WO1999003650A1 - Robot industriel - Google Patents
Robot industriel Download PDFInfo
- Publication number
- WO1999003650A1 WO1999003650A1 PCT/JP1998/003157 JP9803157W WO9903650A1 WO 1999003650 A1 WO1999003650 A1 WO 1999003650A1 JP 9803157 W JP9803157 W JP 9803157W WO 9903650 A1 WO9903650 A1 WO 9903650A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- industrial robot
- robot
- industrial
- arm
- tool
- Prior art date
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
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
Definitions
- the present invention relates to an industrial robot, and more particularly, to an industrial robot used in a work site where food is handled (food transportation, processing, manufacturing process, etc.).
- robots which are robots used for industrial purposes, are wired to an end-effector.
- end-effectors the robot Taps and holes for mounting equipment are provided in various places on the main unit. Therefore, an example of such a robot is shown in Fig.
- FIG. 2A front view
- FIG. 2B top view
- FIG. 2C section view
- the robot body is a linear motion arm that is driven vertically on the column 2 fixed on the installation surface 1 by the J1 axis (linear motion axis).
- a work tool 6b according to the intended use is mounted on the tool mounting portion 6a.
- Reference numeral 7 denotes piping and wiring members for supplying power, supplying liquid, supplying / exhausting, etc. for the work tool 6b, and stably supports the members to prevent them from being caught.
- wiring-pipe support members 8a, 8b, and 8c provided at appropriate locations on the outer surface of the robot are used.
- a required number of device mounting taps 9a, 9b are provided on the side surface and the upper surface of the first swing arm 4.
- a required number of device mounting taps 9 c are also provided on the upper surface of the second swing arm 5.
- hexagonal bolts 10 are used in various places for the purpose of connecting the robot surface member 11a and the robot inner member 11b.
- the hexagonal bolt 10 has a hexagonal hole in the head as shown in the enlarged example in Fig. 2C, and the head has a recess (step) 10b in the bolt hole. It has been used because it is advantageous in reducing the number of protrusions from the outer surface of the robot because it fixes the members in a state where it fits within the robot, and assures worker safety (prevents snagging).
- the connecting member 12 between the first swing arm 4 and the second swing arm 5 it has been conventionally emphasized that giving priority to making the outer shape of the robot compact is important. However, there was a narrow interval 1 2 a between the arms.
- the conventional robot having the above-described exterior structure is not suitable as a robot used in the fields of food processing and manufacturing. That is, if the robot had the above-mentioned external structure, holes 10a for the bolt 10 and recesses 10b, holes for the equipment mounting taps 9a, 9b, 9c Liquids (water, seasoning liquid, etc.), powders, etc. are easy to get into food pieces, and are not easily dropped by washing. In addition, wiring (pipe support members 8a, 8b, 8c) Similar foreign matter easily accumulates in the narrow gap 12 a) between the arms, and cleaning is not easy.
- An object of the present invention is to provide an industrial robot in which foreign substances such as food pieces, liquid substances, and powders do not accumulate, and which can be easily cleaned even if foreign substances adhere to the robot.
- an industrial robot according to the present invention is used for processing or producing food, and is an industrial robot capable of being washed with water or a cleaning liquid applied to an outer surface thereof. It has at least three degrees of freedom, and a work tool can be attached to the tip of the arm.There is a recess on the third axis and the outer surface on the tip side from the third axis where foreign matter accumulates. It is configured not to exist.
- FIG. 1A is a front view showing an embodiment of an industrial robot according to the present invention.
- FIG. 1B is a partial cross-sectional view of the industrial robot of FIG. 1A.
- FIG. 2A is a front view showing an example of a conventional industrial robot.
- FIG. 2B is a top view of the industrial port of FIG. 2A.
- FIG. 2C is a partial cross-sectional view of the industrial robot of FIG. 2A.
- This industrial robot is an industrial robot (hereinafter simply referred to as “robot”) that is used for processing or manufacturing food and that can be cleaned by applying water or a cleaning liquid to its outer surface. is there.
- the main body of the robot pivots on a column 2 fixed on the installation surface 1, a translation arm 3, which is driven vertically by a J1 axis (linear axis), and a J2 axis (pivoting axis).
- the work tool 6b according to the application is attached to the tool attachment part 6a in the same way as the robot shown in Fig. 2.
- Reference numeral 7 denotes a piping member for supplying power, liquid supply, supply / exhaust, etc. for the work tool 6b.In the present embodiment, this is indicated by a dashed line, instead of being wired to the outside.
- a method is adopted in which the robot passes through the inside of each part of the robot body and extends from the robot base (column 2) to the work tool mounting part 6a.
- the device mounting taps 9a, 9b, 9c as shown in FIGS. 2A and 2B are eliminated from the outer surface of the robot. This reduces the accumulation of foreign matter on the outer shape of the mouth bot, making it easier to clean. Has been improved.
- the bolts serving as locking members used for connecting the mouth pot surface member 11a and the robot inner member 11b are provided with exposed holes.
- a hexagonal head bolt 14 that does not have any is used.
- a raised portion 11c with an inclined portion is formed around the bolt hole on the outer surface of the member exposed to the outside (the robot surface member 11a) (around the locking point). As a result, accumulation of foreign matters around the bolt head is prevented, and cleaning is facilitated.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98931099A EP0937550A4 (en) | 1997-07-14 | 1998-07-14 | INDUSTRIAL ROBOT |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9/205216 | 1997-07-14 | ||
JP9205216A JPH1133974A (ja) | 1997-07-14 | 1997-07-14 | 産業用ロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999003650A1 true WO1999003650A1 (fr) | 1999-01-28 |
Family
ID=16503337
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1998/003157 WO1999003650A1 (fr) | 1997-07-14 | 1998-07-14 | Robot industriel |
Country Status (4)
Country | Link |
---|---|
US (1) | US20020035413A1 (ja) |
EP (1) | EP0937550A4 (ja) |
JP (1) | JPH1133974A (ja) |
WO (1) | WO1999003650A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7512462B2 (en) | 2004-11-16 | 2009-03-31 | Northrop Grumman Corporation | Automatic contingency generator |
FR2900591B1 (fr) * | 2006-05-02 | 2008-06-20 | Staubli Faverges Sca | Structure de robot de type scara, et robot correspondant |
JP2008055560A (ja) | 2006-08-31 | 2008-03-13 | Fanuc Ltd | ロボットの関節部の密封装置及び関節ロボット |
DE102007048248A1 (de) * | 2007-10-08 | 2009-05-14 | Dürr Systems GmbH | Roboter mit einer Reinigungseinrichtung und zugehöriges Betriebsverfahren |
JP4763063B2 (ja) * | 2009-01-26 | 2011-08-31 | ファナック株式会社 | 密封装置を備えた関節ロボット |
JP5316294B2 (ja) * | 2009-08-03 | 2013-10-16 | 株式会社デンソーウェーブ | ロボットのアームの端部カバー |
JP5316296B2 (ja) * | 2009-08-05 | 2013-10-16 | 株式会社デンソーウェーブ | ロボットのアームカバー |
US8646404B2 (en) * | 2011-09-26 | 2014-02-11 | Todd E. Hendricks, SR. | Modular system with platformed robot, booth, and fluid delivery system for tire spraying |
DE102015209547A1 (de) * | 2015-05-22 | 2016-11-24 | Kuka Roboter Gmbh | Roboter mit einem Energieleitungsstrang |
JP6572270B2 (ja) | 2017-09-08 | 2019-09-04 | ファナック株式会社 | 中空の手首要素を備えるロボット |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS52111873U (ja) * | 1976-02-19 | 1977-08-25 | ||
JPS6179585A (ja) * | 1984-09-28 | 1986-04-23 | ぺんてる株式会社 | ダブルア−ム型ロボツト |
JPS6426008A (en) * | 1988-06-22 | 1989-01-27 | Nisshin Spinning | Construction of tightening part |
JPH0531937Y2 (ja) * | 1990-02-22 | 1993-08-17 | ||
JPH08300144A (ja) * | 1995-05-10 | 1996-11-19 | Nittetsu Drum Kk | 洗浄性良好な溶接ドラム缶とその製造方法及び装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62277286A (ja) * | 1986-05-21 | 1987-12-02 | フアナツク株式会社 | 水平関節型ロボツト |
EP0438030A1 (de) * | 1990-01-17 | 1991-07-24 | GebràDer Sulzer Aktiengesellschaft | Greifergehäuse für im Reinraum eingesetzten Roboter |
FR2686129A1 (fr) * | 1992-01-09 | 1993-07-16 | Bry Daniel | Perfectionnement aux vis a logement creux. |
WO1996008347A1 (en) * | 1994-09-16 | 1996-03-21 | Industrial Research Limited | Robotic arm assembly |
-
1997
- 1997-07-14 JP JP9205216A patent/JPH1133974A/ja active Pending
-
1998
- 1998-07-14 US US09/242,636 patent/US20020035413A1/en not_active Abandoned
- 1998-07-14 EP EP98931099A patent/EP0937550A4/en not_active Withdrawn
- 1998-07-14 WO PCT/JP1998/003157 patent/WO1999003650A1/ja not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS52111873U (ja) * | 1976-02-19 | 1977-08-25 | ||
JPS6179585A (ja) * | 1984-09-28 | 1986-04-23 | ぺんてる株式会社 | ダブルア−ム型ロボツト |
JPS6426008A (en) * | 1988-06-22 | 1989-01-27 | Nisshin Spinning | Construction of tightening part |
JPH0531937Y2 (ja) * | 1990-02-22 | 1993-08-17 | ||
JPH08300144A (ja) * | 1995-05-10 | 1996-11-19 | Nittetsu Drum Kk | 洗浄性良好な溶接ドラム缶とその製造方法及び装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0937550A4 * |
Also Published As
Publication number | Publication date |
---|---|
US20020035413A1 (en) | 2002-03-21 |
JPH1133974A (ja) | 1999-02-09 |
EP0937550A1 (en) | 1999-08-25 |
EP0937550A4 (en) | 2001-11-14 |
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