and is provided in the same manner as the above-mentioned sealing member 9, and is provided with a collar through hole 6a at a position of a plurality of holes around the opening portion 4ba. When the outer cover 6 is attached to the second arm 4b, the following steps are performed. First, the bolt 8 is passed through the cylindrical collar 12, and in this case, the tab portion 1 2 b is placed on the head side of the bolt 8 for punching. Next, the collar insertion hole 13a of the rubber gasket 13 is fitted over the outer peripheral surface of the cylindrical portion 12a of the collar 12, and the rubber gasket 13 abuts against the tab portion 12b of the collar 12. Then, the collar insertion hole 6a of the outer cover 6 is similarly fitted over the outer peripheral surface of the cylindrical portion 12a of the collar 12, and the outer cover 6 abuts against the rubber gasket 13. Then, the collar insertion hole 9a of the sealing member 9 is similarly fitted over the outer peripheral surface of the cylindrical portion 12a of the collar 12, and the sealing member 9 is brought into contact with the outer cover 6. In this state, the bolt 8 is screwed to the bolt hole 7 of the second arm 4b, and the tab portion 12b of the cylindrical portion 12a of the collar 12 is gradually locked by the bolt 8 to make the collar The end portion on the opposite side of the tab portion of the cylindrical portion 12 of the 12 is strongly abutted against the second arm 4b. When the bolt 8 gradually locks the tab portion 12b of the cylindrical portion 12a of the collar 12, the tab portion 12b of the collar 12 and the second arm 4b are gradually narrowed, and the tab portion 12b will be tapered. The rubber gasket 13 is pressed against the outer cover 6, and the outer cover 6 pressed by the rubber gasket 13 presses the sealing member 9 toward the second arm 4b. In this manner, a seal is formed around the opening portion 4ba to seal the opening portion 4ba. Since the outer cover 6 is continuously pressed by the elastic rubber washer 13 which is slower than the aging of the sealing member 9 and -9-200902260, the outer cover 6 pushes the seal even if the sealing member 9 is worn out. The pressing force of the member 9 does not disappear thereby. In particular, as shown in Fig. 3, when the thickness of the rubber gasket 13 is thicker than the thickness of the sealing member 9, the amount of wear due to aging of the sealing member 9 can be largely offset, and the rubber gasket 13 can be maintained for a long time. Pushing pressure. Further, the bolt 8 is not directly locked to the sealing member 9 or the like which is aged, but is locked to the collar 12 having a long life, so that the bolt 8 is not loosened. Therefore, it is possible to maintain the effect of watertightness, airtightness, or dustproof when the outer cover 6 covers the opening 4ba for a long time. In the above-described embodiment, the outer cover 6 is formed so as to cover the entire side surface of the second arm 4b. However, the second arm 4b may be formed with a partial opening, and the outer cover may be formed to cover the portion. The outer cover of the opening is formed. Further, in the above-described embodiment, the opening portion 4ba' is formed in the second arm 4b. However, the opening portion 4ba may be formed in the first arm 4a, or the opening portion 4ba may be formed in other portions. In other words, the opening formed in the casing such as the machine arm or the base may be covered with a cover. In addition, the above bolts 8 also include screws. [Industrial Applicability] The present invention relates to a housing attachment structure for various cabinets for watertight, airtight, dustproof, etc., and in particular, an outer cover mounting structure for industrial robots can be used for a long period of time. Watertight or airtight can be used to provide an outer cover mounting structure that effectively protects against the effects of -10 200902260 , and the manufacturing and provision of mechanical arms and industrial robots using the outer cover mounting structure. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a structure for attaching a cover of an embodiment of the present invention, wherein (a) is a plan view of a main portion, and (b) is a partially enlarged view. Fig. 2 is a partially enlarged plan view showing the outer cover mounting structure of another embodiment of the present invention. Fig. 3 is a view showing an industrial robot figure to which the prior art and the present invention can be applied. (a) is a side view, and (b) is a plan view. Fig. 4 is a view showing a structure of a cover mounting structure of the prior art, (a) is a plan view of a main portion, and (b) is a partially enlarged view. [Main component symbol description] 1 : Robot 2 : Fixed base 3 : Winding base 3 a : Robot arm support 4 : Robot arm 4a : 1st arm 4b : 2nd arm 4ba : Opening 5 : Wrist 5a : Flange -11 - 200902260 6 : Housing 6a : collar through hole 7 : bolt hole 8 : bolt 9 : sealing member 9a = collar through hole 1 0, 1 1 : bolt through hole 1 2 : collar 1 2 a : cylinder Part 1 2 b : tab portion 13 : rubber washer 1 3 a : collar through hole -12 -